Mechanism parameters optimization of bionic frog jumping robot based on velocity directional manipulability measure

以速度方向可操作度作为跳跃性能的评价指标,从机构设计角度寻求改善仿蛙跳跃机器人跳跃性能的方法.在仿蛙跳跃机器人机构模型的基础上,建立了起跳阶段的运动学方程,得到机器人从关节空间到质心运动空间的速度映射关系,结合速度方向可操作度,利用优化算法对仿蛙跳跃机器人的机构参数进行优化,使机器人的跳跃性能达到最佳.优化结果表明,运用速度方向可操作度理论,对跳跃机器人机构参数进行优化研究是有效可行的.     

ASW-RTS:一种软件性能数据在线检测方法

在软件健康管理系统中,需要对相关被测构件的性能进行在线检测,从而确定构件的健康状态。针对被测构件的性能衰退检测问题,在AR(p)模型基础上,结合时间序列滚动式算法的准确性,提出了一种具有自适性策略的ASWRTS算法,用于对被测构件革新异常类性能数据的在线检测,提高检测的准确度,并基于该算法设计了构件性能异常数据的在线检测过程。实验结果表明,该算法将检测精度提高了50%左右,能够有效在线检测构件的性能衰退,说明了该算法的正确性和有效性。     

Reliable flight performance assessment of multirotor based on interacting multiple model particle filter and health degree

Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performance anomalies during the flight process. These failures and anomalies may result in mission interruptions, crashes, and even threats to the lives and property of human beings. Thus, the study of flight reliability problems of multirotors is conductive to the development of the drone industry and has theoretical significance and engineering value. This paper proposes a reliable flight performance assessment method of multirotors based on an Interacting Multiple Model Particle Filter (IMMPF) algorithm and health degree as the performance indicator. First, the multirotor is modeled by the Stochastic Hybrid System (SHS) model, and the problem of reliable flight performance assessment is formulated. In order to solve the problem, the IMMPF algorithm is presented to estimate the real-time probability distribution of hybrid state of the established SHS-based multirotor model, since it can decrease estimation errors compared with the standard interacting multiple model algorithm based on extended Kalman filter. Then, the reliable flight performance is assessed with health degree based on the estimation result. Finally, a case study of a multirotor suffering from sensor anomalies is presented to validate the effectiveness of the proposed method.     

New design simulation for a high-altitude dual-balloon system to extend lifetime and improve floating performance

This paper presents a comprehensive simulation for a high-altitude dual-balloon system which consists of zero- and super-pressure balloons. Preliminary calculations were established to describe the basic concept of the new integrated system. A mathematical model was investigated to simulate the ascending and floating processes which considered the atmospheric conditions and thermodynamic variations. Based on the simulation, results showed that the floating altitude stability between daytime and nighttime was improved. This integrated system supports higher floating altitude levels than those of ordinary balloons and extends the lifetime of floating balloon systems. Moreover, results demonstrated that the integrated system was lighter than ordinary balloons, saving useful weight for effective payload. Furthermore, exploiting the advantages of both kinds of balloons while avoiding the difficulties was a significant goal in the current design to promote the floating performance of high-altitude balloons technology.     

太阳能热推进系统效率分析

太阳能热推进采用小分子量气体作为推进剂可以获取800～900 s高比冲,但提高推进系统的换热效率是目前亟待解决的问题.本研究建立了太阳能热推进系统主要部件的基本分析模型,在利用有限单元法进行热分析的基础上,对系统在多种工况下的相关参数进行了计算,分析了各部件主要参数对提高太阳能热推进系统热效率和推进效率的影响,得出了系统效率在不同工作状态下的变化规律,并提出了提高系统效率的措施.     

温度对油—气式起落架缓冲性能的影响研究

油—气式缓冲器内部的油液特性及充气压力会随环境温度而变化,进而影响起落架的缓冲性能。为了探究温度对油—气式起落架缓冲性能的影响,在起落架落震试验的基础上,提出一种缓冲器环境温度模拟方法,并分析油—气式起落架缓冲器在20~80℃环境温度下的缓冲性能。结果表明：在所研究的温度范围内,缓冲器初始充气压力对温度变化敏感,随着温...     

消光漆在光学系统的国内外应用

简单地列举了国内外一些消光漆的应用情况,阐述了消光漆的消光性能指标的测定方法,同时对

国内外的一些消光漆的消光性能进行了比较。

     

基于某型发动机发展 STOVL 动力性能方案研究

短距起飞/垂直降落（STOVL）飞机由于其优越的作战性能,受到了世界航空大国的高度重视。通过借鉴目前最先进的 STOVL 动力 F135- PW -600发动机技术发展思路,研究了基于国内某型发动机改 STOVL 动力方案时,主发动机与升力风扇之间的匹配和约束关系。研究结果表明：随着升力风扇压比和流量的增加,主发动机升力减小,升力风扇升力增加;同一主发动机状态下,升力风扇流量越大,发动机前后升力平衡的升力风扇压比越小,总升力越大;主发动机性能越高,发动机前后升力平衡的升力风扇压比和流量越大,发动机总升力也越大。     

Lateral Flight Technical Error Estimation Model for Performance Based Navigation

Flight technical error (FTE) combined with navigation system error (NSE) is the main part of total system error (TSE) in performance based navigation (PBN).The implementation of PBN requires pre-flight prediction and en-route short-term dynamical prediction of the TSE.Once the sum of predicted lateral FTE and NSE is greater than the specified PBN value,the PBN cannot operate.Thus,accurate modeling and thorough analysis of lateral FTE are indispensible.Multiple-input multiple-output (MIMO) lateral track control system of a transport aircraft is designed using linear quadratic Gaussian and loop transfer recovery (LQG/LTR) method,and the lateral FTE of a turbulence disturbed approach operation is analyzed.The error estimation mapping function of latera FTE and its bound estimation algorithm are proposed based on singular value theory.According to the forming mechanism of lateral FTE,the algorithm considers environmental turbulence fluctuation disturbance,aircraft dynamics and control system parameters.Real-data-based Monte-Carlo simulation validates the theoretical analysis of FTE.It also shows that FTE is mainly caused by turbulence fluctuation disturbance when automatic flight control system (AFCS) is engaged and would increase with escalating environmental turbulence intensity.     

多加速度计振动分离惯性补偿测力技术

为解决在高超声速脉冲风洞中进行大长细比等特殊模型测力实验所面临的惯性补偿问题,笔者提出了多加速度计振动分离惯性补偿方法。这一方法应用在长细比达20 :1 的模型气动力实验中,得到了较为理想的实验结果