Feasibility Analysis of IMA Configuration Design Tool

With the widespread application of integrated modular aviation(IMA)electronic systems,the requirements of IMA characteristic analysis and configuration generation have also improved significantly."Configuration and design system based on AADL models(real-time,reliability,interactive complexity,and schedulability)analysis of the AADL model"mainly get through key characteristic analysis for optimization,combined with input of component parameter information and constraint information,assist designers in generating system configuration information,and form a comprehensive modular avionics system resource configuration strategy generation platform.Also,the tool can generate configuration plans for avionics system software and hardware physical architecture configuration.The analysis of the avionics system model mainly involves designers inputting the existing system model architecture for multi characteristic analysis,it can realize the multi-character analysis based on software intensive system architecture models for software dense systems.Inter-complexity and schedulability analysis,and according to characteristic constraint analysis、system model assessment parameters and system architecture constraint parameters to generate configuration scheme information that meets the requirements.The system can meet domestic and foreign software-intensive systems and meet its quality requirements.

Predicting configuration performance of modular product family using principal component analysis and support vector machine

A novel configuration performance prediction approach with combination of principal component analysis(PCA) and support vector machine(SVM) was proposed.This method can estimate the performance parameter values of a newly configured product through soft computing technique instead of practical test experiments,which helps to evaluate whether or not the product variant can satisfy the customers' individual requirements.The PCA technique was used to reduce and orthogonalize the module parameters that affect the product performance.Then,these extracted features were used as new input variables in SVM model to mine knowledge from the limited existing product data.The performance values of a newly configured product can be predicted by means of the trained SVM models.This PCA-SVM method can ensure that the performance prediction is executed rapidly and accurately,even under the small sample conditions.The applicability of the proposed method was verified on a family of plate electrostatic precipitators.

Customer-oriented Configuration Model for Modular MechatronicProducts: Application in Industrial Robot Design

The contradiction between manufacturing costs and customer demand of mechatronic products can be balanced by configuration design. The article proposes a customer-oriented configuration model for modular mechatronic products which makes up the shortfall in meeting customer needs for the traditional configuration de- sign mode. The elements of the modular mechatronic products configuration model including module, module connection and configuration knowledge are analyzed. And a formal representation method for configuration model elements combining with their characteristics is given. Based on the above research, an abstract configuration model of modular mechatronic products is designed. Finally, an industrial robot is used as an application exam- ple to build a customer-oriented industrial robot configuration model.

Feasibility neutronic design for the reactor core configurations of a 5 MWth transportable block-type HTR

Small long-life transportable high temperature gas-cooled reactors(HTRs) are interesting because they can safely provide electricity or heat in remote areas or to industrial users in developed or developing countries.This paper presents the neutronic design of the U-Battery,which is a 5 MWth block-type HTR with a fuel lifetime of 5–10 years.Assuming a reactor pressure vessel diameter of less than 3.7 m,some possible reactor core configurations of the 5 MWth U-Battery have been investigated using the TRITON module in SCALE 6.The neutronic analysis shows that Layout 12×2B,a scattering core containing 2 layers of 12 fuel blocks each with 20% enriched235U,reaches a fuel lifetime of 10 effective full power years(EFPYs).When the diameter of the reactor pressure vessel is reduced to 1.8 m,a fuel lifetime of 4 EFPYs will be achieved for the 5 MWth U-Battery with a 25-cm thick graphite side reflector.Layouts 6×3 and 6×4 with a 25-cm thick BeO side reflector achieve a fuel lifetime of 7 and 10 EFPYs,respectively.The comparison of the different core configurations shows that,keeping the number of fuel blocks in the reactor core constant,the annular and scattering core configurations have longer fuel lifetimes and lower fuel cost than the cylindrical ones.Moreover,for the 5 MWth U-Battery,reducing the fuel inventory in the reactor core by decreasing the diameter of fuel kernels and packing fraction of TRISO particles is more effective to lower the fuel cost than decreasing the 235U enrichment.

