基于趋近律的离散滑模位置跟踪控制

针对不确定对象的主要特点,运用离散滑模变结构理论探索不确定对象的位置跟踪问题。设计了一种离散趋近率滑模位置跟踪算法,推导了滑模控制的可达性条件。该算法以离散位置信号作为输入,设计了离散指数趋近率,根据系统当前的状态,有目的地调整控制器,采用离散Kalman滤波器对干扰和噪声进行滤波。经仿真研究,该算法不仅在无扰动无噪声条件下,能够准确的进行位置跟踪,而且在扰动和噪声时,具有较强的鲁棒性和抗干扰性,较好地满足了位置跟踪控制的要求。     

变分自编码器结合聚类算法在空战态势评估问题上的应用

针对传统态势评估方法确定权值的主观性强、处理大数据能力弱、特征提取能力不足等问题，提出基于改进变分自编码器和聚类算法的无监督空战态势评估方法。根据态势变化连续性特点，提出基于时间段的空战态势分类方法，将敌我双方态势划分为四类。在变分自编码器的基础上，提出了VAE-WRBM-MDN特征提取模型，即使用混合密度网络优化变分自编码器的特征提取能力和生成数据的相似度，使用权值不确定限制玻尔兹曼机优化网络的初始权值。将提取的特征分别输入到两种典型的聚类算法中进行聚类，并结合态势函数和实际战场情况修正聚类结果，形成正确的态势分类标准。在实验部分，分别进行了最优参数调整、关键特征提取、聚类以及修正实验。实验结果表明，模型态势分类正确率和运行时间均满足应用需求，实例评估结果与客观态势一致性强，所提方法具有实际应用价值。     

Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface

Based on fuzzy adaptive and dynamic surface (FADS), an integrated guidance and control (IGC) approach was proposed for large caliber naval gun guided projectile, which was robust to target maneuver, canard dynamic characteristics, and multiple constraints, such as impact angle, limited measurement of line of sight (LOS) angle rate and nonlinear saturation of canard deflection. Initially, a strict feedback cascade model of IGC in longitudinal plane was established, and extended state observer (ESO) was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system, including aerodynamic parameters perturbation, target maneuver and model errors. Secondly, aiming at zeroing LOS angle tracking error and LOS angle rate in finite time, a nonsingular terminal sliding mode (NTSM) was designed with adaptive exponential reaching law. Furthermore, combining with dynamic surface, which prevented the complex differential of virtual control laws, the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law. Finally, the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection. The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded, rigorously proven by Lyapunov stability theory. Hardware-in-the-loop simulation (HILS) and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.     

亚细亚生产方式研究概况及其意义

马克思在研究亚洲或东方社会的状况时,提到亚细亚生产方式的概念,对此概念的严格定义则不是马克思关注的焦点,他的关注点集中在东西生产方式的区别上,以及当时东方社会为何遭受到西方社会的打击,并在此基础上为包括东方国家在内的落后国家寻找一条出路。然而,后人却对亚细亚生产方式概念进行了各种各样的论争,这虽有时代背景上的原因,也有诸多理论上的原因,无疑也背离了马克思探讨亚细亚生产方式的原意。可是另一方面,通过对亚细亚生产方式的研究和争论,有助于了解包括中国在内的亚洲国家的历史和现状。了解自身历史的生产方式,以及和西欧生产方式进行对比,对于现代化进程中的中国有着很大的借鉴和启发意义。     

指挥院校英语课堂团队教学策略的实验研究

培养指挥类军事院校学员的团队精神，强化团队意识，把建立有效的激励机制等方法贯穿于教学的各个环节中。团队教学方法不仅可以提高指挥类军校学员的团队协作精神，同时团队教学策略又能显著提高指挥类军校学员的英语口语能力。     

基于刚柔耦合的坦克炮发射动力学仿真分析

炮口扰动是影响坦克炮射击精度的重要因素，为研究弹丸出炮口瞬间的炮口扰动规律，基于多体动力学与有限元方法构建了坦克刚柔耦合的全车动力学仿真模型，该模型考虑了身管的柔性特性，对身管进行了模态分析，得到了身管的模态中性文件。通过仿真，对比了后坐部分最大后坐位移与最大后坐速度的试验值与仿真值，对刚柔耦合模型的仿真结果进行了验证。在此基础上，分析了刚性身管和柔性身管对炮口扰动的影响，结果表明：考虑身管柔性特性的刚柔耦合模型能够有效提高坦克炮射击仿真精度。     

An eikonal equation based path planning method using polygon decomposition and curve evolution

Path planning is a key technique of autonomous navigation for robots, and the velocity field is an important part. Constructing velocity field in a complex workspace is still challenging. In this paper, an inner normal guided segmentation algorithm in a complex polygon is proposed to decompose the complex workspace in this paper. The artificial potential field model based on probability theory is then used to calculate the potential field of the decomposed workspace, and the velocity field is obtained by utilizing the potential field of this workspace. Path optimization is implemented by curve evolution, during which the internal force generated in the smoothing process of the initial path by a mean filter and the external force is obtained from the gradient of the workspace potential field. The parameter selection principle is deduced by analyzing the influence of several parameters on the path length and smoothness. Simulation results show that the designed polygon decomposition algorithm can effectively segment complex workspace and that the path optimization algorithm can shorten and smoothen paths.     

基于不同能量值特征优选的水声目标识别

采用Bartlet平均周期图、小波变换和经验模态分解方法分别提取信号的频段能量值特征、IMF能量值特征，重点对IMF能量值特征进行特征优选。通过设计BP神经网络分类器，对实测的四类舰船目标的辐射噪声信号进行测试，取得了较好的识别效果。     

美“海军一体化火力控制--制空”能力发展现状与启示

美“海军一体化火力控制－制空”（ NIFC－CA）是美军海上盾牌防御体系概念的重要组成部分。该体系经过多年的发展已初见成效。首先，对美“海军一体化火力控制———制空”的基本概念及内涵进行了阐述，对其主要组成CEC、E－2D预警机、宙斯盾系统及标准－6舰空导弹在防御体系中的功能进行了分析；然后，介绍了美NIFC－CA的6种主要指挥控制模式，并对其协同指挥决策模式进行了分析，得出了指挥决策分布处理的特点；最后，总结了美NIFC－CA发展对我海军海上防御力量发展建设的启示。     

法学教学中案例教学法的反思与探索

法学是一门理论性与实践性都很强的学科,法学教育的目的在于为社会培养应用型、实践型的法律人才。传统上重理论轻实践的教学模式已无法满足这一要求,而科学合理地引入案例教学是弥补传统模式不足的有效手段。