无人机航迹规划技术研究及发展趋势

通过对无人机航迹规划的研究,构建了无人机航迹规划的结构框架;分析了无人机系统约束及威胁场约束,探讨了无人机航迹几何建模方法及规划算法的国内外研究概况;并着重分析了规划算法。最后,阐述了无人机航迹规划面临的关键问题及发展趋势。     

Increased BLSS closure using mineralized human waste in plant cultivation on a neutral substrate

The purpose of this work was to study the full-scale potential use of human mineralized waste (feces and urine) as a source of mineral elements for plant cultivation in a biological life support system (BLSS). Plants that are potential candidates for a photosynthesizing link were grown on a neutral solution containing human mineralized waste. Spring wheat Triticum aestivum L., peas Pisum sativum L. Ambrosia cultivar and leaf lettuce Lactuca sativa L., Vitaminny variety, were used. The plants were grown hydroponically on expanded clay aggregates in a vegetation chamber in constant environmental conditions. During plant growth, a determined amount of human mineralized waste was added daily to the nutrient solution. The nutrient solution remained unchanged throughout the vegetation period. Estimated plant requirements for macro-elements were based on a total biological productivity of 0.04 kg day⁻¹ m⁻². As the plant requirements for potassium exceeded the potassium content of human waste, a water extract of wheat straw containing the required amount of potassium was added to the nutrient solution. The Knop’s solution was used in the control experiments.     

Tolerance of wheat and lettuce plants grown on human mineralized waste to high temperature stress

The main objective of a life support system for space missions is to supply a crew with food, water and oxygen, and to eliminate their wastes. The ultimate goal is to achieve the highest degree of closure of the system using controlled processes offering a high level of reliability and flexibility. Enhancement of closure of a biological life support system (BLSS) that includes plants relies on increased regeneration of plant waste, and utilization of solid and liquid human wastes. Clearly, the robustness of a BLSS subjected to stress will be substantially determined by the robustness of the plant components of the phototrophic unit. The aim of the present work was to estimate the heat resistance of two plants (wheat and lettuce) grown on human wastes. Human exometabolites mineralized by hydrogen peroxide in an electromagnetic field were used to make a nutrient solution for the plants. We looked for a possible increase in the heat tolerance of the wheat plants using changes in photosynthetically active radiation (PAR) intensity during heat stress. At age 15 days, plants were subjected to a rise in air temperature (from 23 ± 1 °C to 44 ± 1 °С) under different PAR intensities for 4 h. The status of the photosynthetic apparatus of the plants was assessed by external СО₂ gas exchange and fluorescence measurements. The increased irradiance of the plants during the high temperature period demonstrated its protective action for both the photosynthetic apparatus of the leaves and subsequent plant growth and development. The productivity of the plants subjected to temperature changes at 250 W m⁻² of PAR did not differ from that of controls, whereas the productivity of the plants subjected to the same heat stress but in darkness was halved.     

对接综合试验台轨迹规划算法研究

为实现模拟空间两飞行器对接动力学过程的对接综合试验台的平稳对接，提出了一种基于加速度控制的轨迹规划算法。给出了不同初始条件下的规划方法，以及时转动自由度的特殊处理。物理试验结果表明，规划模型能精确控制平台从初始零位运动到主被动对接机构初次接触位置，且最后时刻平台姿态与对接试验的初始条件完全吻合。该算法可直接用于对接综合试验台的控制。     

加工复杂零件的高端技术

瑞士加工中心制造商威力铭-马科黛尔公司着重于质量和生产效率,主要活跃于航空/航天、精密机械、钟表和医疗行业,并以其为用户提供的高性能交钥匙解决方案而著称.     

对接综合试验台控制系统软件快速原型开发技术

对基于快速原型设计睁对接综合试验台控制系统软件开发进行了研究。介绍了根据系统方案进行的中央控制台软件设计和模型计算机软件开发等。给出了快速原型设计,以及包括接口设计、配置管理、文档管理等软件工程化管理等关键技术。     

Tolerance of chufa (Cyperus esculentus L.) plants,representing the higher plant compartment in bioregenerative life support systems,to super-optimal air temperatures

