Calculation of Orbital Elements for Released Tethered Satellite

ＣａｌｃｕｌａｔｉｏｎｏｆＯｒｂｉｔａｌＥｌｅｍｅｎｔｓｆｏｒＲｅｌｅａｓｅｄＴｅｔｈｅｒｅｄＳａｔｅｌｉｔｅＣＵＩＮａｉｇａｎｇ（崔乃刚）ＬＩＵＤｕｎ（刘暾）ＬＩＵＹｕｈｕａ（刘育华）ＱＩＮａｉｍｉｎｇ（齐乃明）（ＡｓｔｒｏｎａｕｔｉｃｓＳｃｈｏｏ...     

A Message Transmission Protocol of a Mobile Data Communication Network

ＡＭｅｓｓａｇｅＴｒａｎｓｍｉｓｓｉｏｎＰｒｏｔｏｃｏｌｏｆａＭｏｂｉｌｅＤａｔａＣｏｍｍｕｎｉｃａｔｉｏｎＮｅｔｗｏｒｋＧＵＸｕｅｍａｉ；ＧＵＯＱｉｎｇ；ＬＩＵＺｈｏｎｇ（顾学迈）（郭庆）（刘忠）（ＲｅｓｅａｒｃｈＩｎｓｔｉｔｕｔｅｏｆＣｏｍｍｕｎ...     

Robust Diagnosis for Sensor Failure

ＲｏｂｕｓｔＤｉａｇｎｏｓｉｓｆｏｒＳｅｎｓｏｒＦａｉｌｕｒｅ￥（闻新）（胡恒章）（刘志言）（周露）ＷＥＮＸｉｎ；ＨＵＨｅｎｇｚｈａｎｇ；ＬＩＵＺｈｉｙａｎ；ＺＨＯＵＬｕ（Ｄｅｐｔ．ｏｆＣｏｎｔｒｏｌＥｎｇｉｎｅｅｒｉｎｇＨａｒｂｉｎＩｎｓｔｉｔｕｔ...     

Vision Recognition of Three Dimensional Object Using Aspect Graph

ＶｉｓｉｏｎＲｅｃｏｇｎｉｔｉｏｎｏｆＴｈｒｅｅＤｉｍｅｎｓｉｏｎａｌＯｂｊｅｃｔＵｓｉｎｇＡｓｐｅｃｔＧｒａｐｈＬＵＡＮＸｉｎＺＨＵＴｉｅｙｉＴＡＯＱｉｚｈｉ（栾新）（朱铁一）（陶奇志）（ＲｏｂｏｔＲｅｓｅａｒｃｈＩｎｓｔｉｔｕｔｅ，Ｈａｒｂｉｎ...     

Study on Compound Electrodes for a Transverse Fast Pulse Discharge S_2 Laser

ＳｔｕｄｙｏｎＣｏｍｐｏｕｎｄＥｌｅｃｔｒｏｄｅｓｆｏｒａＴｒａｎｓｖｅｒｓｅＦａｓｔＰｕｌｓｅＤｉｓｃｈａｒｇｅＳ_２ＬａｓｅｒＷＵＨｅｎｇｌａｉ,ＮＩＮＧＹｏｎｇｃｈｅｎ,ＳＵＮＺｈｅｎｇｈｅ,ＹＵＪｕｎｈｕａ（吴恒莱）（宁永臣）（孙正和）（于俊?..     

A New Polynomial Algorithm for Computing Minimal Hitting Sets

ＡＮｅｗＰｏｌｙｎｏｍｉａｌＡｌｇｏｒｉｔｈｍｆｏｒＣｏｍｐｕｔｉｎｇＭｉｎｉｍａｌＨｉｔｔｉｎｇＳｅｔｓＹＵＢａｉｓｈｅｎｇ,ＨＯＵＺｈｏｎｇｓｈｅｎｇ,ＨＵＡＮＧＷｅｎｈｕ（于百胜）（侯忠生）（黄文虎）（Ｄｅｐｔ．ｏｆＡｓｔｒｏｎａｕｔｉｃｓａｎ...     

The Overall Design and Technical Measures of Brush Testing Swivei Table

ＴｈｅＯｖｅｒａｌｌＤｅｓｉｇｎａｎｄＴｅｃｈｎｉｃａｌＭｅａｓｕｒｅｓｏｆＢｒｕｓｈＴｅｓｔｉｎｇＳｗｉｖｅｉＴａｂｌｅＬＩＹｏｎｇ；ＸＵＧｕｏｄｏｎｇ；ＦＵＪｉｙｉｎｇ；ＣＵＩＳｈｕｍｅｉ（李勇）（徐国东）（傅继盈）（崔淑梅）（Ｄｅｐｔ．ｏｆＥｌ...     

