接触力控制的单腿机器人姿态控制

为了使Acrobot(Acrobat类型的单腿机器人)在运动过程中相对地面没有滑动,设计了基于接触力控制的姿态控制系统,将水平方向接触力作为内环的控制对象并限制其大小,使其总能满足摩擦锥的约束,从而保证在小腿姿态角的跟踪过程中足与地面间不会产生滑动。在Acrobot的直立姿态处,对其动力学方程进行线性化,并得到驱动力矩—水平接触力—质心水平位置—小腿姿态角的传递函数链,进而设计小腿姿态角的多环控制系统。在MATLAB中用"Sim Mechanics"工具箱搭建了Acrobot的虚拟模型,仿真结果表明,所设计的多环控制系统在实现小腿姿态角跟踪控制的同时还能保证足与地面间不产生滑动。     

India's Evolving Nuclear Posture

This article analyzes India's nuclear doctrine, finding it to be critically flawed and inimical to strategic stability in South Asia. In pursuing an ambitious triad of nuclear forces, India is straying from the sensible course it charted after going overtly nuclear in 1998. In doing so, it is exacerbating the triangular nuclear dilemma stemming from India's simultaneous rivalries with China and Pakistan. Strategic instability is compounded by India's pursuit of conventional “proactive strategy options,” which have the potential to lead to uncontrollable nuclear escalation on the subcontinent. New Delhi should reaffirm and redefine its doctrine of minimum credible nuclear deterrence, based on small nuclear forces with sufficient redundancy and diversity to deter a first strike by either China or Pakistan. It should also reinvigorate its nuclear diplomacy and assume a leadership role in the evolving global nuclear weapon regime.     

Is the Indian Nuclear Tiger Changing Its Stripes?

Sixteen years after stepping out of the nuclear closet, India's nuclear posture, some of its operational practices, and hardware developments are beginning to mimic those of the original five nuclear weapon states. Several proliferation scholars in the United States contend that India's national security managers are poised to repeat the worst mistakes of the superpowers’ Cold War nuclear competition, with negative consequences for deterrence, crisis, and stability in South Asia and the Asia-Pacific region. This article takes a contrarian view. It dissects the best available data to show why the alarmist view is overstated. It argues that not only are the alarmists’ claims unsupported by evidence, their interpretation of the skeletal and often contradictory data threatens to construct the very threat they prophesize.     

An informal framework to aid the analysis and design of military posture

The design of military posture is an exercise in confronting potential enemies’ capabilities within the context of geographic, technological, temporal, political and economic constraints. No formal model is capable of encapsulating the essentials of so complex an environment for closed or simulated analysis, but it is useful to have an informal framework within which to reason interactively within these dimensions.

This paper presents such a scaffolding, patterned on the notion of a military posture as the output of an economic process whose structure reflects important determinants of the characteristics and extents of weaponry and expenditures that are appropriate to the environment within the feasibility set determined by the constraints. The analysis remains at an abstract level, but it does highlight the important shifts toward preparation for littoral warfare, greater reliance on reserve rather than active forces, and necessary changes in missions among military departments.     

STRATEGY FOR A NEW NUCLEAR AGE

Current U.S. nuclear weapons strategy, force structure, and doctrine contribute to the threat of nuclear terrorism in several ways. First, the U.S. nuclear stockpile presents opportunities for nuclear terrorists to seize the materials they need. Second, U.S. nuclear forces remain a key justification for Russia's maintenance of similar nuclear forces that are less well protected. Third, America's continued embrace of nuclear weapons encourages and legitimizes other states to seek nuclear weapons that they will have difficulty securing from terrorists. The national security interests of the United States would be better served by a strategy to shrink the global footprint of nuclear weapons and provide the highest possible levels of security for the most minimal possible deterrent forces. Given the inability to secure nuclear weapons and materials perfectly or to eliminate terrorism in the foreseeable future, reducing the global inventory of nuclear weapons and materials is the most reliable way to reduce the chances of nuclear terrorism.     

激光四光束与 PSD 测量运动物体瞬时位置姿态系统的研究

介绍了一种新的光学非接触测量的方法。采用激光四光束与位敏元件 (PSD)测量物体的位置、角度 ,从而确定运动物体某一瞬时的位置姿态。对系统内部结构与信号处理进行了分析研究。实验证明 ,该测量系统具有测量精度高 ,重复稳定性好 ,系统响应速度快 ,测量范围宽等优点 ,且结构紧凑 ,制造成本低 ,应用前景相当广泛。     

THE ORIGINS OF AND PROSPECTS FOR RUSSIAN NUCLEAR DOCTRINE

This article explores Russia's increasing reliance on nuclear weapons from three perspectives. First, it seeks to demonstrate that the phenomenon is not exclusively limited to Russia and represents a broader trend, which is ultimately rooted in the nature of the contemporary international system or, more precisely, the uncertainties of the transitional period between the Cold War system and a new emerging one. Second, it analyzes the role assigned to nuclear weapons in Russia's doctrinal documents, in particular the emergence of a new mission—limited-use of nuclear weapons to deter or, if deterrence fails, to de-escalate large-scale conventional conflicts. Discussions of the new doctrine, which have begun recently, suggest that this new mission will likely remain unchanged. Finally, this article looks at the apparent discrepancy between Russia's nuclear modernization programs and the roles assigned to nuclear weapons in the military doctrine, as well as the causes of that discrepancy.