可变形模块化履带机器人构型转换原理与验证

为实现机器人在不同环境中能够通过改变自身构型跨越障碍并完成任务,需对可变形模块化履带机器人构型之间的相互转换进行研究。以具有27种构型的机器人为研究对象,该机器人构成一个构型网络,每种构型被定义为加权定向构型网络中的一个节点。从一种构型到另一种构型的转换由非负权值的有向路径表示,权值均为1。采用Floyd算法,通过对距离矩阵和路由矩阵的迭代计算,求出构型网络中任意2种构型之间相互转换的最短步数与经过的中间构型。实物实验给出了可变形模块化履带机器人27种构型之间的相互转换以及面对不同环境以不同的构型应对的结果。实验结果表明,该机器人可以通过最短路径实现构型之间的相互转换,并且随着所处环境的不同,机器人可以改变自身构型顺利跨越障碍并完成任务。

基于机构和机器组成原理的机构结构化正向设计方法

针对功能需求到结构方案的创新设计问题,提出了一种基于机构和机器组成原理的机构结构化正向设计方法。首先,基于状态变换空间方法,建立了基本机构单元库,设计了机构构型与尺度,求解了机构的多样化运动方案;然后,根据运动副的约束类型和性质,建立了运动副的几何约束构型,利用优化设计方法,设计了运动副结构方案;研究了复合构件的载荷、约束与结构尺度的关系模型,提出了复合构件的概念单元设计方法,设计了执行与传动机构及驱动构件;最后,遵循零件性能(强度、刚度)要求与工艺性准则,建立了机构单元结构及整机结构设计方法,并使用压力机进行了案例验证。研究结果表明:根据设计方法可得到5种一级机构、105种二级机构、735种三级机构及6种移动副方案和15种回转副方案,组合设计出的压力机方案可满足设计要求,验证了该方法的有效性,证明该机构结构化正向设计方法可为解决机构和机器创新设计问题提供新途径,缩短设计周期。

面向批产模式的小卫星构型与总装设计研究

中国小卫星的批量生产和发射大多集中在微纳卫星领域.目前,百千克级以上的小卫星设计制造只是对传统模式的改进优化,从构型及总装的设计上就决定了生产阶段无法实现大量批产.而国外具有代表性的批产型卫星构型并不适应中国单机的技术现状,载荷适应性较差.结合现阶段单机及总装的研制技术状态,提出了批产型小卫星构型和总装设计思路,分别从批发射、模块化、标准化、智能化及低成本5个方面阐述了适应批产模式的小卫星构型设计和总装设计的原则、方法,并在工程实践的基础上提出了发展思路,可供后续同类型小卫星构型与总装设计参考.

一种单元化、可拓展的电子设备机箱构型研究

为了满足设备硬件的可在线升级需求,实现设备功能结构的可重构,论文依据长期的电子机箱设计经验,结合工程实际提出了一种模块统形,单元化划分的方法,设计了一种单元化、可拓展机箱的结构构型。将模块划分为结构、电气接口一致的标准模块单元,之后根据功能选择模块单元拼接成机箱。文章通过ANSYSWorkbench和ICEPAK对机箱的力学性能和散热性能进行了评估,结果表明该机箱可以满足上装设备试验要求。该机箱构型适应综合化的发展趋势,同时具备现有综合化设备不具备的结构简单,构型灵活等优点,对相关设计具有一定的参考价值。

基于模块化的制动系统构型管理

制动系统作为轨道车辆的核心系统部件,需求种类多,产品设计复杂,开发和维护周期长,对其安全性要求高。目前中车制动利用传统的基于零件的产品管理模式,其变更流程缺乏统一控制,产品数据难以追溯,后期可维护性差。通过借鉴国内外飞机制造企业的构型管理模式,分析构型管理的概念和必要性,建立轨道车辆的模块化产品结构,以青岛4号线为例,对制动系统产品进行模块化产品构型,建立基于模块化的制动系统产品构型管理体系,产品变更只在模块内进行,从而简化产品变型控制,提高构型管理效率。应用产品管理数据产品Teamcenter的有效性配置功能,可实现产品数据在全生命周期内的可追溯,进一步提高中车制动数字化能力。