Beam Coupling due to Self－Pumped Phase Conjugate Reflection in Photorefractive Crystals

ＢｅａｍＣｏｕｐｌｉｎｇｄｕｅｔｏＳｅｌｆ－ＰｕｍｐｅｄＰｈａｓｅＣｏｎｊｕｇａｔｅＲｅｆｌｅｃｔｉｏｎｉｎＰｈｏｔｏｒｅｆｒａｃｔｉｖｅＣｒｙｓｔａｌｓ￥（孙秀冬）（许克彬）（孙万钧）（周忠祥）ＳＵＮＸｉｕｄｏｎｇ；ＸＵＫｅｂｉｎ；ＳＵＮＷａｎｊｕ...     

A Transmission Method for the Determination of the Radiation Properties of Small Ash Particles

ＡＴｒａｎｓｍｉｓｓｉｏｎＭｅｔｈｏｄｆｏｒｔｈｅＤｅｔｅｒｍｉｎａｔｉｏｎｏｆｔｈｅＲａｄｉａｔｉｏｎＰｒｏｐｅｒｔｉｅｓｏｆＳｍａｌｌＡｓｈＰａｒｔｉｃｌｅｓ￥（阮立明）（余其铮）（谈和平）ＲＵＡＮＬｉｍｉｎｇ；ＹＵＱｉｚｈｅｎｇ；ＴＡＮＨｅｐｉ...     

Adaptive Control by Using Neural Networks

ＡｄａｐｔｉｖｅＣｏｎｔｒｏｌｂｙＵｓｉｎｇＮｅｕｒａｌＮｅｔｗｏｒｋｓ￥（郝继红）（吕强）（段运波）（许耀铭）ＨＡＯＪｉｈｏｎｇ；ＬＵＱｉａｎｇ；ＤＵＡＮＹｕｎｂｏ；ＸＵＹａｏｍｉｎｇ（Ｄｅｐｔ．ｏｆＰｏｗｅｒＥｎｇｉｎｅｅｒｉｎｇ，Ｈａｒｂｉｎｉ...     

一种新型四自由度非对称并联机构的运动学分析

在分析2-UPU/2-URU并联机构结构特点的基础上,运用封闭法对机构进行了位置分析,并验证了数值特例,利用球坐标搜索法得到影响并联机构工作空间的各种约束条件下的边界点,并通过MATLAB软件绘制工作空间的三维图形,得到约束条件对工作空间的影响规律,说明了其工作空间分布的特点,并进行了奇异分析。该机构是一种过约束机构,本文的研究为该机构工作空间优化设计和机构尺寸设计提供了依据,为该并联机构进一步的研究奠定了基础。     

Orientation angle workspaces of planar serial three-link manipulators

This paper presents a classification on the workspaces of planar serial three-link manipulators, that is, position workspace and orientation angle workspace. Position workspace indicates the region reached by the reference point on the end-effector. Orientation angle workspace indicates a set of angle ranges by which the end-effector can reach with certain orientation for every point in the reachable position workspace. By introducing a virtual equivalent mechanism, reachable position workspace can be divided into several Grashof intervals and non-Grashof intervals. The calculation equations of orientation angle workspace are deduced in three situations according to the relationships among four link lengths in the virtual four-bar chain. Three examples are given for three kinds of relationship of link lengths. The orientation angle workspace of extended groups, that is, two of the three link lengths equal, and the orientation angle workspace when the reference point on the end-effector moves along a non-radial direction are also discussed. A program is developed to calculate orientation angle workspaces and output variation curves of orientation angle workspace and key data within the position workspace. The approach and program in this paper can be used for fast calculation and identification of the variation rule of the orientation angle workspace of any given planar serial three-link manipulator on the basis of its link parameters, and for the design of a highly dexterous serial manipulator with proposed link relations. Supported by the Natural Science Foundation of Shanxi Province (Grant No. 20041070)     

漂移区均匀掺杂SOILIGBT通态电阻模型

在研究影响绝缘层上硅横向绝缘栅双极晶体管通态电阻物理机制的基础上,将通态电阻分解为沟道电阻、漂移区电阻和缓冲层电阻.计算沟道电阻考虑了沟道两侧耗尽层扩展对沟道电阻的影响.计算漂移区电阻时,将漂移区按载流子的分布分为3个部分,然后分别进行求解.然后综合得到SOI LIGBT通态电阻的近似模型,并讨论了影响SOI LIGBT通态电阻特性的主要因素,最后根据讨论结果提出改善措施.     

