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Pan E.,Harbin Institute of Technology | Pan E.,Shenzhen Engineering Laboratory of Industrial Robot and System | Guan D.,Harbin Institute of Technology | Guan D.,Shenzhen Engineering Laboratory of Industrial Robot and System | And 3 more authors.
2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics | Year: 2015

Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability. © 2015 IEEE.


Zhang J.,Beijing Institute of Technology | Zhao S.,Beijing Institute of Technology | Yang Y.,Shanghai Institute of Aerospace Systems Engineering
IEEE Transactions on Aerospace and Electronic Systems | Year: 2013

The stationary hovering characteristic of elliptical orbit was analyzed in two cases in this paper. In the first case, the short-time hovering at the R-bar and V-bar were analyzed by calculating the drift coefficient of the relative acceleration. The approximate uncontrolled hovering region was obtained by computing the variation of the drift coefficient with the orbital elements (semimajor axis, eccentricity, true anomaly). In the second case, the long-time hovering was analyzed by calculating the velocity increment costs in an orbit period using an open-loop controller. Analytical and numerical analysis showed that it is easier for high orbit with low eccentricity to achieve hovering for a long-duration flight. The V-bar hovering (H-bar hovering) is the most energy-saving way when eccentricity is less (more) than 0.65. © 1965-2011 IEEE.


Qin H.,Hangzhou Dianzi University | Hu H.,Hangzhou Dianzi University | Ye W.,University of Wolverhampton | Wang J.,Shanghai Institute of Aerospace Systems Engineering | And 2 more authors.
Journal of Pressure Vessel Technology, Transactions of the ASME | Year: 2014

The hydrostatic corer is designed for sampling sediment from the seafloor. Its operation relies on a water distributing valve which converts the potential pressure difference between ambient seawater and a built-in chamber with atmospheric pressure to the dynamic energy as the driving power. As the valve is exposed to the ambient water, the deformation of its components may exceed their fitting tolerance under the high pressure and low temperature on seafloor, and thus cause the failure of the valve. Three possible failure modes have been taken into account, representing the positions where interference of fitting tolerance is likely to occur. Corresponding models are then created considering the coupled effects of pressure and temperature on the valve. Based on the model results and the reliability requirement of the corer, one failure mode is selected to calculate the reliability of the valve and is used as guidance for the future improvement of the design. Copyright © 2014 by ASME.


Chen J.,Nanjing University of Aeronautics and Astronautics | Nie H.,Nanjing University of Aeronautics and Astronautics | Bo W.,Shanghai Institute of Aerospace Systems Engineering
Journal of Vibroengineering | Year: 2013

In the overall study of the design and performance of the lunar Lander, analysis of touchdown dynamics of the landing stage is an important part. In this paper, the influence of the lunar Lander's body deformation on the landing performance is studied. First, the equations with the flexible part are derived from the subsystem method and deducing a multi-mass model by comparing and analyzing the mode of the body in Lander. Second, based on the existing aluminum honeycomb buffering and the model used in the landing-impact tests for the soft-landing system, a finite element model for the cantilever-type landing gear with four legs is established in MSC.Patran and submitted to MSC.Dytran to conduct a simulation analysis. Finally, the flexibility of lander's body to the performance in landing is studied. Results show that the deformation of the body has considerable effect on the overloading of the lunar Lander system though the deforming can absorb litter energy during landing. © VIBROENGINEERING.


Qin H.,Hangzhou Dianzi University | Cai Z.,Zhejiang University | Hu H.,Hangzhou Dianzi University | Wang J.,Shanghai Institute of Aerospace Systems Engineering | And 2 more authors.
Marine Georesources and Geotechnology | Year: 2016

The shortcomings of gravity corers in sampling marine sediments have been observed extensively in various field tests. In order to optimize the coring, this article provides an alternative numerical way to model the gravity coring and analyze the sampling effect. Based on this analysis, a new hydraulic hammer corer is devised. A coupled Eulerian-Lagrangian method with capability of simulating the problem involving extreme deformation, penetration is used to simulate the coring process. The results show that the hydrostatic pressure and deviator stress increase and reach their peak when the pile tip is slightly above or at the level of the observation point and then drop rapidly when the pile tip slides below the observation point. In addition, the stress path indicates that the soil element sustains plastic compression before yielding and then expands until recovering to the original state. The obvious “under-sampling” phenomenon is also well-captured by the finite element model. 2016 Copyright © Taylor & Francis Group, LLC


Hu Z.,Harbin Institute of Technology | Guan D.,Harbin Institute of Technology | Xu W.,Harbin Institute of Technology | Wang Z.,Harbin Institute of Technology | Zou H.,Shanghai Institute of Aerospace Systems Engineering
2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics | Year: 2015

Since Fukushima nuclear accident, international society is paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we designed a small intelligent inspection robotic system for application in nuclear power plant. First, we analyzed the monitoring requirement for key nuclear power devices, and determined the function, composition and technical specifications of the robot. Second, a 5-DOFs serial mechanism with two suction feet was designed. It has a symmetrical structure. The five revolute joints are arranged in the configuration of Roll-Pitch-Pitch-Pitch-Roll (abbreviated as RPPPR structure). And then, the analytical inverse kinematics equations of the robot were derived. For a given pose of one end with respect to the other end, there are four solutions of the joint angles. The users can determine the most appropriate solution according to the current configuration and other constraints. Finally, the dynamic model based on ADAMS software was created and the simulation study on typical cases was performed. The simulation results verified the mechanical design of the robotic system. © 2015 IEEE.


