针对空间大型机械臂地面测试验证面临的覆盖性、充分性和有效性等难题,对空间大型机械臂测试验证方案进行研究,提出了基于半物理仿真与物理验证相结合的测试验证系统,解决了单一测试验证不完全的问题.该方案根据不同测试验证目的和策略,设计了半物理仿真测试、桌面软连接测试、2维气浮台测试和3维悬挂台7自由度测试4个测试验证阶段,具有验证模式全、动态验证充分的特点.对空间站大型机械臂的测试验证结果,表明文章提出方案的有效性和验证的合理性.

针对四轮独立驱动-四轮独立转向4WID-4WIS载人月球车协调稳定的控制问题,设计了一种载人月球车控制系统,包括电源、电力驱动、通信网络及动力控制模块.对整车纵向及横向的控制算法展开研究,并进行了地面不同速度下的行进试验、爬坡试验及满足阿克曼转向关系的转向试验.结果表明:整车能较好跟随目标速度,力矩分配均匀;月球车具备应对小型障碍及20°坡道工况的能力;转向过程稳定连续,稳态误差小于0.01°,前驱转向及四轮转向模式下,阿克曼转角误差均小于0.06°,验证了控制系统的有效性及稳定性.

为提高空间站机械臂遥操作系统的精度和安全性,设计了一种基于混联式七自由度力反馈设备的虚拟人机交互系统.系统由力反馈设备、控制系统及虚拟场景构成,实现了三维平动自由度和三维转动自由度的机械解耦,并通过标定修正了存在误差的机械参数,可以对末端输出反馈力稳定控制.性能试验表明:系统可以在250 mm×250 mm×250 mm的空间内精确跟踪操作人员手部位置,位置精度达到0.6 mm;可提供最大15 N的力觉反馈;在虚拟夹物体试验中,有力反馈的人机交互系统比无力反馈系统的完成时间缩短了23％,损坏率降低了50％,提高了操作精度和夹取过程的安全性.

Effective integration of different types of information such as vision, listening, force and pose has always been considered as one of the key technologies of on-orbit human robot interaction to be solved so as to meet the requirements of long duration, difficult, and dangerous missions. An on-orbit human-robot interactive system based on multi-modal information fusion was proposed in this article. The human-robot interactive system framework was constructed to satisfy different mission re-quirements and the extreme spatial environment. Both schemes of close range interaction and remote interaction were designed. In addition, a framework of immersive information interaction was con-structed and a natural, friendly, efficient and convenient interactive interface was provided. Ground verification experiment of multi-modal information interaction was conducted and the results showed that 3D reconstruction of complex scene and human pose can resolve few problems e. g. large time delay and worse sense of immediacy. The average accuracies of recognizing correct gesture and voice commands by robot after training were 74% and 86. 1% respectively.

Based on Pushlet structure, a real-time monitoring and alarming system of browser/ server（B/S） mode for spacecraft in-orbit is proposed, which adopts the ＂publish/subscription＂ mechanism. Firstly, the client subscribes to a subject from the serve; secondly, the server ac- cepts and registers the subscription, and receives and interprets the real-time telemetry data from spacecraft. With the persistent HTTP link, the alarming information of telemetry parameters is published by the server and pushed to clients in time. Testing results show that the system has high real-time, efficiency and stability performances.

In order to reduce the workload of daily Word report generation,this paper presents a scalable method of automated Word report generation based on dynamic Web pages.The symbols encapsulated from data processing methods are inserted into Word document in order to customize the report template,which is converted to ASPX Web pages.The corresponding data processing methods are invoked to input or retrieve information according to the user operation.The symbols are replaced by the information in order to generate the final report.Application results demonstrate that the method can improve the efficiency of Word report generation.