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73rd International Astronautical Congress, IAC 2022

作者： Wedler, Armin Müller, Marcus G. Schuster, Martin J. Durner, Maximilian Lehner, Peter Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Stürzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F. Ehreiser, Anouk Staudinger, Emanuel Pöhlmann, Robert Zhang, Siwei Hellerer, Matthias Lichtenheldt, Roy Franke, Dennis Pignède, Antoine Schindler, Walter Schütt, Manuel Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Schröder, Susanne Frohmann, Sven Seel, Fabian Dietz, Enrico Triebel, Rudolph Lii, Neal Y. Bischoff, Esther Braun, Christian Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P. Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Rauer, Heike Hübers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Münchener Str. 20 Weßling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Münchener Str. 20 Weßling82234 Germany Institute of Communications and Navigation Münchener Str. 20 Weßl82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base Münchener Str. 20 Weßl82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

This paper summarises the first outcomes of the space demonstration mission of the ARCHES project which could have been performed this year from 13 june until 10 july on Italy's Mt. Etna in Sicily. After the second postponement related to COVID from the initially for 2020 planed campaign, we are now very happy to report, that the whole campaign with more than 65 participants for four weeks has been successfully conduced. In this short overview paper, we will refer to all other publication here on IAC22. This paper includes an overview of the performed 4-week campaign and the achieved mission goals and first results but also share our findings on the organisational and planning aspects. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Robotics

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Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna

Preliminary results for the multi-robot, multi-partner, mult...

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IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： Robotics

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Observer design for a railway running gear with independently rotating wheels

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IFAC-PapersOnLine 2019年第15期52卷 325-330页

作者： Alexander Keck Christoph Schwarz Thomas Meurer Institute of System Dynamics and Control German Aerospace Center Münchener Str. 20 82234 Oberpfaffenhofen-Wessling Germany Chair of Automatic Control Faculty of Engineering Kiel University Kaiserstraße 2 24143 Kiel Germany

The German Aerospace Center bundles its railway research in the long-term project “Next Generation Train” (NGT). The NGT is a high speed train concept in light-weight design and double-deck configuration. To reduce wheel and rail wear and to enhance the passenger capacity, a mechatronic running gear with independently rotating wheels (IRW) is designed. This configuration requires an advanced control of the lateral dynamics in order to fully exploit the potential in minimizing wear and noise. In terms of a model-based control design, the controller performance highly depends on the estimated lateral position of the running gear relative to the track. In a practical environment it is difficult to directly measure this displacement of the wheel-pair. Therefore this article deals with the question which sensor configuration enables an appropriate estimation of the lateral displacement and is suitable for observer design. Hence, an observability analysis and an observer synthesis to estimate the lateral position for the nonlinear system of the 1:5 scaled hardware running gear is carried out. For validation purposes three estimators are implemented at the real-time environment of the testbed and the estimation errors of the observer configurations are compared.

关键词： Nonlinearity Observability Observers Extended Kalman filters Railways

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A numerical solution to the two-dimensional nonlinear degenerate heat conduction equation with a source

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AIP Conference Proceedings 2020年第1期2315卷

作者： A. L. Kazakov L. F. Spevak O. A. Nefedova 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620049 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 lermontov St. Irkutsk 664033 Russia

The paper develops an algorithm for solving the two-dimensional nonlinear degenerate parabolic heat conduction equation with a source depending on required function, with a specified law of heat wave front motion. The algorithm based on the boundary element method is implemented in the form of a program. To verify it, we use exact solutions the construction of which is reducible to solving a Cauchy problem for ordinary differential equations with a singularity before the highest derivative. The solutions to the Cauchy problem are constructed in the form of power series with recurrently computed coefficients (with a proof of the statement providing its convergence) and by the boundary element method.