光储一体化换流器接入光储容量及MMC换流器配置研究

光伏输出功率具有很大的波动性、随机性和间歇性,对电网的安全稳定运行将造成很大影响。文章研究面向百兆瓦级集中式光伏电站中光伏阵列、储能装置及基于MMC的光储一体化换流器容量配置方案。针对光伏容量配置,考虑直流超配补偿损耗。储能容量由求解双层优化模型得到,内层模型考虑光储一体化系统优化调度,优化各时段储能系统的充放电,外层以经济性最优为目标。考虑构网支撑的能力要求提出变流器容量配置,形成适用于百兆瓦级光伏电站并网的换流器的容量设计。能够实现数百个光伏阵列、储能装置分布式灵活接入,以及大容量光伏发电的集总输出与电能的灵活调控,为模块化多电平光储一体化逆变器的样机奠定基础。

Locomotion and Depth Control of Robotic Fish with Modular Undulating Fins

This paper presents an environmental-friendly robotic system mimicking the undulating fins of a fish.To mimic the actual flexible fin of real fish,a fin-like mechanism with a series of connecting linkages is modeled and attached to the robotic fish,by virtue of a specially designed strip.Each link is able to turn and slide with respect to the adjacent link.These driving linkages are then used to form a mechanical fin consisting of several fin segments,which are able to produce undulations,similar to those produced by the actual fish fins.Owing to the modular and re-configurable design of the mechanical fin,we are able to construct biomimetic robotic fish with various swimming modes by fin undulations.Some qualitative and workspace observations by experiments of the robotic fish are shown and discussed.

Modular Combination Design of Mine Rescue Capsule Based on Load Simulation

Mine rescue capsule is a typical emergency equipment in a coal mine.It provides a safe and confined space for miners when mining disasters occurred.The length of the passenger survival cell is suitable to be adjusted with several predefined modular cells according to various numbers of passengers.Aiming at the shortage of guidance rules for the modular combination design of mine rescue capsule,the configuration situations of survival cells are experimented with static and impact load analysis in ANSYS Workbench.The length range of a single cell,the combination schemes of miner survival section,and the effectiveness proof of assembled rescue capsules were solved sequentially by simulated load analysis on constructed structural models.The modular combination rules of the survival section are developed for variant passenger number ranging from 8 to 20.It also provides a reference for the optimal selection of rescue capsules with the same capacity.The proposed modular rules are effective for the rapid configuration design for mine rescue capsule driven by the number of passengers.

适应新型电力系统的安全稳定控制系统及装置设计方法

传统安全稳定控制系统(简称“稳控系统”)的技术模式及架构体系已无法满足新型电力系统发展趋势下的高要求。该文针对新型电力系统对安全稳定控制领域带来的新要求和新挑战,提出了适应海量多类型控制资源接入和复杂多变运行方式的新型稳控系统架构,构建了新型稳控装置的标准化、数字化技术体系;提出了稳定控制策略的轻量化建模方案,形成了稳控装置功能策略的灵活组态方法。所形成的设计方案已初步在电网实际安全稳定控制系统中应用。

计及系统过电压的直流配电网接地方式选择与绝缘配置

过电压特性与系统接地方式密切相关,对关键设备选取、设计具有重要意义,但目前在直流配电网中结合过电压分析进行接地方式选择的研究仍不完善。文中首先基于模块化多电平换流器(modular multi-level converter,MMC)型±10 kV双端直流配电网分析过电压产生机理,并通过PSCAD/EMTDC平台的故障仿真,对比3种典型接地方式下系统关键位置的过电压峰值。然后,提出综合故障恢复能力、经济性、电压稳定性、过电压峰值作为指标进行接地方式的选择,评估得出交流侧变压器中性点经电阻接地、直流侧不接地为所研究系统的优选接地方式。最后,基于荷电率计算设计方法确定相应的避雷器参数与配置方案,并通过仿真进行了有效性验证。研究结论为直流配电网接地方式选择与绝缘配置提供了参考。

基于群智能体深度强化学习的模块化机器人自重构算法

模块化机器人是由一定数量、具有独立功能的标准模块组合而成的。自重构问题是目前模块化机器人研究领域的热点与难点。传统的图论算法或者搜索算法在模块数量较多、复杂度较大时,无法在多项式时间内寻找到通用最优解。文中从群智能体深度强化学习的角度出发,将每个同构模块视为具有学习与感知能力的单智能体,提出了基于QMIX的模块化机器人自重构算法。针对该算法,设计了一种新型的奖励函数,并在限制智能体的动作空间的基础上,实现了智能体并行化移动,在一定程度上解决了多智能体之间的协调合作问题,从而实现了从初始构型向目标构型的转变。实验以9个模块为例,对比了该算法与基于A*的传统搜索算法在成功率以及平均步数上的差异。实验结果表明,在时间步数限制合理的情况下,基于QMIX的模块化机器人自重构算法的成功率能够达到95%以上,两种算法的平均步数大约在12步左右,QMIX自重构算法能够逼近传统算法的效果。

