无人机规避或跟踪空中目标的自适应运动导引方法

无人机规避或跟踪空中目标可以看作是一个非线性运动导引控制问题。针对这类任务中无人机和目标存在高机动性、高时敏性等特点,提出了一种基于Lyapunov稳定性理论的无人机规避或跟踪目标运动导引方法。构建了基于精细时间运动导引方法的无人机规避或跟踪空中目标问题求解框架,并将无人机碰撞规避和机动目标跟踪问题分别转化为到达虚拟目标点和与虚拟目标点交会的问题。针对碰撞规避问题,将其转化为实现平行导引的控制问题,基于Lyapunov稳定性理论设计了无人机碰撞规避导引律。针对机动目标跟踪问题,在碰撞规避基础上,根据目标点交会的要求设计了相应的目标跟踪导引律。在Gazebo平台上开展了仿真验证实验,实验结果表明:所提方法能够有效避免大过载情况的出现,并具有较强的时变和参数适应性。     

The SSA-BP-based potential threat prediction for aerial target considering commander emotion

The target's threat prediction is an essential procedure for the situation analysis in an aerial defense system. However, the traditional threat prediction methods mostly ignore the effect of commander's emotion. They only predict a target's present threat from the target's features itself, which leads to their poor ability in a complex situation. To aerial targets, this paper proposes a method for its potential threat prediction considering commander emotion (PTP-CE) that uses the Bi-directional LSTM (BiLSTM) network and the backpropagation neural network (BP) optimized by the sparrow search algorithm (SSA). Furthermore, we use the BiLSTM to predict the target's future state from real-time series data, and then adopt the SSA-BP to combine the target's state with the commander's emotion to establish a threat prediction model. Therefore, the target's potential threat level can be obtained by this threat prediction model from the predicted future state and the recognized emotion. The experimental results show that the PTP-CE is efficient for aerial target's state prediction and threat prediction, regardless of commander's emotional effect.     

INCOMPLETE ROHLFS–SULLIVAN ANALYSIS OF THE COST-EFFECTIVENESS OF ARMORED TACTICAL WHEELED VEHICLES FOR OVERSEAS US ARMY OPERATIONS

This comment addresses the Rohlfs–Sullivan analysis titled: ‘The Cost-Effectiveness of Armored Tactical Wheeled Vehicles [TWVs] for Overseas US Army Operations.’ The analysis evaluated policies to replace Type 1 and 2 TWVs with Type 3s. There is no evidence the analysis factored in fatality causes, fatality relationships to vehicles, or compared survivability of vehicles. Furthermore, it did not note when Type 3 TWVs were requested, when they impacted fatalities, or TWV use policies. It also assumed Type 3 TWVs prompted negative unit behaviors while discounting evidence of positive behaviors. In summary, the analysis is incomplete and should be revised.     

The political economy of drones

This paper provides a political economy analysis of the evolution of unmanned aerial vehicles (UAV), or ‘drones’ in the USA. Focus is placed on the interplay between the polity and private economic influences, and their impact on the trajectory of political, economic, and military outcomes. We identify the initial formation of the drone industry, trace how the initial relationships between the military and the private sector expanded over time, and discuss present relationships. Understanding the historical evolution of UAV technology, as well as the major players in the industry today, is important for ongoing policy debates regarding the use of drones both domestically and internationally.     

网络化无人水下航行器CAN总线调度方法

传感器时间驱动,控制器和执行器均为事件驱动的网络控制系统节点驱动方式,已在众多的网络控制系统研究中被采用。在此种节点驱动方式下,依据各控制回路传感信息的不同时间性质将网络化无人水下航行器各控制回路划分为周期性控制回路和随机性控制回路来进行处理。采用时分复用原理对系统总线传输时间进行划分,通过递归遍历寻优方法对系统周期性控制回路信息传输需求进行优化调度;基本周期最小时间余量最大的寻优指标确保了总线负载均衡和随机性控制回路信息传输需求得到及时满足,这样有效地减少了低优先级控制回路(节点)信息传输的延迟等待时间。利用M ATLAB/T uretim e工具进行仿真试验,仿真结果说明了调度方法的有效性。     

考虑浮绳联结的双无人船艇系统协同控制策略研究

针对青岛等海域浒苔泛滥成灾的问题,开展了由浮绳柔性连接两艘水面无人船艇构成的双无人船艇系统协同控制策略研究,通过双无人船艇系统清扫浒苔,并将其拖运至海岸.考虑系统中的无人船艇动力、浮绳力矩和水流产生的干扰力矩,建立了欠驱动无人船艇三自由度动力学模型,提出了基于距离的包含编队和跟踪两个模式的协同控制策略.双无人船艇系统作...     

磁悬浮列车模型的实验研究

本文主要研究磁悬浮列车模型的控制问题。在分析列车数学模型的基础上,利用信号变换技巧,实现了系统的解耦。对解耦系统根据性能指标要求配置了闭环系统的极点;通过状态反馈给出了反馈阵F;设计了控制器。研究了磁悬浮列车控制系统的具体实现问题。     

无人炮塔系统关键技术组合分析

无人炮塔系统是未来火力系统发展的方向,在坦克和装甲车辆炮塔部分被命中概率高的现实情况下,无人炮塔对乘员来说相对安全。文章初步分析了无人炮塔系统的关键技术——遥控火炮技术和自动输弹技术实现的可能性和途径,并且针对在相同底盘上配置更大威力火炮的要求,探讨了膨胀波技术在无人炮塔上的应用。     

基于进化算法的多无人机协同航路规划

以突防航路时域协同指数、空域协同指数、突防时长指数和受威胁指数为规划目标,以最小直线航路段长度、可飞空域、续航能力和进入任务航路方向为约束,构建了多无人机协同突防航路规划模型。结合模型特点,利用合作型协同进化遗传算法对该模型进行求解。     

多UAV协同区域覆盖侦察方法

针对多UAV对未知区域的协同覆盖侦察问题,提出了将STC算法与在线局部调整策略相结合的区域覆盖侦察方法.通过建立无重叠覆盖区域的闭合路径,最小化了重复侦察区域,缩短了任务执行时间;通过在线局部调整保证了只要有一架UAV不出现故障,侦察任务就可以正常进行.仿真结果表明,该方法能够有效解决多UAV协同区域覆盖侦察问题,方法...