自由飘浮空间机器人准刚性分解运动轨迹控制与仿真

研究轨道空间机器人操作时,基座处于自由飘浮状态的手爪准刚性运动直角坐标轨迹的分解运动控制,重点分析了广义雅可比矩阵的计算,并进行了空间单手３—ＤＯＦ的仿真,该方法可相应推广到开链多手。     

阶比谱分析与汽车起动电机故障的实时诊断

本文主要论述阶比谱分析方法及其在汽车起动电机故障实时诊断中的应用。首先阐述了阶比谱分析的原理以及阶比采样中混迭与泄漏的产生及其抑制方法,然后讨论了如何在起动电机运行过程短、升速快的情况下获取感兴趣的噪声信号,进而采用阶比谱分析方法从信号中提取故障特征信息,最后利用阀值判别法起动电机的故障进行实时诊断。     

D0影响亚硝酸型SND工艺的机理探讨

亚硝酸型SND污水生物脱氮新工艺因兼具短程硝化和同时硝化反硝化工艺的优势而具有很强的开发潜力。在介绍亚硝酸型SND工艺特点之后,着重从微环境理论、微生物特性及化学计量学等角度较为深入地探讨了溶解氧浓度(DO)影响亚硝酸型SND工艺脱氮效果的机理,从理论上进一步证实了DO对于亚硝酸型SND工艺的重要性。     

Force chains based mesoscale simulation on the dynamic response of Al-PTFE granular composites

Force chains based mesoscale simulation is conducted to investigate the response behavior of aluminum-polytetrafluoroethylene (Al-PTFE) granular composites under a low-velocity impact. A two-dimensional model followed the randomly normal distribution of real Al particles size is developed. The dynamic compressive process of Al-PTFE composites with varied Al mass fraction is simulated and validated against the experiments. The results indicate that, force chains behavior governed by the number and the size of agglomerated Al particles, significantly affects the impact response of the material. The failure mode of the material evolves from shear failure of matrix to debonding failure of particles with increasing density. A high crack area of the material is critical mechanism to arouse the initiation re-action. The damage maintained by force chains during large plastic strain builds up more local stresses concentration to enhance a possible reaction performance. In addition, simulation is performed with identical mass fraction but various Al size distribution to explore the effects of size centralization and dispersion on the mechanical properties of materials. It is found that smaller sized Al particle of com-posites are more preferred than its bulky material in ultimate strength. Increasing dispersed degree is facilitated to create stable force chains in samples with comparable particle number. The simulation studies provide further insights into the plastic deformation, failure mechanism, and possible energy release capacity for Al-PTFE composites, which is helpful for further design and application of reactive materials.     

Mechanical behavior and failure mechanism of polyurea nanocomposites under quasi-static and dynamic compressive loading

Polyurea is an elastomeric material that can be applied to enhance the protection ability of structures under blast and impact loading.In order to study the compressive mechanical properties of SiC/polyurea nanocomposites under quasi-static and dynamic loading,a universal testing machine and split Hop-kinson pressure bar(SHPB)apparatus were used respectively.The stress-strain curves were obtained on polyurea and its composites at strain rates of 0.001-8000 s-1.The results of the experiment suggested that increase in the strain rates led to the rise of the flow stress,compressive strength,strain rate sensitivity and strain energy.This indicates that all of the presented materials were dependent on strain rate.Moreover,these mechanical characters were enhanced by incorporating a small amount of SiC into polyurea matrix.The relation between yield stress and strain rates were established using the power law functions.Finally,in order to investigate the fracture surfaces and inside information of failed specimens,scanning electron microscopy(SEM)and micro X-ray computed tomography(micro-CT)were used respectively.Multiple voids,crazes,micro-cracks and cracking were observed in fracture surfaces.On the other hand,the cracking propagation was found in the micro-CT slice images.It is essential to understand the deformation and failure mechanisms in all the polyurea materials.     

加强军队全面建设是党执政的一项重大战略任务--学习《中共中央关于加强党的执政能力建设的决定》

<中共中央关于加强党的执政能力建设的决定>指出,坚持国防建设与经济建设协调发展,建设一支现代化、正规化的革命军队,是党执政的一项重大战略任务.坚持党对军队的绝对领导,加强军队全面建设,既是对我们党取得执政经验的科学总结,又是巩固我们党执政地位的现实保障,同时,加强军队全面建设对提高我们党的执政能力还具有服务和促进的功能.     

基于专家系统的防化保障预案评估研究

人工智能技术在众多领域获得广泛应用．为满足现代战争对防化指挥手段的现代化要求,针对不易量化的防化指挥决策问题的评估,提出了构建知识库并应用模糊推理机制建立专家系统,据此进行防化保障预案的评估选优方法,并对该方法的求解过程进行了探讨．     

军队现代化建设必须以人为本

以人为本是科学发展观的核心,也是指导各项工作的世界观与方法论的集中体现。军队现代化建设坚持以人为本,有着三个相互联系的方面:一是以人为本需要正确处理人和武器的关系,在二者的辩证统一中加强军队现代化建设,是我们必须确立的科学建设理念;二是以人为本只有在军人特别是军官的素质与能力转化中才能得到凸显,这是贯彻以人为本重要的实践原则;三是以人为本还要正确把握军人个人利益与人民利益的联结,自觉无私奉献,坚守革命军人“全心全意为人民服务”的伟大价值取向。     

基于OFDM技术的水声语音通信系统设计与实现

为了克服水声信道具有的有效通信带宽及其时变、空变等特性,采用了能够有效抗频率选择性衰减、抗多径干扰以及具有很高频谱利用率的正交频分复用技术;使用AMBE-2000芯片对语音编码进行压缩,设计了适用于水声信道环境下的实时语音通信系统,并对系统的主要硬件电路和软件设计进行了分析;对语音信号作了插入舒适噪声、回波消除、音量控制等处理;最后,进行了系统联调和水池试验,结果显示:该语音通信系统通话清晰,证明了该系统的有效性和实用性.     

Vague物元及熵权的空袭目标威胁评估

为了应对防空反导作战需求,提出了一种基于Vague物元及熵权的空袭目标威胁评估方法。建立了空袭目标威胁评估复合Vague物元的概念,提出了一种新的将复合Vague物元转化为适合度物元的排序函数,使复合Vague物元便于量化处理,并运用熵权法客观地计算出了各空袭目标属性的权重,根据空袭目标威胁评估物元与正负理想物元的相对贴近度最终得到了目标威胁程度的排序。实例分析验证了该方法的实用性和有效性。