四轮全向移动机器人的双闭环速度控制系统设计

设计了四轮全向移动机器人的传感器信息采集硬件电路,并通过分析四轮全向移动机器人的运动学模型,提出了基于TI公司最新研发的TMS320F28069为主控制器的直流电机双闭环速度控制方案.试验结果表明:所提控制方案能够满足四轮全向移动机器人速度控制的要求,且响应速度快、误差小.     

Review of the ordered and proportionate flow shop scheduling research

Ordered flow shop models have appeared in the literature since the mid‐1970s and proportionate flow shop models have appeared since the early 1980s. We provide a detailed review of these models along with some analysis and potential topics for future research. © 2012 Wiley Periodicals, Inc. Naval Research Logistics, 2013     

Non-lethal weapons and the long tail of warfare

This paper examines whether non-lethal weapons (NLWs) enhance the capability of the US armed forces to conduct irregular warfare (IW) operations. With expectations that the operational environment will only continue to become more complex in the future, NLWs may reduce the level of violence received, as well as dispensed, by US forces while performing tasks in the IW spectrum. We argue that NLWs increase the ability of US forces to address the long tail of warfare and their deployment should be increased in the near term.     

冲激回波信号的双二重相关匹配滤波技术研究

超宽带冲激脉冲回波检测是超宽带雷达探测目标的关键,检测效能的高低将决定超宽带雷达的应用.在传统二重相关匹配滤波技术的基础上,提出了双二重相关匹配滤波技术.分析了双二重相关匹配滤波技术的检测原理,建立了超宽带冲激脉冲串回波信号模型,对比了不同信噪比下2种接收技术的仿真结果,仿真结果表明接收技术改进后能进一步抑制噪声,提高信噪比.研究对超宽带雷达接收机的设计有一定的借鉴和参考价值.     

双模圆锥喇叭单孔战损补片修复方法研究

由于馈源损伤对雷达对抗装备天线性能影响严重,且其修复效果决定天线性能恢复程度,因此,需要研究出较为有效的馈源修复方法.基于高频电磁场分析方法,针对雷达对抗装备馈源单孔损伤模式,运用现有战场抢修手段,通过FEKO软件模拟修复及仿真分析,探讨研究馈源单孔损伤补片修复方法.通过大量的模拟修复以及仿真分析,总结出馈源单孔损伤战场补片修复的一般原则.     

Analysis of algorithms for two‐stage flowshops with multi‐processor task flexibility

In this article we introduce a 2‐machine flowshop with processing flexibility. Two processing modes are available for each task: namely, processing by the designated processor, and processing simultaneously by both processors. The objective studied is makespan minimization. This production environment is encountered in repetitive manufacturing shops equipped with processors that have the flexibility to execute orders either individually or in coordination. In the latter case, the product designer exploits processing synergies between two processors so as to execute a particular task much faster than a dedicated processor. This type of flowshop environment is also encountered in labor‐intensive assembly lines where products moving downstream can be processed either in the designated assembly stations or by pulling together the work teams of adjacent stations. This scheduling problem requires determining the mode of operation of each task, and the subsequent scheduling that preserves the flowshop constraints. We show that the problem is ordinary NP‐complete and obtain an optimal solution using a dynamic programming algorithm with considerable computational requirements for medium and large problems. Then, we present a number of dynamic programming relaxations and analyze their worst‐case error performance. Finally, we present a polynomial time heuristic with worst‐case error performance comparable to that of the dynamic programming relaxations. © 2003 Wiley Periodicals, Inc. Naval Research Logistics, 2004.     

混合粒子滤波被动定位算法

为实现空中机动单站对运动目标的快速无源定位,提出了一种基于测向交叉定位方法的混合粒子滤波算法.针对粒子滤波初始化存在的问题,该算法从测向交叉定位方法得到建议分布,利用角度测量对状态变量的约束关系产生所需粒子,避免了粒子滤波产生粒子时的随机性,减少了高维情况下所需的粒子数目,降低了运算成本,提高了粒子滤波的实时性能.与粒...     