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Solar Sails for Planetary Defense High-Energy Missions

Solar Sails for Planetary Defense High-Energy Missions

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2019 IEEE Aerospace Conference, AERO 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Borchers, Kai Dumont, Etienne Grimm, Christian D. Ho, Tra-Mi Jahnke, Rico Koch, Aaron D. Lange, Caroline Maiwald, Volker Mess, Jan-Gerd Mikulz, Eugen Quantius, Dominik Reershemius, Siebo Renger, Thomas Sasaki, Kaname Seefeldt, Patric Spietz, Peter Sprowitz, Tom Sznajder, MacIej Tóth, Norbert Ceriotti, Matteo McInnes, Colin Peloni, Alessandro Dachwald, Bernd Lichtenheldt, Roy Wolff, Friederike Boden, Ralf Riemann, Johannes Seboldt, Wolfgang Wejmo, Elisabet Ziach, Christian Cordero, Federico Biele, Jens Krause, Christian Herčik, David Koncz, Alexander Pelivan, Ivanka Schmitz, Nicole Mikschl, Tobias Montenegro, Sergio Ruffer, Michael Tardivel, Simon DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Strasse 7 Bremen28359 Germany University of Glasgow GlasgowG12 8QQ United Kingdom Faculty of Aerospace Engineering FH Aachen Univ. of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany DLR German Aerospace Center Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Str. 20 Oberpfaffenhofen Weßling82234 Germany DLR Institute of Space Systems Germany Telespazio-VEGA Darmstadt Germany DLR German Aerospace Center Space Operations and Astronaut Training - MUSC Cologne51147 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Braunschweig Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany CNES Future Missions Flight Dynamics 18 avenue E. Belin Toulouse Cedex 931401 France

ISBN: (纸本)9781538668542

20 years after the successful ground deployment test of a (20 m)2 solar sail at DLR Cologne, and in the light of the upcoming U.S. NEAscout mission, we provide an overview of the progress made since in our mission and hardware design studies as well as the hardware built in the course of our solar sail technology development. We outline the most likely and most efficient routes to develop solar sails for useful missions in science and applications, based on our developed 'now-term' and near-term hardware as well as the many practical and managerial lessons learned from the DLR-ESTEC Gossamer Roadmap. Mission types directly applicable to planetary defense include single and Multiple NEA Rendezvous ((M)NR) for precursor, monitoring and follow-up scenarios as well as sail-propelled head-on retrograde kinetic impactors (RKI) for mitigation. Other mission types such as the Displaced L1 (DL1) space weather advance warning and monitoring or Solar Polar Orbiter (SPO) types demonstrate the capability of near-term solar sails to achieve asteroid rendezvous in any kind of orbit, from Earth-coorbital to extremely inclined and even retrograde orbits. Some of these mission types such as SPO, (M)NR and RKI include separable payloads. For one-way access to the asteroid surface, nanolanders like MASCOT are an ideal match for solar sails in micro-spacecraft format, i.e. in launch configurations compatible with ESPA and ASAP secondary payload platforms. Larger landers similar to the JAXA-DLR study of a Jupiter Trojan asteroid lander for the OKEANOS mission can shuttle from the sail to the asteroids visited and enable multiple NEA sample-return missions. The high impact velocities and re-try capability achieved by the RKI mission type on a final orbit identical to the target asteroid's but retrograde to its motion enables small spacecraft size impactors to carry sufficient kinetic energy for deflection. © 2019 IEEE.

关键词： Solar sails

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The insight HP3 penetrator (Mole) on mars: Soil properties derived from the penetration attempts and related activities

arXiv

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arXiv 2021年

作者： Spohn, Tilman Hudson, T.L. Marteau, E. Golombek, M. Grott, M. Wippermann, T. Ali, K.S. Schmelzbach, C. Kedar, S. Hurst, K. Trebi-Ollennu, A. Ansan, V. Garvin, J. Knollenberg, J. Müller, N. Piqueux, S. Lichtenheldt, R. Krause, C. Fantinati, C. Brinkman, N. Sollberger, D. Delage, P. Vrettos, C. Reershemius, S. Wisniewski, L. Grygorczuk, J. Robertsson, J. Edme, P. Andersson, F. Krömer, O. Lognonné, P. Giardini, D. Smrekar, S.E. Banerdt, W.B. International Space Science Institute Hallerstrasse 6 Bern3012 Switzerland DLR Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany DLR MUSC Space Operations and Astronaut Training Linder Höhe Köln51147 Germany DLR Institute of System Dynamics and Control Münchener Strasse 20 Wessling82234 Germany Jet Propulsion Laboratory California Institute of Technology Oak Grove Drive PasadenaCa91109 United States NASA Goddard Space Flight Center 8800 Greenbelt Road GreenbeltMD20771 United States Astronika Sp. z o.o ul. Bartycka 18 Warszawa00-716 Poland Institute of Geophysics Department of Earth Sciences ETH Zürich ZürichCH-8092 Switzerland Laboratoire de Planétologie et Géodynamique de Nantes Université de Nantes Nantes44322 France École nationale des ponts et chaussées Laboratoire Navier Paris France Department of Civil Engineering University of Kaiserslautern Kaiserslautern Germany Institut du Physique du Globe Paris Paris France Astrium Bremen Germany

