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主动自适应悬架机器人概念样机及其配置模型和方法 被引量:5
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作者 尚建忠 张新访 +1 位作者 罗自荣 宋春霞 《国防科技大学学报》 EI CAS CSCD 北大核心 2006年第2期93-96,101,共5页
未来的空间探测要求机器人系统具备高可靠性、高移动性,以胜任未知非结构的地理环境。结合自适应悬架机器人和主动悬架机器人的优点,创新提出主动自适应悬架机器人的概念。它是一类具有主动配置功能的自适应悬架机器人,在一般复杂地形... 未来的空间探测要求机器人系统具备高可靠性、高移动性,以胜任未知非结构的地理环境。结合自适应悬架机器人和主动悬架机器人的优点,创新提出主动自适应悬架机器人的概念。它是一类具有主动配置功能的自适应悬架机器人,在一般复杂地形环境下,利用移动机构的超静定特性自适应地形,在极端复杂环境下,主动调整悬架结构等移动机构的运动配置适应地形变化,获取最佳移动性能。设计了一种六轮主动自适应悬架样机,可实现折叠、翻到后起身,建立了机器人移动性能综合评价模型,并给出了相应的配置模型和主动配置方法,通过主动配置可明显提高主动自适应悬架机器人的移动性能。 展开更多
关键词 空间控测 机器人 主动配置 自适应 悬架
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Multimode Process Monitoring Based on Fuzzy C-means in Locality Preserving Projection Subspace 被引量:5
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作者 解翔 侍洪波 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2012年第6期1174-1179,共6页
For complex industrial processes with multiple operational conditions, it is important to develop effective monitoring algorithms to ensure the safety of production processes. This paper proposes a novel monitoring st... For complex industrial processes with multiple operational conditions, it is important to develop effective monitoring algorithms to ensure the safety of production processes. This paper proposes a novel monitoring strategy based on fuzzy C-means. The high dimensional historical data are transferred to a low dimensional subspace spanned by locality preserving projection. Then the scores in the novel subspace are classified into several overlapped clusters, each representing an operational mode. The distance statistics of each cluster are integrated though the membership values into a novel BID (Bayesian inference distance) monitoring index. The efficiency and effectiveness of the proposed method are validated though the Tennessee Eastman benchmark process. 展开更多
关键词 multimode process monitoring fuzzy C-means locality preserving projection integrated monitoring index Tennessee Eastman process
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Design of Central Management & Control Unit for Onboard High-Speed Data Handling System 被引量:4
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作者 LI Yan-qin JIN Sheng-zhen NING Shu-nian 《Journal of China University of Mining and Technology》 EI 2007年第1期68-72,共5页
The Main Optical Telescope (MOT) is an important payload of the Space Solar Telescope (SST) with various instruments and observation modes. Its real-time data handling and management and control tasks are arduous. Bas... The Main Optical Telescope (MOT) is an important payload of the Space Solar Telescope (SST) with various instruments and observation modes. Its real-time data handling and management and control tasks are arduous. Based on the advanced techniques of foreign countries, an improved structure of onboard data handling systems feasible for SST, is proposed. This article concentrated on the development of a Central Management & Control Unit (MCU) based on FPGA and DSP. Through reconfigurating the FPGA and DSP programs, the prototype could perform different tasks. Thus the inheritability of the whole system is improved. The completed dual-channel prototype proves that the system meets all requirements of the MOT. Its high reliability and safety features also meet the requirements under harsh conditions such as mine detection. 展开更多
关键词 space solar telescope processing dataflow and control-flow separately onboard data handling system RECONFIGURATION
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On all-propulsion design of integrated orbit and attitude control for inner-formation gravity field measurement satellite 被引量:2
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作者 JI Li LIU Kun XIANG JunHua 《Science China(Technological Sciences)》 SCIE EI CAS 2011年第12期3233-3242,共10页
The inner-formation gravity field measurement satellite (IFS) is a novel pure gravitational orbiter. It aims to measure the Earth's gravity field with unprecedented accuracy and spatial resolution by means of preci... The inner-formation gravity field measurement satellite (IFS) is a novel pure gravitational orbiter. It aims to measure the Earth's gravity field with unprecedented accuracy and spatial resolution by means of precise orbit determination (POD) and relative state measurement. One of the key factors determining the measurement level is the outer-satellite control used for keeping the inner-satellite flying in a pure gravitational orbit stably. In this paper the integrated orbit and attitude control of IFS during steady-state phase was investigated using only thrusters. A six degree-of-freedom translational and rotational dynamics model was constructed considering nonlinearity resulted from quaternion expression and coupling induced by community thrusters. A feasible quadratic optimization model was established for the integrated orbit and attitude control using con- strained nonlinear model predictive control (CNMPC) techniques. Simulation experiment demonstrated that the presented CNMPC aigorithm can achieve rapid calculation and overcome the non-convexity of partial constraints. The thruster layout is rational with low thrust consumption, and the mission requirements of IFS are fully satisfied. 展开更多
关键词 gravity field measurement satellite inner-formation integrated orbit and attitude control model predictive techniques
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