BUFFER AND COMPLIANT DYNAMIC SURFACE CONTROL OF SPACE ROBOT CAPTURING SATELLITE BASED ON COMPLIANT MECHANISM$^{\bf 1)}$

研究了空间机器人在轨捕获非合作卫星过程避免关节受碰撞冲击破坏的缓冲从顺控制问题, 为此在机械臂与关节电机之间配置了一种柔性机构, 其作用在于: (1)在接触、碰撞阶段可通过其内置弹簧的变形来吸收被捕获卫星对空间机器人关节产生的冲击力矩; (2)在镇定运动阶段, 结合与之配合的缓冲从顺控制策略来适时开、关关节电机, 以保证关节受到的冲击力矩受限在安全范围. 首先, 利用多刚体系统理论获得配置柔性机构空间机器人及目标卫星分体系统动力学方程; 之后, 结合整个系统动量守恒关系, 捕获操作后系统运动几何关系及力的传递规律, 建立了两者形成联合体系统的动力学方程, 并计算了碰撞过程的冲击效应与冲击力. 为了实现失稳联合体系统的镇定控制, 提出了一种基于动态面的缓冲从顺控制方案. 上述控制方案可在实现吸收捕获操作产生的冲击力矩的同时, 还能在冲击力矩过大时适时开启、关闭关节电机, 以避免关节电机发生破坏; 此外, 动态面的引入避免了反演法存在的计算膨胀问题, 有效减少了计算量. 基于Lyapunov函数法证明了系统的稳定性, 并通过系统数值仿真结果验证了上述缓冲从顺控制策略的正确性.     

Measurement of Reflected-shock Bifurcation Over a Wide Range of Gas Composition and Pressure

To determine the extent and magnitude of reflected-shock bifurcation in shock-tube chemistry studies at elevated pressures, experiments were performed using a simple laser schlieren technique and a fast- response pressure transducer. The laser schlieren diagnostic provided a quantitative measurement of the normal-shock passage, an event normally obscured in pressure signals by the bifurcated region. A range of gas mixtures covering molecular weights from 14.7 to 44.0 and specific heat ratios from 1.29 to 1.51 was explored. The results were combined with a standard gas dynamic model to determine the time of arrival of the normal shock wave, the size and strength of the bifurcated region, and the characteristic passage times of dominant features. All results could be expressed in empirical correlations as functions of the gas properties and shock speed. The measured size of the bifurcation zone increased with increasing shock velocity and decreasing specific heat ratio, but displayed no pressure dependence for the conditions of this study (P ₅ = 11 − 265 atm., T ₅ = 780 − 1740 K).     

坑道内化爆冲击波的传播规律

装药在坑道内部爆炸时将产生沿坑道传播的空气冲击波,由于受到坑道洞壁的限制,空气冲击波在坑道内的传播规律异于在自由大气中的传播。利用三维数值模拟计算程序,对长坑道中的化爆流场进行了数值计算,归纳出空气冲击波沿坑道方向的传播规律。计算结果与试验结果符合较好。     

激波与火焰的相互作用过程

基于带化学反应的Navier Stokes方程和有关的热力学和反应动力学数据,利用改进的VLS格式,对甲烷 空气混合物中激波与火焰的相互作用进行了数值模拟。根据计算结果,讨论了激波掠过火焰时的变形、分叉和发展,以及激波作用下火焰的失稳、变形、破碎和相应的带旋涡的流场。     

爆炸冲击波的提取和显示方法

在差分格式中引入人工粘性捕捉激波,处理压力、密度等物理量的间断,使间断得到平滑,在计算结果中,冲击波就表现为物理量具有很大梯度的一个狭窄过渡区。利用边缘检测算子从计算数据中检测出位于边缘上的点,通过处理压力数据可以在图像中清晰地显示冲击波的轮廓。     

