空间机器人抓捕任务的六自由度同步控制逼近策略

利用空间机器人抓捕目标卫星是航天器在轨服务的主要模式之一.针对空间机器人对无控旋转卫星的抓捕逼近问题,为了提高适合抓捕的时间范围,研究了六自由度(6-DOF)同步控制逼近策略.采用修正罗德里格斯参数描述姿态,给出了无控旋转卫星的运动模型;假设空间机器人采用动量轮控制姿态,通过分开处理轨道同步和姿态同步建立了6-DOF同步控制问题模型;考虑惯量参数的不确定性,利用自适应输出反馈控制原理,分别推导了轨道同步和姿态同步跟踪控制律.仿真算例表明在空间机器人惯量参数不确定和摄动作用下可以有效实现同步跟踪.     

Experimental study of transient pressure wave in the behind armor blunt trauma induced by different rifle bullets

Pressure wave plays an important role in the occurrence of behind armor blunt trauma (BABT), and ballistic gelatin is widely used as a surrogate of biological tissue in the research of BABT. Comparison of pressure wave in the gelatin behind armor for different rifle bullets is lacking. The aim of this study was to observe dynamic changes in pressure wave induced by ballistic blunt impact on the armored gelatin block and to compare the effects of bullet type on the parameters of the transient pressure wave. The gelatin blocks protected with National Institute of Justice (NIJ) class III bulletproof armor were shot by three types of rifle bullet with the same level of impact energy. The transient pressure signals at five locations were recorded with pressure sensors and three parameters (maximum pressure, maximum pressure impulse, and the duration of the first positive phase) were determined and discussed. The results indicated that the waveform and the twin peak of transient pressure wave were not related to the bullet type. However, the values of pressure wave’s parameters were significantly affected by bullet type. Additionally, the attenuation of pressure amplitude followed the similar law for the three ammunitions. These findings may be helpful to get some insight in the BABT and improve the structure design of bullet.     

On Growing Operating Costs in the Armed Forces

Operating costs per unit of input or output are often claimed to grow faster in defence than elsewhere in the economy. In this paper, we outline several possible reasons as to why operating costs increase at higher rates in defence, including differences in the input factor mix and productivity growth, the technological complexity required to maintain the relative effect of weapon systems and a gradual reduction in the number of units and activity. We investigate whether operating costs grow at a faster rate than elsewhere in the economy, by estimating growth in real output unit costs in the Norwegian Armed Forces for the period 1994–2013, using activity as a measure of output. We find no increase beyond general inflation in structural (fixed) costs, whereas activity-based (variable) costs per unit of activity increase significantly.