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。     

A reusable planar triggered spark-gap switch batched-fabricated with PCB technology for medium-and low-voltage pulse power systems

Triggered spark-gap switch is a popular discharge switch for pulse power systems. Previous studies have focused on planarizing this switch using thin film techniques in order to meet the requirements of compact size in the systems. Such switches are one-shot due to electrodes being too thin to sufficiently resist spark-erosion. Additionally, these switches did not employ any structures in securing internal gas composition, resulting in inconsistent performance under harsh atmospheres. In this work, a novel planar triggered spark-gap switch (PTS) with a hermetically sealed cavity was batched-prepared with printed circuit board (PCB) technology, to achieve reusability with low cost. The proposed PTS was inspected by micro-computed tomography to ensure PCB techniques meet the requirements of machining precision. The results from electrical experiments demonstrated that PCB PTS were consistent and reusable with lifespan over 20 times. The calculated switch voltage and circuit current were consistent with those derived from real-world measurements. Finally, PCB PTS was used to introduce hexanitrostilbene (HNS) pellets in a pulse power system to verify its performance.     

Thermodynamics and performance of Al/CuO nanothermite with different storage time

The storage stability of energetic materials is important for its application. Here, the storage stability of Al/CuO nanothermite, which was prepared by electrospray method and stored with different storage time, was systematically researched. The activation energy of Al/CuO nanothermite was calculated by differential scanning calorimetry (DSC). The ignition temperature and the curve pressure history of Al/CuO nanothermite was measured using ignition temperature measuring device and constant-volume pressurization tests, respectively. Further, the thermites were characterized by X-ray Diffractometer (XRD), X-ray photoelectron spectroscopy (XPS), scanning electron microscope (SEM) and Transmission electron microscopy (TEM). The results show that the morphology of the thermites did not change significantly. The activation energy was decreased from 254.1 kJ/mol to 181.8 kJ/mol after storage for 13 months. When stored for 0, 7 and 13 months, the peak pressures of Al/CuO nanothermite were 685.8 kPa, 626.3 kPa and 625.5 kPa, respectively. In addition to the ignition temperature, it was 775 ℃, 739 ℃ and 754 ℃, respectively. This result indicated that the ignition and combustion properties of Al/CuO nano-thermite are obviously reduced when stored for a long time, at room temperature.     

A method to determine the shell layout scheme for equipment battlefield damage tests under artillery fire

In this paper,a new method for determining the shell layout scheme is proposed,which can make the equipment damage data by the battlefield damage test resemble as close as possible the actual combat data.This method is based on the analysis of the impact point distribution and effective damage area of equipment.In order to obtain the position of the impact points,an impact point distribution model under artillery fire was established.Similarly,in order to obtain the effective damage area of equipment,the concepts of generalized damage area and task-based equipment functional damage probability were demonstrated,and the corresponding calculation model was established.Through case analysis,the shell layout scheme was effectively obtained,verifying the correctness of the proposed method.     

抗日经济战探析

中国抗日战争的胜利,经济战起着基础性的至关重要的作用。抗日战争期间,国共两党采取了许多富有成效的经济战措施。自“硬冷战”结束后,当代世界进入了经济“软热战”的时代,总结抗日经济战经验,对于今日中国仍有警示和借鉴意义。     

直接免疫PCR方法的建立

免疫PCR基本原理与ELISA相似,即用一段可扩增的DNA分子代替ELISA中酶放大检出信号,建立了直接免疫PCR的检测蓖麻毒素技术,实验结果表明,其灵敏度达1pg／ml,比ELISA方法灵敏度高10^3倍.     

八一三淞沪抗战中国军队参战部队考

八一三淞沪抗战中国军队参战部队究竟有多少?本文经过大量的史料资理及参订,认为参战部队共73个师、又11个旅。作为一家之言,以飨读者。     

基于Z形式化规范的多Agent协作模型研究

用形式化规范语言Z定义了多A gen t协作模型的基本元素,包括:A gen t、目标、角色、交互协议和过程,给出了应满足的一致性约束,并通过城市区域的连锁超市物流调度系统说明了该形式化规范为多A gen t协作提供了一致性和连贯性。     

发动机内流场湍流数值模拟

以可压缩的全Ｎ－Ｓ方程为控制方程,用显式有限差分格式对燃烧室－－喷管轴对称湍流内流场进行了数值模拟。计算中采用ＭａｃＣｏｒｍａｃｋ两步显格式和Ｂａｌｄｗｉｎ－Ｌｏｍａｘ代数湍流模型,得到了管状装药发动机内流场的数值解,取得了令人满意的结果。此方法对发动机的设计有实际的工程参考价值。     

基于小波分析的柴油机燃油系统故障诊断研究

提出了一种基于小波变换的柴油机燃油系统故障诊断方法。利用夹持在高压油管上的传感器对高压油管外壁弹性变形进行检测,在12150L柴油机喷油泵实验台上进行了大量的实验,对测得的高压油管压力波形进行小波变换,提取反映燃油系统故障状态的特征向量,通过特征参数的变化能有效地诊断燃油系统的各种典型故障。