基于虚拟触角的自主车辆运动规划方法

在对自主车辆进行运动学分析的基础上,结合反应式行为规划方法和昆虫利用触角进行避障行走的思想,提出了一种使用圆弧形虚拟触角进行运动规划算法,并规划出在各圆弧轨迹片段车辆前轮摆角的参考值。仿真和实验结果表明：通过设置适当的初始参数,该算法能够使自主车辆在行驶过程中完全避开障碍物到达目标点,且轨迹光滑,满足车辆的运动学约束条件。该算法计算简洁、实时性强,适用于底层的实时控制,为自主车辆运动规划提供了一种简便、有效的策略。     

Light weight HTPB-clay nanocomposites(HCN)with enhanced ablation performance as inhibition materials for composite propellant

In the present study,organically modified Montmorillonite clay with polar moiety,the Cloisite 30B,is used for preparation of Hydroxyl terminated polybutadiene(HTPB)-clay nanocomposites(HCN)by dispersion of nanoclay in polymer matrix under high shear mixing.The nanocomposites thus prepared are evaluated in composite propellants as inhibitor material for their functional utility.Several inhibition formulations containing 5 wt％-15 wt％of nanoclay,with or without the conventional filler Sb2O3,were prepared.All these formulations were evaluated for their physical,mechanical,thermal,and ablative properties.Ablation rate and density of the compositions containing Cloisite 30B is around 23％and 5％lower respectively in comparison of the base composition.Strain capability of these compositions is twofold higher than that of base composition.These compositions have also been evaluated for their smoke generation tendency by measuring infra red(IR)attenuation in the wavelength range 1.3 μm-5.6 μm and 8 μm-13 μm and thereby compared with the base composition.The corresponding results confirmed that the compositions containing Cloisite 30B as filler have much lower IR attenuation than compositions with conventional filler,Sb2O3.Replacement of 5％Sb2O3 by nanoclay showed 8％reduction in IR attenuation rate which further reduced to 16％on replacement of 15％of Sb2O3.Interfacial bonding of HCN based inhibitors is also comparable or even better than conventional inhibitors.Precisely,the nanoclay composites with Cloisite 30B as filler exhibit all desirable properties of an inhibitor.     

Vapor-phase decomposition of dimethyl methylphosphonate (DMMP), a sarin surrogate,in presence of metal oxides

Chemical warfare agents (CWA) are stockpiled in large quantities across the globe. Agents stored in inaccessible facilities need to be destroyed rapidly without dispersing the compounds to surrounding areas. Metal-based energetic formulations are used in such prompt defeat applications to rapidly decompose the CWA by generating a high temperature environment. An alternate, and possibly a more effective decomposition pathway could be provided by chemicidal action of aerosolized condensed combustion products, which typically consist of metal oxides. Toxic fumes that escape the high tem-perature blast zone can be neutralized by smoke generated during combustion, depending on the par-ticle size, surface characteristics, chemical properties, and concentration of this smoke. This review considers relevant experimental and modeling studies quantifying decomposition of CWA comprising organophosphorus compounds and their surrogates on the surface of various metal oxides. Dimethyl methylphosphonate (DMMP), a sarine surrogate, was used most commonly for such experiments. Many reported efforts focused on the mechanisms of adsorption of DMMP to various metal oxides and initial reaction steps cleaving various bonds from the chemisorbed molecules. For selected oxides, these ex-periments were supported by quantum-mechanical calculations. In other studies, the capacity of oxide surfaces to adsorb and decompose DMMP was quantified. In most cases, porous catalysts were used although limited experimental data are available for aerosolized nonporous oxide particles. The reported experimental data applicable to scenarios involving prompt decomposition of CWA are summarized. It is noted that information is lacking describing respective heterogeneous reaction kinetics. Preliminary estimates of aerosolized smoke particle concentrations required to destroy CWA are made considering gas phase diffusion rates and reported values of the oxide capacity to decompose CWA or their surrogates.