110 GHz~170 GHz天线平面近场测量系统

面对(110~170) GHz天线准确计量的需求，设计了一套基于机械臂自动扫描的(110~170) GHz天线平面近场测量系统，它由矢量网络分析仪、扩频模块、机械臂扫描架、小型光学平台、扫描探头等硬件组成，通过测量软件设置仪器参数,控制机械臂扫描轨迹，采集扫描面上测试点的幅度和相位，将近场采集的数据用付氏近远场变换算法还原成天线增益方向图。采用标准增益喇叭天线对该系统进行实验验证，并将近场测量结果与远场测量结果进行比较，结果表明该系统测量方向图主瓣最大偏差为0.25 dB，能够满足天线计量的需求。     

光学元件数控单轴加工中的边缘效应控制建模方法

边缘效应严重制约了计算机控制光学表面成型技术（CCOS）的加工精度和加工效率，是亟待解决的技术难点之一。基于Preston方程，建立工具盘在加工工件边缘时的定量去除模型，是解决该问题的重要途径。将加工工件、工具盘尺寸，磨削压力、速度、时间，磨削点位等加工参量进行数学建模，建立边缘去除函数模型，精确计算边缘压力分布和磨削累计时间。随着工具盘在工件边缘露边量增加，工具盘压力呈指数级增长。工件磨削累计时间随工具盘中心点位不同呈现分段变化规律。研发单轴机数控设备，利用工具盘沿工件边缘母线点位移动方式，进行边缘效应控制研究。通过实验精确求出Preston方程比例系数k，验证模型仿真与实际加工结果吻合性，准确度达到91.9%。数控单轴机修边方法和建立的数学模型可以很好地指导实际研磨抛光过程。     

Energy efficient reactionless design of multi-arm space robot for a cooperative handshake maneuver

Space robots play a significant role in on-orbit capture, space structure construction, and assembly tasks. Since the robotic arms are attached to a free-floating satellite, the motion of the manipulator in such tasks and the satellite are coupled. Multiple-arm space robots can perform complex cooperative tasks and are superior to single-arm space robots. Current work proposes a reactionless manipulation algorithm for a multi-robotic arm based on the iterative Newton–Euler method for space robots with many task and balance arms. The present work demonstrates two tasks and one balance arm to perform a reactionless handshake maneuver in space. This maneuver is presented in detail for a planar and spatial case. The planar case uses 3 DoF robotic arms, while the spatial case uses 6 DoF robotic arms. In addition, the balance arm has been designed considering the efficient usage of energy satisfying reactionless manipulation concept. The design procedure focuses on minimizing energy used during the motion of the balance arm for a known motion of task arms using a genetic algorithm. Moreover, computational experiments are conducted to validate the use of the genetic algorithm for optimization. The results of proposed reactionless manipulation algorithm have been validated with the results available in the literature for the spatial case that uses a different method. In the future, an energy-efficient balance arm will be designed to handle tumbling objects.     

军用运输机运力评估模型及影响因素研究

军用运输机在完成战略投送和战术运输任务中起着至关重要的作用。本文在借鉴国外运输机运力分析方法的基础上,提出了一种包括单机单航次和多机多航次最大运力的计算模型,并对国外几种典型的军用运输机进行计算分析。然后分析了影响运力的主要因素,包括:载重、航程、出动架次率、使用可用度、任务成功概率、机场条件限制和环境适应能力等。研究结论表明:此运力模型和因素分析正确,可为我国军用运输机的运力评估工作提供依据。