Xu W.,Harbin Institute of Technology | Zheng Y.,Harbin Institute of Technology | Hu B.,Shanghai Institute of Aerospace Systems Engineering
2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics | Year: 2015

To avoid large cost and danger of Extravehicular activity (EVA) and planetary surface exploration, a humanoid robot with high flexibility and mobility is under development. This robot is composed of two 7-DOF (degree of freedom) arms, a 1-DOF waist and two 3-DOF legs. This paper established the kinematics model and addressed whole-body coordinated motion planning methods for the robot, for different application cases: on orbit and planetary surface. For the former, there is no enough gravity (micro- or zero-gravity environment), the dexterity and workspace range are the main factors considered for the whole-body coordination. Combining the position-level and the velocity-level kinematics equations, the common manipulability of the two arms is analyzed, and the best reference workspace is determined. Inspired by the human motion, an appropriate pose (position and attitude) of the target for the two arms are then resolved according to the desired deflection angle of the waist with respect to the initial configuration. When the robot is used on the planetary surface, the gravity is required to be considered for keeping the robot stable during the mission. The coordinated whole motion is planned to adjust the robot's COM (center of mass position) position and make the ZMP (Zero Moment Point) satisfy the balance condition. Finally, the co-simulation model is established in ADAMS/Simulation environment. Simulation results of typical cases verify the proposed methods. © 2015 IEEE.


Gu Q.-W.,Harbin Institute of Technology | Zhang S.-J.,Harbin Institute of Technology | Zeng Z.-K.,Harbin Institute of Technology | Zeng Z.-K.,Shanghai Institute of Aerospace Systems Engineering | Ning M.-F.,Harbin Institute of Technology
Yuhang Xuebao/Journal of Astronautics | Year: 2016

Aiming at pose (relative attitude and position) estimation of non-cooperative spacecraft, an algorithm is developed based on monocular vision and some natural feature points. Considering the increasing estimated error caused by using the natural features, this paper introduces an iterative solution based on convex relaxation optimization and LMI algorithm to solve this problem. The optimization model in this paper is built on adverse projection. First, using relaxation algorithm, turn the non-convex and equality constrained attitude matrix to a convex and inequality constrained matrix. Then, this paper can prove that the convex problem is equal to the original problem. That is, when the convex problem gets extremum, the attitude matrix still satisfies the original equality and non-convex constrain. To further simplify this problem, we can express the convex and unequal constrain as linear matrix inequalities. At last, we can solve it with the developed interior point method and prove convergence of this algorithm. Finally, in the background of on-orbit servicing, the simulation experiment shows that this algorithm can converge within 7 iterations. Compared with SVD, this algorithm nearly doubles accuracy when noise increases gradually. And the results show that this algorithm is robust and efficient. © 2016, Editorial Dept. of JA. All right reserved.


Wei Z.,Northwestern Polytechnical University | Meijian S.,Shanghai Institute of Aerospace Systems Engineering
Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering | Year: 2014

The modified quantum-behaved particle swarm optimization algorithm is developed. It has the ability to learn from excellent individuals and precisely update all the particles that are involved in computational fluid dynamics computation. The airfoil parameterization method of the Hicks-Henne form function was also improved. The Reynolds averaged Navier-Stokes equation solver and the multi-objective and nonlinear adaptive value weighting method were used to optimize a transonic and high-aspect-ratio swept-back wing and winglet. The optimization results show that the drag characteristics of the optimized configuration are reduced greatly, the shock-wave amplitude on the wing is reduced, and intense shock wave on the winglet is completely eliminated, thus indicating that this method has strong engineering practicality. © IMechE 2013 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav.


Chen J.,Nanjing University of Aeronautics and Astronautics | Nie H.,Nanjing University of Aeronautics and Astronautics | Zhang Z.,Shanghai Institute of Satellite Engineering | Li L.,Shanghai Institute of Aerospace Systems Engineering
Journal of Vibroengineering | Year: 2014

Lunar exploration is one of the most important projects in the world. A primary objective of the probe in lunar is to soft-land a manned spacecraft on lunar surface. The soft-landing system is the key composition of the lunar lander. In the overall design of lunar lander, the analysis of touchdown dynamics during landing stage is an important work. In this paper, firstly, based on the mechanical theory, a finite element model for the lunar lander is established. Secondly, the linear static structural analysis under particular conditions is performed to determine the nodal stress and displacement distributions and the modal analysis is conducted to obtain the frequencies and their corresponding vibration shapes. Finally, the weakness parts of the structure and the behavior of the system are obtained by analyzing the simulating results, which are beneficial to the optimizing design for the lunar Lander. © JVE INTERNATIONAL LTD.

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