Configuration Investigation, Structure Design and Deployment Dynamics of Rigid-Reflector Spaceborne Antenna with Deviation-Angle Panel.

Rigid-reflector spaceborne antennas (RRSAs) are well-suited for high-frequency application scenarios due to their high surface accuracy. However, the low stowing efficiency of RRSAs limits the aperture diameters and further deteriorates the electromagnetic (EM) performances in terms of gain, resolution and sensitivity. After conducting systematic feature analysis with respect to several typical RRSAs, we propose a novel type of RRSA to solve the aforementioned problems. Inspired by the pose adjustment process for a higher stowing efficiency of traditional RRSAs, we also propose a new segmentation scheme of a reflective surface consisting of a deviation-angle panel that facilitates a higher stowing efficiency. Based on this scheme, its corresponding folded configuration is implemented by combining Euler's rotation theorem and the idea of parameter identification. In addition, we also compare the stowing efficiency of different schemes to verify the high stowing efficiency of the configuration. Finally, we perform mechanism/structure design and deployment dynamics to demonstrate that the antenna can be successfully deployed and exhibits excellent deployment quality. The results suggest that the proposed antenna possesses higher stowing efficiency than that of the same kind, with a stable deployment and interference-free process.

An Improved Robust Method for Pose Estimation of Cylindrical Parts with Interference Features.

Horizontal docking assembly is a fundamental process in the aerospace assembly, where intelligent measurement and adjustable support systems are urgently needed to achieve higher automation and precision. Thus, a laser scanning approach is employed to obtain the point cloud from a laser scanning sensor. And a method of section profile fitting is put forward to solve the pose parameters from the data cloud acquired by the laser scanning sensor. Firstly, the data is segmented into planar profiles by a series of parallel planes, and ellipse fitting is employed to estimate each center of the section profiles. Secondly, the pose of the part can be obtained through a spatial straight line fitting with these profile centers. However, there may be some interference features on the surface of the parts in the practical assembly process, which will cause negative effects to the measurement. Aiming at the interferences, a robust method improved from M-estimation and RANSAC is proposed to enhance the measurement robustness. The proportion of the inner points in a whole profile point set is set as a judgment criterion to validate each planar profile. Finally, a prototype is fabricated, a series of experiments have been conducted to verify the proposed method.

Design and DOF Analysis of a Novel Compliant Parallel Mechanism for Large Load.

The degree of freedom (DOF) and motion characteristics of a kind of compliant spherical joint were analyzed based on the screw theory, and a new design scheme for force-inversion of the compliant spherical joint was proposed in this paper. A novel type of six DOF compliant parallel mechanism (CPM) was designed based on this scheme to provide a large load capacity and achieve micrometer-level positioning accuracy. The compliance matrix of the new type of CPM was obtained through matrix transformation and was then decomposed into its generalized eigenvalues. Then, the DOF of the mechanism was numerically analyzed based on the symbolic formulation. The finite element analysis model of the compliant parallel mechanism was established. The static load analysis was used to verify the large load capacity of the mobile platform. By comparing the deformation obtained by the compliance matrix numerical method with the deformation obtained by the finite element method, the correctness of the compliance matrix and the number of the DOF of the CPM was verified.

Supramolecular interaction of methotrexate with cucurbit[7]uril and analytical application.

The supramolecular interaction between cucurbit[7]uril (CB[7]) as the host and the anti-cancer drug methotrexate (MTX) as the guest was studied using fluorescence spectroscopy, UV-visible absorption spectroscopy, 1H NMR, 2D NOESY, and theoretical calculations. The experimental results confirmed the formation of 1:2 inclusion complex with CB[7] and indicated a simple and sensitive competitive method for the fluorescence detection of MTX. It was found that the fluorescence intensities of CB[7]-palmatine, CB[7]-berberine and CB[7]-coptisine were quenched linearly upon the addition of MTX. The linear ranges obtained in the detection of MTX were 0.1-15µgmL-1, 0.2-15µgmL-1, and 0.4-15µgmL-1 with detection limits of 0.03µgmL-1, 0.06µgmL-1, and 0.13µgmL-1, respectively. This method can be used for the determination of MTX in biological fluids. These results suggested that cucurbit[7]uril is a promising drug carrier for targeted MTX delivery and monitoring, with improved efficacy and reduced toxicity in normal tissues.

Modeling and Control of the Redundant Parallel Adjustment Mechanism on a Deployable Antenna Panel.

With the aim of developing multiple input and multiple output (MIMO) coupling systems with a redundant parallel adjustment mechanism on the deployable antenna panel, a structural control integrated design methodology is proposed in this paper. Firstly, the modal information from the finite element model of the structure of the antenna panel is extracted, and then the mathematical model is established with the Hamilton principle; Secondly, the discrete Linear Quadratic Regulator (LQR) controller is added to the model in order to control the actuators and adjust the shape of the panel. Finally, the engineering practicality of the modeling and control method based on finite element analysis simulation is verified.

Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator.

The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using the virtual work principle and the first-order influence coefficient matrix of the manipulator. Eventually, a typical motion plan and simulations are carried out, and the actuating torque needed for these motions are worked out by employing the derived inverse dynamic equations. In addition, an analysis of the mechanical characteristics of the parallel manipulator is made. This study lays a solid base for the control of the 2-DOF SPM, and also provides the possibility of using this kind of spherical manipulator as a 2-DOF orientation, angular velocity, or even torque sensor.