采用双软核处理器的XYZ平台控制系统设计

用双软核心处理器设计出XYZ平台运动控制系统。采用双Nios II软核处理器,分别用于处理与上位机的通信接口和对指令的编译、译码及前瞻处理。开发硬件插补模块作为协处理器,完成精插补和自动加减速等功能。该控制系统可实现两轴或三轴直线插补,任意两轴圆弧插补。采用多核SOC并行处理提高了系统的插补精度和进给速度。     

基于互相关平动补偿的外辐射源成像技术

基于已有的无源雷达成像算法均未考虑目标的平动补偿问题,利用短时间内两次回波的强相关性,通过估计两次回波相关函数的最大值来估计补偿因子,进行平动补偿,然后利用直接FFT成像方法来对运动目标进行成像。仿真实验表明提出的互相关平动补偿算法在考虑了目标实际运动情况下,可以获得良好的成像质量。     

The “dynamics” of Leibnizian relationism: Reference frames and force in Leibniz's plenum

This paper explores various metaphysical aspects of Leibniz's concepts of space, motion, and matter, with the intention of demonstrating how the distinctive role of force in Leibnizian physics can be used to develop a theory of relational motion using privileged reference frames. Although numerous problems will remain for a consistent Leibnizian relationist account, the version developed within our investigation will advance the work of previous commentators by more accurately reflecting the specific details of Leibniz's own natural philosophy, especially his handling of the dynamical interactions of plenum bodies.     

飞行模拟器六自由度运动系统的实验研究

介绍了自主研制的飞行模拟器液压六自由度运动系统试验样机,并以该样机为试验研究对象,对其控制系统的特点和适用的控制策略作了探讨,提出了具有输入、输出前馈补偿的模糊自适应PID控制策略。并用该控制方法,对并联六自由度运动系统的运动性能作了实验研究,结果表明所研制的试验样机是成功的,为飞行模拟器六自由度运动系统的工程实践和并联六自由度运动系统在其它领域中的扩大应用奠定了一定基础。     

Experimental research and statistical analysis on the dielectric properties of lunar soil simulators

To support the microwave brightness data retrieval of future China space-borne lunar exploration microwave radiometer, based on the collection of plentiful terrestrial basalts and anorthosites and their chemical compositions got by X-ray fluorescence, nine lunar soil simulators were prepared and made respectively into 0.8, 1.0, 1.2, 1.4 and 1.6 g/cm3 five densities each. We measured their relative dielectric constants over the range of 0.5-20 GHz with open-ended coaxial line model on the HP8722C Network Analyzer and then processed and analyzed the measurement data. This study shows that among the three parameters of density, frequency and composition, density has the strongest effect on the relative dielectric constants, frequency comes second, composition the least. The three parameters account for 45%, 33% and 22% respectively of the changed real part of a relative dielectric constant, and 55%, 27% and 19% respectively of the changed imaginary part. The real parts of the relative dielectric constants are linearly linearly correlated with density or frequency, and the imaginary parts have a linear relation with both approximately over the range of 0.5-10 GHz and tend to be poorly correlated with them in 10-20 GHz. The effect of composition on a relative dielectric constant seems very complicated, both probably do not follow a simple function relation, with the least correlation. Multiple regression analysis indicates that major element oxides SiO2, Al2O3, CaO, MgO, TiO2 and AFe are correspondent to a one-order polynomial, and TiO2 or AFe or TiO2 ΔFe has not been proven to be the indicators in the contribution to the relative dielectric constants.     

基于SRML的QSIM模型表示

基于web的建模与仿真研究需要满足web开发的基本要求,即模型和仿真过程能够在万维网(WWW)上以标准的形式被服务、接收和处理。本文在现有仿真参考标记语言(SRML)和仿真参考仿真器(SRSimulator)的基于web的仿真技术基础上,提出了基于web的QSIM模型表示方法,在QSIM算法的输入模型和SRML之间建立了映射关系,并构造了基于web的定性仿真框架。     

航天测控系统通用仿真平台

建立能够囊括所有航天器类型的三种航天器仿真模型、提出航天器动力学仿真通用积分右函数、构造三种类型的地面测控网仿真模型、设计通用仿真软件、基于动态链接库,建立动态映射技术,完成航天器遥测、遥控专用仿真软件与通用仿真软件的动态链接。融合了物理仿真和数学仿真、统一了航天器仿真和地面测控网仿真、实现了多航天器、多中心、多测站、多频段、高效率的航天测控系统通用仿真。     

基于日内流动性模式的最优变现策略

考虑到交易的价格影响是该时刻的交易量与市场流动性折扣的函数,假设风险资产价格服从算术布朗运动,以及分别在不考虑日内流动性模式,考虑L形和U形日内流动性模式的基础上,采用拉格朗日运动方程以及Frobenius方法,得到了大额风险头寸的日内最优变现策略.结果表明,最优变现速度与投资者的风险厌恶程度、资产波动率成正比;与临时性冲击系数、日内流动性折扣系数成反比.上述三种情形下的最优变现策略模式分别呈L形、反S形或倒J形、倒J形或反S形.     

加强社会救助立法完善人权保障体系

社会救助权是联合国有关人权公约所倡导的一项基本人权,也是我国宪法赋予公民的一项基本权利。社会救助法是社会保障体系的基础和重要的分支,但是根据我国基本国情,实行社会保障综合立法还有困难,当务之急是制定《社会救助法》这部单行法律,建立起以社会救助法这部单行法为核心内容的社会保障法律体系,确保低水平的社会保障体系的建立和保障公民基本人权的实现。     

足球机器人运动控制算法研究

在建立基于小转角的足球机器人运动学模型的基础上,提出了单神经元自适应PID控制算法和基于Kalman滤波的PID控制算法.通过仿真分析,系统在单神经元自适应PID控制下,超调量、上升时间和峰值时间分别是常规PID控制下的30.7%,54.3%和72.7%,完全满足足球机器人现场比赛竞技性的要求;基于Kalman滤波的PID控制能够抑制干扰,提高控制精度,控制效果明显改善.