新型三平移并联机构的工作空间和运动灵活度分析

文章通过位置逆解公式,描述了机构输入与输出速度关系的逆雅可比,对该并联机构作业空间和运动灵活性进行了分析,给出了一尺度参数下机构作业空间及运动灵活性的分布规律。分析表明,该机构具有几何形状规则的作业空间及较好的运动灵活性,是一种较为理想的能实现三维移动操作的并联机构选型,获得的结果可应用于该并联机构的设计之中。     

Temperature compensation method for low cost three-axis MEMS digital angular rate gyroscopes

In recent years, a large number of small volume, low cost micro electro mechanical systems (MEMS) digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields. However, these kinds of gyroscopes have poor performances in initial zero-bias, temperature drift, In-Run bias stability, bias repeatability, etc., their output errors need to be compensated before being used. Based on a lot of experiments, the temperature drift and the initial zero-bias are the major error sources in the MEMS gyroscopes output data. Due to the poor repeatability of temperature drift, the temperature compensation coefficients need to be recalculated every time before using. In order to recalculate parameters of the temperature compensation model quickly, a 1st-order polynomial model of temperature is established, then a forgetting factor recursive least squares estimator will be adopted to identify the model parameters in real time. Static and dynamic experimental data shows that this method removed/compensated the temperature drift and initial zero-bias from the output of the gyroscopes effectively.     

喷浆机器人的工作空间仿真研究

对喷浆机器人的工作空间做了描述 ,并对其工作空间横断面进行了仿真分析 ,结果表明 ,喷浆机器人工作空间的形状与巷道断面非常吻合 ,且工作空间没有空腔和空洞     

六自由度Stewart平台四维工作空间搜索方法

针对某型6-DOF Stewart仿真平台绕Z轴转角范围大的要求,提出通过搜索四维工作空间来选择杆长参数的方法.首先将输入的连杆长度均分为若干离散值,6组离散杆长值组合出平台的杆长输入量;然后利用位置正解算法求出对应的上平台位置姿态解,除去其中不满足铰链转角约束和具有奇异位形的解;最后将离散的平台可达位置点组成位置可达空间并划分为若干等体积区域,将每个区域内离散位置点姿态角变化范围的加权函数值作为该区域所有点的第四维坐标.四维工作空间具有可视化的直观效果,其搜索方法简单易行,为某型平台杆长参数的选取提供了依据.     

Orientation density and workspace analysis of a parallel stabilized platform testing system

An optimized workspace calculation method is proposed for parallel stabilized platform testing systems.This method refines the searched space progressively in order to approach the boundary of the workspace from both the inside and the outside of it.The orientation density is defined and used as an evaluation index to calculate the orientation workspace.The algorithm of the orientation density is embedded into the computer program of the workspace calculation.Then the workspaces of the testing system are solved.In the solution,the orientation density is regarded as a discrete function of the reachable workspace.As a result,the reachable workspace and the orientation workspace are represented in the same multidimensional graphs.Finally the useful workspace of the testing system is determined based on these results.This case study indicates that the calculation efficiency is enhanced by adopting the optimized method and the practicability of workspace study is improved by proposing the orientation density.     

六自由度并联机器人工作空间分析

介绍了基于并联机构运动学逆解的并联机构工作空间极限边界数值搜索算法,对六自由度并联机器人的位置工作空间、姿态工作空间以及考虑了关节几何约束的并联机器人的工作空间等问题作了讨论,并得到了并联机器人工作空间的实体模型．     

新型码垛机器人工作空间及影响系数分析

针对一种新型码垛机器人,利用D-H方法建立了其运动学模型,然后利用数值方法在考虑各参数边界条件的基础上对其运动学方程进行求解,得到了机器人工作空间的三维图和二维截面图。在此基础上,提出并定义了机器人工作空间影响系数,进一步求得了机器人杆长和转角参数对其工作空间的影响系数曲线,定量分析了机器人两个结构参数的变化对工作空间的影响,从运动学角度为机器人结构优化和设计提供了依据。