激波卷扬的气体粉尘边界层的实验与数值研究

采用瞬态阴影技术和激光消光技术对激波卷扬粉尘的现象进行了实验研究，理论研究采用ＰＳＩＣ（ＰａｒｔｉｃｌｅＳｏｕｒｃｅｉｎＣｅｌｌ）模型，模型同时考虑了湍流效应及气固两相间的输运效应。结果表明，激波卷扬的粉尘颗粒在壁面附近湍流区内先被加速，一定高度后减速，从而在边界层内形成一个高颗粒浓度的区域。数值结果与实验结果基本一致。     

Heating of a Compressible Liquid by a Constant Heat Flux

Several variants of the problem of heating a compressible liquid by a timeindependent heat flux are numerically studied. It is shown that, after a certain time, the pressure everywhere behind the shock wave differs only little from some constant value. Approximate analytical formulas are obtained, which demonstrate independence of pressure of thermal conductivity and some other features of the relation between the pressure and the heatflux intensity. Several examples are given, which confirm the adequacy of formulas to numerical solutions of the problem.     

Interaction of a shock with a sphere suspended in a vertical shock tube

Shock wave interaction with a sphere is one of the benchmark tests in shock dynamics. However, unlike wind tunnel experiments, unsteady drag force on a sphere installed in a shock tube have not been measured quantitatively. This paper presents an experimental and numerical study of the unsteady drag force acting on a 80 mm diameter sphere which was vertically suspended in a 300 mm x 300 mm vertical shock tube and loaded with a planar shock wave of M _s = 1.22 in air. The drag force history on the sphere was measured by an accelerometer installed in it. Accelerometer output signals were subjected to deconvolution data processing, producing a drag history comparable to that obtained by solving numerically the Navier-Stokes equations. A good agreement was obtained between the measured and computed drag force histories. In order to interpret the interaction of shock wave over the sphere, high speed video recordings and double exposure holographic interferometric observations were also conducted. It was found that the maximum drag force appeared not at the time instant when the shock arrived at the equator of the sphere, but at some earlier time before the transition of the reflected shock wave from regular to Mach reflection took place. A negative value of the drag force was observed, even though for a very short duration of time, when the Mach stem of the transmitted shock wave relfected and focused at the rear stagnation point of the sphere.Received: 31 March 2003, Accepted: 7 July 2003, Published online: 2 September 2003     

Application of underwater shock wave and laser-induced liquid jet to neurosurgery

Paper deals with applications of underwater shock waves to medicine. A historical development of underwater shock wave generation by using pulsed Ho:YAG laser beam irradiation in water is briefly described and an overview is given regarding potential applications of shock waves to neuro-surgery. The laser beam irradiation in a liquid-filled catheter produces water vapor bubble and shock waves intermittently produces micro-liquid jets in a controlled fashion from the exit of the catheter. Correlations between shock dynamics and bubble dynamics are emphasized. To optimize the jet motion, results of basic parametric studies are briefly presented. The liquid jet discharged from the catheter exit has an impulse high enough to clearly exhibit effectiveness for various medical purposes. In liquid jets we observed reasonably strong shock waves and hence invented a compact shock generator aiming to apply to microsurgery. We applied it to a rat's bone window and developed an effective method of brain protection against shock loading. The insertion of Gore-Tex® sheet is found to attenuate shock waves drastically even for very short stand off distance and its physical mechanism is clarified. The laser-induced liquid jet (LILJ) is successfully applied to soft tissue dissection. Animal experiments were performed and results of histological observations are presented in details. Results of animal experiments revealed that LILJ can sharply dissect soft tissue with a minimum amount of liquid consumption, while blood vessels larger than 0.2 mm in diameter are preserved. Shock waves and LILJ have a potential to be indispensable tools in neuro-surgery.This paper was based on work that was presented at the 2nd International Symposium on Interdisciplinary Shock Wave Research, Sendai, Japan, March 1–3, 2005.Communicated by K. Takayama PACS 42.62.Be, 47.40.-x, 42.62.-b