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The kinematic accuracy of space manipulator determines whether the spacecraft performs normally or not. Problems pertaining to structural deformation have received increased attention in recent times. In the space manipulator systems, flexible arms and joints can induce drastic dynamic instabilities. In applications such as the space station, kinematic error due to structural deformation can jointly affect the performance characteristics. And it is crucial for accuracy control of space manipulator to establish a precision index. Here we analyze the dynamics characteristic of flexible space manipulator considering the hysteresis of harmonic reducer based on method of nonconstraint boundary modal. For the sake of describing the output accuracy, we integrate the method of analytic hierarchy process(AHP) to establish a comprehensive evaluation index. A numerical simulation is performed to analyze the nonlinear dynamic characteristics of space manipulator with harmonic reducer. With the analysis of accuracy assessment, the relation among the hysteresis angle, rigidity and output accuracy is revealed. Considering the elastic modulus of flexible space manipulator and the hysteresis angle of harmonic reducer, we conduct an evaluation of output characteristics of flexible space manipulator with the proposed comprehensive evaluation index. The accuracy evaluation of output characteristics based on the proposed comprehensive evaluation index is implemented in the initial stage of space manipulator’s design, which can not only solve the problems existing in the design but also save cost savings for ground tests. The results can be used in designing and optimizing future space manipulators, which may provide valuable references for design and thermal control of the space manipulator. 相似文献
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For the realization of green communications in cognitive radio ad hoc networks(CRAHNs), selfadaptive and efficient power allocation for secondary users(SUs) is essential. With the distributed and timevarying network topology, it needs to consider how to optimize the throughput and power consuming, avoid the interference to primary users(PUs) and other SUs, and pay attention to the convergence and fairness of the algorithm. In this study, this problem is modeled as a constraint optimization problem. Each SU would adjust its power and corresponding strategy with the goal of maximizing its throughput. By studying the interactions between SUs in power allocation and strategy selection, we introduce best-response dynamics game theory and prove the existence of Nash equilibrium(NE) point for performance analysis. We further design a fully distributed algorithm to make the SUs formulate their strategy based on their utility functions, the strategy and number of neighbors in local area. Compared with the water-filling(WF) algorithm, the proposed scheme can significantly increase convergent speed and average throughput, and decrease the power consuming of SUs. 相似文献
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正At present,big data technologies have been successfully applied in many fields such as medical care,energy,communications,and e-commerce.In the shipping industry,some prophetic companies have tried and achieved some preliminary outcome.It is reported that countries such as Europe,Japan,and South Korea have carried out pre-research,data collection,and exploration of shipping big data 相似文献
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