由于非合作目标惯性参数的不确定性以及双臂操控目标的拉扯/挤压作用,空间双臂机器人稳定非合作目标的过程中机械臂末端与目标可能产生过大的接触力与力矩,从而可能对目标造成损伤.针对该问题,提出了一种协调稳定控制方法,通过协调双臂期望运动实现双臂末端与目标交互的柔顺,降低稳定过程中产生的接触力与力矩.首先,利用目标惯性参数的估值规划稳定运动轨迹;然后,利用柔顺等式建立调整稳定运动轨迹的内外双环,分别针对目标惯性参数不确定性的影响和双臂末端对目标的拉扯/挤压,对期望运动进行调整,得到实现机械臂末端与目标接触柔顺的安
The transit time difference of fluid particles moving along the upper and lower surfaces of a lift-producing airfoil is studied here both theoretically and numerically.We show that,under thin airfoil assumption and for potential flow,the transit time diff
The performance of turbomachinery is largely affected by the nonuniform boundary conditions caused by the coupling between neighboring parts,such as the inlet distortion and hot streak.Existing works study this problem by comparing the flow fields with un
Manufactured blades are inevitably different from their design intent,which leads to a deviation of the performance from the intended value.To quantify the associated performance uncertainty,many approaches have been developed.The traditional Monte Carlo
The application of grooved surface structure is an emerging and effective means in tur-bulence flow control.However,for a realistic configuration,the global flow field described directly by simple application of massive grids makes it unfeasible to simula
Threaded fasteners naturally tend to loosen under vibration,impact,or alternating ther-mal load.Various anti-loosening methods or strategies are widely applied for preventing loosening,including a few anti-loosening designs and anti-loosening structures.I
The deviations of trajectory and attitude angle for internal store separation are evaluated by two wind tunnel test methods.One is the Freedrop Test (FDT),which is known as unsteady and time-dependent method of scaled model.The other is the Captive Trajec
Flow separation due to shock wave/boundary layer interaction is dominated in blade passage with supersonic relative incoming flow,which always accompanies aerodynamic perfor-mance penalties.A loss reduction method for smearing the passage shock foot via S
The thermal radiation of micron-sized condensed phase particles plays a dominant role during the heat transfer process in aluminized Solid Rocket Motors (SRMs).Open research mainly focuses on the radiative properties of alumina particles while the study c