The NASA InSight Lander on Mars includes the Heat Flow and Physical Properties Package HP3 to measure the surface heat flow of the planet. The package uses temperature sensors that would have been brought to the target depth of 3–5 m by a small penetrator, nicknamed the mole. The mole requiring friction on its hull to balance remaining recoil from its hammer mechanism did not penetrate to the targeted depth. Instead, by precessing about a point midway along its hull, it carved a 7 cm deep and 5-6 cm wide pit and reached a depth of initially 31 cm. The root cause of the failure - as was determined through an extensive, almost two years long campaign - was a lack of friction in an unexpectedly thick cohesive duricrust. During the campaign – described in detail in this paper – the mole penetrated further aided by friction applied using the scoop at the end of the robotic Instrument Deployment Arm and by direct support by the latter. The mole finally reached a depth of 40 cm, bringing the mole body 1–2 cm below the surface. It reversed its downward motion twice during attempts to provide friction through pressure on the regolith instead of directly with the scoop to the hull. The penetration record of the mole and its thermal sensors were used to measure thermal and mechanical soil parameters such as the penetration resistance of the duricrust of 0.5 - 1.2 MPa and a penetration resistance of a deeper layer (> 30 cm depth) of 5.3 MPa. Applying cone penetration theory, the resistance of the duricrust was used to estimate a cohesion of the latter of 4 - 25 kPa depending on the internal friction angle of the duricrust. Pushing the scoop with its blade into the surface and chopping off a piece of duricrust provided another estimate of the cohesion of 5.8 kPa. The hammerings of the mole were recorded by the seismometer SEIS and the signals could be used to derive a P-wave velocity of 114+40−19 m/s and a S-wave velocity of 60+10−7 m/s (Brinkman et al., 2021) representative of

关键词： Soils

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Numerical study of travelling wave type solutions for the nonlinear heat equation

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AIP Conference Proceedings 2019年第1期2176卷

作者： A. L. Kazakov L. F. Spevak 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620034 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontov St. Irkutsk 664033 Russia

The problem of constructing solutions to the nonlinear heat equation with power nonlinearity is considered. The solutions have the form of a traveling wave and simulate the propagation of disturbances over a cold background with a finite velocity. It is shown that the construction can be reduced to the Cauchy problem for an ordinary second- order differential equation with a singularity multiplying the highest derivative. Its solutions are constructed using the boundary element method based on the dual reciprocity method. A computational experiment is carried out. The results are compared with the solutions of the same problems by the power series method. The calculations have shown the correctness of the developed boundary element algorithm and its advantage compared to the power series segments and the step-by-step method previously proposed by the authors.

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Flights are ten a sail - Re-use and commonality in the design and system engineering of small spacecraft solar sail missions with modular hardware for responsive and adaptive exploration 70

Flights are ten a sail - Re-use and commonality in the desig...

