一种FPGA的嵌入式可重构机器人控制系统

提出一种基于FPGA的可重构嵌入式微处理器控制系统.在FPGA中嵌入两个NiosⅡ软核,用VHDL语言编写用户自定义组件.在一个由NiosⅡ软核组成的处理器上实现PWM信号生成、编码器信号处理以及多电机同步伺服运算等,在另一个处理器实现机器人任务管理.该控制系统针对微小型爬壁机器人的控制系统设计,不仅具有良好的实时多任务处理能力,而且具有可重构的特点,因而可应用于一类微小型机器人控制系统以提高其设计的灵活性.

A compact proton source for space simulation

A compact proton beam source for space simulation has been developed. A compact structure was designed in order to meet the special requirements of miniaturization. Some particular means have been adopted for improving the proton portion and beam transmission at a long distance. The experimental results showed that 8mA/80keV proton beam can be successfully obtained from this source at about 700W input microwave power.

Compact finite difference - Fourier spectral method for three-dimensional incompressible Navier-Stokes equations

A new compact finite difference-Fourier spectral hybrid method for solving the three dimensional incompressible Navier-Stokes equations is developed in the present paper. The fifth-order upwind compact finite difference schemes for the nonlinear convection terms in the physical space, and the sixth-order center compact schemes for the derivatives in spectral space are described, respectively. The fourth-order compact schemes in a single nine-point cell for solving the Helmholtz equations satisfied by the velocities and pressure in spectral space is derived and its preconditioned conjugate gradient iteration method is studied. The treatment of pressure boundary conditions and the three dimensional non-reflecting outflow boundary conditions are presented. Application to the vortex dislocation evolution in a three dimensional wake is also reported.

Study on the Performance of a Compact Compound Oil/Gas/Water Separator for Offshore Oil Industry

High-efficiency separation of the oil/gas/water mixtures is a significant issue in offshore oil industry. To reduce the total cost by means of reduction in weight and space compared with conventional separators, a novel compact compound oil/gas/water separator is developed. The research works on oil-gas-water separation by compound separating techniques is described in this paper. The innovative separator is a gravity settling tank with helical pipes within and T-shaped pipes outside. Both experiments and numerical simulations are presented to study the separating performance and efficiency of the helical pipes, which are the main part of the separator.

Fetntosecond pulse shaping with space-to-time conversion based on planar optics

We propose a novel structure of planar optical configuration for implementation of the space-to-time conversion for femtosecond pulse shaping. The previous apparatuses of femtosecond pulse shaping are 4f Fourier-transforming type system that is usually large, expensive, difficult to align. The planar integration of free-space optical systems on solid substrates is an optical module with the attractive advantages of compact, reliable and robust. This apparatus is analyzed in details and the design of the particular lens for femtosecond pulse shaping based on planar optics is presented. (c) 2006 Elsevier GmbH. All rights reserved.

两层流体热毛细对流空间实验研究=Space Experiments of Thermo Capillary Convection in Two-liquid Layers

1999年,在我国实践5号卫星上完成了两层流体空间实验,实验研究两层不相混合流体的纯Marangoni对流（温度梯度与界面垂直）与热毛细对流（温度梯度方向与流体界面平行）.前者存在发生Marangoni对流的最小临界温差值△Tc,低于该值流体系统处于静止状态;后者中只要存在沿界面的温度梯度便会产生热毛细对流.空间实验采用石蜡和氟化液两层流体新体系,实现了平整的液-液交界面,并从卫星上传回上万幅数字图像.通过多幅图像叠加处理得到了定量的流速场.数值模拟计算分析了相应工况时对流流动的速度场,两者的流场结构和速度大小基本一致,实验验证了理论模型.

Numerical solution of the incompressible Navier-Stokes equations with an upwind compact difference scheme

A new finite difference method for the discretization of the incompressible Navier-Stokes equations is presented. The scheme is constructed on a staggered-mesh grid system. The convection terms are discretized with a fifth-order-accurate upwind compact difference approximation, the viscous terms are discretized with a sixth-order symmetrical compact difference approximation, the continuity equation and the pressure gradient in the momentum equations are discretized with a fourth-order difference approximation on a cell-centered mesh. Time advancement uses a three-stage Runge-Kutta method. The Poisson equation for computing the pressure is solved with preconditioning. Accuracy analysis shows that the new method has high resolving efficiency. Validation of the method by computation of Taylor's vortex array is presented.