模块化抛物面折展机构设计与优化

抛物面天线作为卫星上重要的功能组件,是实现遥感测量和无线通信等功能的基础。为了解决模块化抛物面天线折展机构构型设计与刚度匹配困难的问题,提出一种基于剪刀机构的肋单元折展机构的构型方法,并设计了肋单元折展机构。通过运动学分析,验证了该机构通过参数的修改,可以实现同一折展机构展开状态包络不同抛物面拟合球面。给出一种包络锥法实现多模块折展机构展开过程的求解思路,为可转动肋单元的运动副配置提供依据。构建多模块折展机构的有限元模型,以提高固有频率和降低整体质量为优化目标,对肋单元折展机构的构型参数进行优化。采用非劣排序遗传算法完成优化迭代计算,得到具有高刚度、轻量化的折展机构设计参数,在相同条件下优化后调和平均固有频率提高了67.4%,天线整体质量下降了35.2%。

多链可重构模块化机器人的构型转换

可变形指尖陀螺是一种流行的玩具,其多链、可变形的优点为空间机器人提供了一种方案。以此玩具为启发,结合链型机器人灵活多变的特点,引入了多链可重构模块化机器人。以构型分析及构型转换策略为重点对多链可重构模块化机器人的拓扑构型展开研究,使其改变拓扑构型来适应不同任务。首先,结合整数拆分及排列组合,建立了适用于正六边形基座的模块化机器人基本非同构构型库,提出了一种非同构构型枚举算法,该算法表明非同构构型数随模块数的增加呈指数型增长;其次,以构型转换为核心,定义了基于结构特征的等价关系库,设计了一种构型匹配的重构策略来完成构型间的最优匹配与转换;最后,通过演示与仿真,验证了重构策略的有效性。

民用飞机航电接口正向设计方法研究

基于采用综合模块化航电系统的民用飞机,提出了一种由功能接口定义到物理接口定义的机载系统航电接口定义正向设计方法。首先对接口进行了分类定义,阐述了航电接口设计过程与民用飞机全生命周期各研制阶段的对应关系。针对功能接口定义,提出了一种使用Capella建模工具的接口设计方法。针对航电接口定义(包括软硬件定义、端口定义和传输数据定义等),提供了设计过程、流程和方法。最后,结合该航电接口定义正向设计方法给出了具体案例供工程实施参考。

Center-configuration selection technique for the reconfigurable modular robot

The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the reconfigurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system＇s actual applications. In this paper, a novel center-configuration selection technique has been proposed for re- configurable modular robots. Based on the similarities between configurations＇ transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest center-configuraUon coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation （SIA）, Chinese Academy of Sciences （CAS）, has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center-configuration selection example is provided with consideration of the adjacent configurations. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots.

Configuration analysis of a chain-type reconfigurable modular robot inspired by normal alkane

Normal alkane is an unbranched alkane whose structural formula is H–CH2–CH2–…–CH2–…–CH2–H,which can be regarded as a reconfigurable chain-type structure composed of–CH2–modules.Inspired by normal alkane,a normal-alkane-like reconfigurable modular robot (NAR) is proposed.The module consists of two differential gear trains mounted orthogonally.Each differential gear train contains two input degrees of freedom and two output degrees of freedom.Due to the genderless interface design,multiple modules can be assembled into chain-type configuration.With the genderless interfaces and flexible degrees of freedom,NAR can be reconfigured into different dimensions of spatial configuration.The bond matrix is used to describe the configuration,which represents the bond attitude of the adjacent connected modules.In addition,full interconnected geometric feature (FIGF) algorithm is proposed for non-isomorphic configuration enumeration and judgment.The configurations with three modules are simulated and the results verify the feasibility of the algorithm.Finally,a prototype with three modules is fabricated and the configuration motion sequence is demonstrated.