Plants intended to be included in the photosynthesizing compartment of the bioregenerative life support system (BLSS) need to be studied in terms of both their production parameters under optimal conditions and their tolerance to stress factors that might be caused by emergency situations. The purpose of this study was to investigate tolerance of chufa (Cyperus esculentus L.) plants to the super-optimal air temperature of 45 ± 1 °C as dependent upon PAR (photosynthetically active radiation) intensity and the duration of the exposure to the stress factor. Chufa plants were grown hydroponically, on expanded clay, under artificial light. The nutrient solution was Knop’s mineral medium. Until the plants were 30 days old, they had been grown at 690 μmol m⁻² s⁻¹ PAR and air temperature 25 °C. Thirty-day-old plants were exposed to the temperature 45 °C for 6 h, 20 h, and 44 h at PAR intensities 690 μmol m⁻² s⁻¹ and 1150 μmol m⁻² s⁻¹. The exposure to the damaging air temperature for 44 h at 690 μmol m⁻² s⁻¹ PAR caused irreversible damage to PSA, resulting in leaf mortality. In chufa plants exposed to heat shock treatment at 690 μmol m⁻² s⁻¹ PAR for 6 h and 20 h, respiration exceeded photosynthesis, and CO₂ release in the light was recorded. Functional activity of photosynthetic apparatus, estimated from parameters of pulse-modulated chlorophyll fluorescence in Photosystem 2 (PS 2), decreased 40% to 50%. After the exposure to the stress factor was finished, functional activity of PSA recovered its initial values, and apparent photosynthesis (P_apparent) rate after a 20-h exposure to the stress factor was 2.6 times lower than before the elevation of the temperature. During the first hours of plant exposure to the temperature 45 °C at 1150 μmol m⁻² s⁻¹ PAR, respiration rate was higher than photosynthesis rate, but after 3–4 h of the exposure, photosynthetic processes exceeded oxidative ones and CO₂ absorption in the light was recorded. At the end of the 6-h exposure, P_apparent rate was close to that recorded prior to the exposure, and no significant changes were observed in the functional activity of PSA. At the end of the 20-h exposure, P_apparent rate was close to its initial value, but certain parameters of the functional activity of PSA decreased 25% vs. their initial values. During the repair period, the parameters of external gas exchange recovered their initial values, and parameters of pulse-modulated chlorophyll fluorescence were 20–30% higher than their initial values. Thus, exposure of chufa plants to the damaging temperature of the air for 20 h did not cause any irreversible damage to the photosynthetic apparatus of plants at either 690 μmol m⁻² s⁻¹ or 1150 μmol m⁻² s⁻¹ PAR, and higher PAR intensity during the heat shock treatment enhanced heat tolerance of the plants.     

Effects of mineral nutrition conditions on heat tolerance of chufa (Сyperus esculentus L.) plant communities to super optimal air temperatures in the BTLSS

The use of mineralized human wastes as a basis for nutrient solutions will increase the degree of material closure of bio-technical human life support systems. As stress tolerance of plants is determined, among other factors, by the conditions under which they have been grown before exposure to a stressor, the purpose of the study is to investigate the level of tolerance of chufa (Cyperus esculentus L.) plant communities grown in solutions based on mineralized human wastes to a damaging air temperature, 45 °C. Experiments were performed with 30-day-old chufa plant communities grown hydroponically, on expanded clay aggregate, under artificial light, at 690 μmol m⁻² s⁻¹ PAR and at a temperature of 25 °C. Plants were grown in Knop’s solution and solutions based on human wastes mineralized according to Yu.A. Kudenko’s method, which contained nitrogen either as ammonium and urea or as nitrates. The heat shock treatment lasted 20 h at 690 and 1150 μmol m⁻² s⁻¹ PAR. Chufa heat tolerance was evaluated based on parameters of CO₂ gas exchange, the state of its photosynthetic apparatus (PSA), and intensity of peroxidation of leaf lipids. Chufa plants grown in the solutions based on mineralized human wastes that contained ammonium and urea had lower heat tolerance than plants grown in standard mineral solutions. Heat tolerance of the plants grown in the solutions based on mineralized human wastes that mainly contained nitrate nitrogen was insignificantly different from the heat tolerance of the plants grown in standard mineral solutions. A PAR intensity increase from 690 μmol m⁻² s⁻¹ to 1150 μmol m⁻² s⁻¹ enhanced heat tolerance of chufa plant communities, irrespective of the conditions of mineral nutrition under which they had been grown.     

Heusler合金M2CoA(M=Mn,Ti;A=Al,Si)的第一性原理

采用基于密度泛函理论(DFT)的第一性原理计算方法,研究了M₂CoA型Heusler合金Mn₂CoAl、Mn₂CoSi、Ti₂CoAl和Ti₂CoSi的电子结构和磁学性质。发现Heusler合金Mn₂CoAl是亚铁磁性自旋无带隙半导体,Mn₂CoSi与Ti₂CoAl是亚铁磁性自旋半金属,而Ti₂CoSi是铁磁性自旋半金属。它们的总自旋磁矩均为整数,符合Slater-Pauling规则。然后,在分析电子能带结构和态密度的基础上,探讨了自旋无带隙半导体与半金属性的根源。最后,声子谱和弹性常数计算结果表明所有M₂CoA型Heusler合金在晶格动力学和力学上均是稳定的。