High-Resolution Finite Compact Difference Schemes for Hyperbolic Conservation Laws

A finite compact (FC) difference scheme requiring only bi-diagonal matrix inversion is proposed by using the known high-resolution flux. Introducing TVD or ENO limiters in the numerical flux, several high-resolution FC-schemes of hyperbolic conservation law are developed, including the FC-TVD, third-order FC-ENO and fifth-order FC-ENO schemes. Boundary conditions formulated need only one unknown variable for third-order FC-ENO scheme and two unknown variables for fifth-order FC-ENO scheme. Numerical test results of the proposed FC-scheme were compared with traditional TVD, ENO and WENO schemes to demonstrate its high-order accuracy and high-resolution.

Fourth order accurate compact scheme with group velocity control (GVC)

For solving complex flow field with multi-scale structure higher order accurate schemes are preferred. Among high order schemes the compact schemes have higher resolving efficiency. When the compact and upwind compact schemes are used to solve aerodynamic problems there are numerical oscillations near the shocks. The reason of oscillation production is because of non-uniform group velocity of wave packets in numerical solutions. For improvement of resolution of the shock a parameter function is introduced in compact scheme to control the group velocity. The newly developed method is simple. It has higher accuracy and less stencil of grid points.

Analysis of super compact finite difference method and application to simulation of vortex-shock interaction

Turbulence and aeroacoustic noise high-order accurate schemes are required, and preferred, for solving complex flow fields with multi-scale structures. In this paper a super compact finite difference method (SCFDM) is presented, the accuracy is analysed and the method is compared with a sixth-order traditional and compact finite difference approximation. The comparison shows that the sixth-order accurate super compact method has higher resolving efficiency. The sixth-order super compact method, with a three-stage Runge-Kutta method for approximation of the compressible Navier-Stokes equations, is used to solve the complex flow structures induced by vortex-shock interactions. The basic nature of the near-field sound generated by interaction is studied.

Hybrid Finite Compact-WENO Schemes for Shock Calculation

Hybrid finite compact (FC)-WENO schemes are proposed for shock calculations. The two sub-schemes (finite compact difference scheme and WENO scheme) are hybridized by means of the similar treatment as in ENO schemes. The hybrid schemes have the advantages of FC and WENO schemes. One is that they possess the merit of the finite compact difference scheme, which requires only bi-diagonal matrix inversion and can apply the known high-resolution flux to obtain high-performance numerical flux function; another is that they have the high-resolution property of WENO scheme for shock capturing. The numerical results show that FC-WENO schemes have better resolution properties than both FC-ENO schemes and WENO schemes. In addition, some comparisons of FC-ENO and artificial compression method (ACM) filter scheme of Yee et al. are also given.

Space experimental device on Marangoni drop migrations of large Reynolds numbers

The space experimental device for testing the Marangoni drop migrations has been discussed in the present paper. The experiment is one of the spaceship projects of China. In comparison with similar devices, it has the ability of completing all the scientific experiments by both auto controlling and telescience methods. It not only can perform drop migration experiments of large Reynolds numbers but also has an equi-thick interferential system.

Microgravity experiments of two-phase flow patterns aboard Mir Space Station

A first experimental study on two-phase how patterns at a long-term, steady microgravity condition was conducted on board the Russian Space Station "MIR" in August 1999. Carbogal and air are used as the liquid and the gas phase, respectively. Bubble, slug, slug-annular transitional, and annular hows are observed. A new region of annular how with lower liquid superficial velocity is discovered, and the region of the slug-annular transitional flow is wider than that observed by experiments on board the parabolic aircraft. The main patterns are bubble, slug-annular transitional and annular flows based on the experiments on board MIR space station. Some influences on the two-phase how patterns in the present experiments are discussed.

Main Progress of Microgravity Sciences and Space Life Sciences Research in China

The progress of the research activities on space material sciences, microgravity ‰uid physics and combustion, space life sciences and biotechnology research, fundamental Physics in China are brie‰y summarized in the present paper. The major space missions and experimental results obtained on board the Chinese recoverable/non-recoverable satellites and the Chinese manned spaceship named ``Shen-Zhou'' are presented summarily. The recent main activities of the ground-based studies in China are introduced in brief.

The Real-Time Mach-Zehnder Interferometer Used In Space Experiment

The optical interference method is a promising technique for measuring temperature, density, and concentration in fluids. The non-intrusive and non-invasive nature of its optical techniques to the measured section are its most outstanding features. However, the adverse experiment environment, especially regarding shaking and vibrating, greatly restricts the application of the interferometer. In the present work, an optical diagnostic system consisting of a Mach-Zehnder interferometer (named after physicists Ludwig Mach) and an image processor has been developed that increases the measuring sensitivity compared to conventional experimental methods in fluid mechanics. An image processor has also been developed for obtaining quantitative results by using Fourier transformation. The present facility has been used in observing and measuring the mass transfer process of a water droplet in EAFP protein solution under microgravity condition provided by the satellite Shi Jian No. 8.