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70th International Astronautical Congress, IAC 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Boden, Ralf Ceriotti, Matteo Chand, Suditi Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. Heiligers, Jeannette Hercík, David Hérique, Alain Ho, Tra-Mi Jahnke, Rico Kofman, Wlodek Lange, Caroline Lichtenheldt, Roy McInnes, Colin Meß, Jan-Gerd Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Moore, Iain Pelivan, Ivanka Peloni, Alessandro Plettemeier, Dirk Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Rogez, Yves Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter Spröwitz, Tom Sznajder, Maciej Tóth, Norbert Vergaaij, Merel Viavattene, Giulia Wejmo, Elisabet Wiedemann, Carsten Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany Consultants to DLR Institute of Space Systems University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany Université Grenoble Alpes CS 40700 Grenoble Cédex 938058 France DLR German Aerospace Center Robotics and Mechatronics Center Weßling82234 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Dresden University of Technology RF Engineering Dresden Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Institute of System Dynamics and Control Wessling82234 Germany Space Research Centre PAS Warsaw Poland TU Delft Delft Netherlands Institute of Space Systems Technische Universität Braunschweig Hermann-Blenk-Str. 23 Braunschweig38108 Germany

The exploration of small solar system bodies started with fast fly-bys of opportunity on the sidelines of missions to the planets. The tiny new worlds seen turned out to be so intriguing and different from all else (and each other) that dedicated sample-return and in-situ analysis missions were developed and launched. Through these, highly efficient low-thrust propulsion expanded from commercial use into mainstream and flagship science missions, there in combination with gravity assists propulsion. In parallel, the growth of small spacecraft solutions accelerated in numbers as well as individual spacecraft capabilities. The on-going missions OSIRIS-REX (NASA) or HAYABUSA2 (JAXA) with its landers MINERVA-II and MASCOT, and the upcoming NEASCOUT mission are examples of this synergy of trends. The continuation of these and other related devlopments towards a propellant-less and highly efficient class of spacecraft for solar system exploration emerges in the form of small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules. These address the needs of all asteroid user communities - planetary science, planetary defence, and in-situ resource utilization - as well as other fields of solar system science and applications such as space weather warning and solar observations. Already the DLR-ESTEC GOSSAMER Roadmap for Solar Sailing initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery, which demonstrate the capabilities of near-term solar sails to reach any kind of orbit in the inner solar system. This enables Multiple Near-Earth Asteroid (NEA) rendezvous missions (MNR), from Earth-coorbital to extremely inclined and even retrograde target orbits. For these mission types using separable payloads, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of DLR GOS

关键词： Solar sails

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Frequency response function (FRF) based updating of a laser spot welded structure

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AIP Conference Proceedings 2018年第1期1952卷

作者： M. S. Mohd Zin M. N. Abdul Rani M. A. Yunus M. S. M. Sani W. I. I. Wan Iskandar Mirza A. A. Mat Isa 1Structural Dynamics Analysis & Validation (SDAV) Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM) 40450 Shah Alam Selangor Malaysia 2Dynamics Control System Engineering Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM) 40450 Shah Alam Selangor Malaysia 3Advanced Structural Integrity and Vibration Research (ASIVR) Faculty of Mechanical Engineering Universiti Malaysia Pahang 26600 Pekan Pahang Malaysia

The objective of this paper is to present frequency response function (FRF) based updating as a method for matching the finite element (FE) model of a laser spot welded structure with a physical test structure. The FE model of the welded structure was developed using CQUAD4 and CWELD element connectors, and NASTRAN was used to calculate the natural frequencies, mode shapes and FRF. Minimization of the discrepancies between the finite element and experimental FRFs was carried out using the exceptional numerical capability of NASTRAN Sol 200. The experimental work was performed under free-free boundary conditions using LMS SCADAS. Avast improvement in the finite element FRF was achieved using the frequency response function (FRF) based updating with two different objective functions proposed.

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A heat wave problem for a degenerate nonlinear parabolic equation with a specified source function

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AIP Conference Proceedings 2018年第1期2053卷

作者： A. L. Kazakov P. A. Kuznetsov L. F. Spevak 1Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontova St. 664033 Irkutsk Russia 2Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. 620049 Ekaterinburg Russia

A nonlinear parabolic heat conduction equation with a source is discussed, for which solutions of the heat wave propagating against a cold background at a finite velocity are studied. A new theorem of the existence and uniqueness of heat waves is proved. A particular case is studied in detail, when the heat wave is invariant and its construction reduces to solving an ordinary differential equation. For the numerical construction of invariant heat waves, an algorithm based on the boundary element method is proposed. Test examples are solved.

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