A multi-stage regulation strategy of space manipulators with a free-swinging joint failure

To ensure tasks can be completed after a free-swinging joint failure occurs, a multi-stage regulation strategy of space manipulators is proposed. Considering all terms of the dynamics equation, an evaluation model of the regulation ability (EMRA) of active joints over the fault joint is established based on the fuzzy entropy. And then a multi-stage regulation strategy based on the EMRA is designed to regulate the fault joint. The strategy divides the regulation process into several stages, and select a certain active joint to regulative the fault joint in every stage. With this multi-stage regulation strategy, the fault joint can be regulated to the desired angle without huge torque on regulative joints. The simulation is carried out with a 7-DOF space manipulator, verifying the correctness and effectiveness of the multi-stage regulation strategy. The strategy has three advantages: Coriolis and centrifugal terms are both considered for the first time in selecting the regulative joint, making the selection result more in line with the actual regulation process; The influence of the model uncertainty is eliminated in establishing the EMRA, making the evaluation of regulative ability more precise; The fault joint is successfully regulated to the desired angle without huge torque on regulative joints.     

Implementation of tactical maneuvers with maneuver libraries

This study creates and combines the general maneuver libraries for fixed-wing aircraft to implement tactical maneuvers. First, the generalized maneuver libraries are established by analyzing the characteristics of tactical maneuvers required in battlefields. The 7th order polynomial is applied to both the creation of the maneuver libraries and the generation of the trajectories or flight paths for modal inputs. To track the desired trajectory, we design the Attitude Command Attitude Hold (ACAH) system and the Rate Command Rate Hold (RCRH) system using Model Following Controller (MFC). Moreover, the Line-of-Sight (LOS) guidance law is designed. In particular, the CONDUIT® is employed to optimize the gains so that the control systems meet the aircraft Handling Qualities (HQ) criteria. Finally, flight simulations are performed for the longitudinal loop, immelmann-turn, and climb-slalom-descent maneuvers to verify that tactical aggressive maneuvers are realizable via the combination of maneuver libraries. This study can contribute to the development of flight techniques for aircraft tactical maneuvers and to the revision of air force operational manuals.     

FDI飞机舵面损伤故障全局检测的非线性数学模型

阐述了飞机在单舵面损伤故障下 ,建立故障状态下的数学模型 ,以及同样输入条件下飞机正常运动时的数学模型 ,得到飞机在相同飞行条件下损伤时的气动系数和无损伤正常时的气动系数 ,最终得到气动系数的残差。这将为以后飞机过载残差和角加速度残差奠定基础。论文中结合一定的算例给予证实推论的正确性。     

独立函数的表达式及完备性

给出独立函数的逻辑表达式和递推关系式。证明了独立函数系的线性完备性。讨论逻辑函数关于独立函数系的展开式、不同极性独立函数系展式之间的关系,以及与Reed-Muller展式之间的关系。这些问题的结论为建立新型的通用逻辑模块奠定了理论基础。     

推进我国企业债券利率市场化的措施

企业债券利率市场化是我国利率市场化改革的重要组成部分。目前,我国已经基本具备了企业债券利率市场化的条件,宏观经济环境稳定,微观经济主体日趋理性,国债和金融债券发行利率市场化也为下一步实现企业债券发行利率市场化提供了宝贵的经验。鉴于此,可以根据企业债券融资发展的不同阶段,采取相应措施加快我国企业债券利率市场化的步伐,主要包括:取消发债企业的所有制限制、培育企业债券流通市场、逐步取消发债规模限制、放宽发行利率的浮动幅度、健全企业债券风险监管制度、规范企业债券信用评级。     

用亚稳态正电子素研究络合的瞬态反应（Ⅲ）

本文用自制的装有 BaF_2探头的高探测效率的正电子湮没寿命谱仪测量了在室温下正电子素 o-Ps 与 p-RPhG 及 m-RPhG(R=NO_2,Cl,H,CH_3,cH_3O)在20%(V/V)二氧六环水溶液中的络合形成速度常数。实验结果表明,这些o-Ps-M 络合形成速度常数 K 值均与作为配位体的 p-RPhG、m-RPhG 的碱性解离常数 K 的负对数 pK_2 呈线性函数。这表明上述瞬态络合反应满足线性自由能关系,由此可推断出上述络合反应的一些重要性质。     

平面形状误差分离方法的比较分析

就十种典型的精密平面形状误差测量－分离方法的权函数及其零点，作了分析比较。按形状误差谐波抑制最小准则，论证了五点式正交逐次三点法、九点式正交逐次三点法、复合三点法、不对称二维混合法和不对称四点法优于其他方法，不对称四点法则较为理想。     

含有任意多个椭圆孔弹性板的应力场计算

本文应用弹性力学的复变函数理论,用多保角变换的方法,导出了含有任意多个椭圆孔的无限大弹性板多复变量应力函数的表达式。每个孔的大小、位置和孔边作用的载荷均为任意指定。板的无限远处作用有和坐标轴方向一致的均匀拉压载荷P_x,P_y和均匀剪切载荷P_(xy)。并在孔边进行复Fourier级数展开,用待定系数法确定应力函数的未知系数,从而计算弹性板的应力场。编制了相应的FORTRAN77标准化程序,进行了考题和算例分析,给出了级数的收敛状况和孔边周向应力的分布图。     

最小二乘直线函数的特性分析

证明了最小二乘直线函数是一种严格的凸函数。F(a,b)=∑(y-ax_i-b)~2是一个椭圆抛物面。a=[n∑x_iy_i-∑x_i∑y_i]/[n∑x_i^2-(∑x_i)~2]和b=[∑x_i^2∑y_i-∑x_i∑x_i∑y_i]/[n∑x_i^2-(∑x_i)~2]仅表示极值点。a=∑x_iy_i/∑x_i和 b=[∑x_i^2∑y_i-∑x_i∑x_iy_i]/[n∑x_i^2]在某些情况下可以是极值点,但不是在每种情况下都是极值点。     

人体分层媒质内的微波聚焦场

本文是近年来在微波聚焦热疗人体深部癌病灶研究工作推动下完成的。文中给出了光学及电磁学界感兴趣的某些结果。在人体分层媒质前的一有限口径处,置一时谐电流分布,在每一分层内的微波传输场及反射场可利用传输矩阵及并矢格林函数给出计算结果。