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811.
Tracking maneuvering target in real time autonomously and accurately in an uncertain environment is one of the challenging missions for unmanned aerial vehicles(UAVs).In this paper,aiming to address the control problem of maneuvering target tracking and obstacle avoidance,an online path planning approach for UAV is developed based on deep reinforcement learning.Through end-to-end learning powered by neural networks,the proposed approach can achieve the perception of the environment and continuous motion output control.This proposed approach includes:(1)A deep deterministic policy gradient(DDPG)-based control framework to provide learning and autonomous decision-making capa-bility for UAVs;(2)An improved method named MN-DDPG for introducing a type of mixed noises to assist UAV with exploring stochastic strategies for online optimal planning;and(3)An algorithm of task-decomposition and pre-training for efficient transfer learning to improve the generalization capability of UAV's control model built based on MN-DDPG.The experimental simulation results have verified that the proposed approach can achieve good self-adaptive adjustment of UAV's flight attitude in the tasks of maneuvering target tracking with a significant improvement in generalization capability and training efficiency of UAV tracking controller in uncertain environments.  相似文献   
812.
As a main oxidizer in solid composite propellants, ammonium perchlorate (AP) plays an important role because its thermal decomposition behavior has a direct influence on the characteristic of solid com-posite propellants. To improve the performance of solid composite propellant, it is necessary to take measures to modify the thermal decomposition behavior of AP. In recent years, transition metal oxides and carbon-supported transition metal oxides have drawn considerable attention due to their extraor-dinary catalytic activity. In this review, we highlight strategies to enhance the thermal decomposition of AP by tuning morphology, varying the types of metal ion, and coupling with carbon analogue. The enhanced catalytic performance can be ascribed to synergistic effect, increased surface area, more exposed active sites, and accelerated electron transportation and so on. The mechanism of AP decom-position mixed with catalyst has also been briefly summarized. Finally, a conclusive outlook and possible research directions are suggested to address challenges such as lacking practical application in actual formulation of solid composite propellant and batch manufacturing.  相似文献   
813.
Track tension is a major factor influencing the reliability of a track. In order to reduce the risk of track peel-off, it is necessary to keep track tension constant. However, it is difficult to measure the dynamic tension during off-road operation. Based on the analysis of the relation and external forces depending on free body diagrams of the idler, idler arm, road wheel and road arm, a theoretical estimation model of track tension is built. Comparing estimation results with multibody dynamics simulation results, the rationality of track tension monitor is validated. By the aid of this monitor, a track tension control system is designed, which includes a self-tuning proportional-integral-derivative (PID) controller based on radial basis function neural network, an electro-hydraulic servo system and an idler arm. The tightness of track can be adjusted by turning the idler arm. Simulation results of the vehicle starting process indicate that the controller can reach different expected tensions quickly and accurately. Compared with a traditional PID controller, the proposed controller has a stronger anti-disturbance ability by amending control pa-rameters online.  相似文献   
814.
In this paper, based on a bidirectional parallel multi-branch feature pyramid network (BPMFPN), a novel one-stage object detector called BPMFPN Det is proposed for real-time detection of ground multi-scale targets by swarm unmanned aerial vehicles (UAVs). First, the bidirectional parallel multi-branch convolution modules are used to construct the feature pyramid to enhance the feature expression abilities of different scale feature layers. Next, the feature pyramid is integrated into the single-stage object detection framework to ensure real-time performance. In order to validate the effectiveness of the proposed algorithm, experiments are conducted on four datasets. For the PASCAL VOC dataset, the proposed algorithm achieves the mean average precision (mAP) of 85.4 on the VOC 2007 test set. With regard to the detection in optical remote sensing (DIOR) dataset, the proposed algorithm achieves 73.9 mAP. For vehicle detection in aerial imagery (VEDAI) dataset, the detection accuracy of small land vehicle (slv) targets reaches 97.4 mAP. For unmanned aerial vehicle detection and tracking (UAVDT) dataset, the proposed BPMFPN Det achieves the mAP of 48.75. Compared with the previous state-of-the-art methods, the results obtained by the proposed algorithm are more competitive. The experimental results demonstrate that the proposed algorithm can effectively solve the problem of real-time detection of ground multi-scale targets in aerial images of swarm UAVs.  相似文献   
815.
The failure mechanism of a cylindrical shell cut into fragments by circumferential detonation collision was experimentally and numerically investigated. A self-designed detonation wave regulator was used to control the detonation and cut the shell. It was found that the self-designed regulator controlled the fragment shape. The macrostructure and micro-characteristics of fragments revealed that shear fracture was a prior mechanism, the shell fractured not only at the position of detonation collision, but the crack also penetrated the shell at the first contact position of the Chapmen-Jouguet (C-J) wave. The effects of groove number and outer layer thickness on the fracture behavior were tested by simulations. When the thickness of the outer layer was 5–18 mm, it has little effect on fragmentation of the shell, and shells all fractured at similar positions. The increase of the groove number reduced the fracture possibility of the first contact position of the C-J wave. When the groove number reached 7 with a 10 mm outer layer (1/4 model), the fracture only occurred at the position of detonation collision and the fragment width rebounded.  相似文献   
816.
Particulate composites are one of the widely used materials in producing numerous state-of-the-art components in biomedical, automobile, aerospace including defence technology. Variety of modelling techniques have been adopted in the past to model mechanical behaviour of particulate composites. Due to their favourable properties, particle-based methods provide a convenient platform to model failure or fracture of these composites. Smooth particle hydrodynamics (SPH) is one of such methods which demonstrate excellent potential for modelling failure or fracture of particulate composites in a Lagrangian setting. One of the major challenges in using SPH method for modelling composite materials depends on accurate and efficient way to treat interface and boundary conditions. In this paper, a master-slave method based multi-freedom constraints is proposed to impose essential boundary conditions and interfacial displacement constraints in modelling mechanical behaviour of composite materials using SPH method. The proposed methodology enforces the above constraints more accurately and requires only smaller condition number for system stiffness matrix than the procedures based on typical penalty function approach. A minimum cut-off value-based error criteria is employed to improve the compu-tational efficiency of the proposed methodology. In addition, the proposed method is further enhanced by adopting a modified numerical interpolation scheme along the boundary to increase the accuracy and computational efficiency. The numerical examples demonstrate that the proposed master-slave approach yields better accuracy in enforcing displacement constraints and requires approximately the same computational time as that of penalty method.  相似文献   
817.
This study investigates and quantifies some possible sources affecting the position of impact points of small caliber spin-stabilized projectiles (such as 12.7 mm bullets). A comparative experiment utilizing the control variable method was designed to figure out the influence of tiny eccentric centroids on the projectiles. The study critically analyzes data obtained from characteristic parameter measurements and precision trials. It also combines Sobol's algorithm with an artificial intelligence algorithm—Adaptive Neuro-Fuzzy Inference Systems (ANFIS)—in order to conduct global sensitivity analysis and determine which parameters were most influential. The results indicate that the impact points of projectiles with an entry angle of 0° deflected to the left to that of projectiles with an entry angle of 90°. The difference of the mean coordinates of impact points was about 12.61 cm at a target range of 200 m. Variance analysis indicated that the entry angle — i.e. the initial position of mass eccentricity — had a notable influence. After global sensitivity analysis, the significance of the effect of mass eccentricity was confirmed again and the most influential factors were determined to be the axial moment and transverse moment of inertia (Izz Iyy), the mass of a projectile (m), the distance between nose and center of mass along the symmetry axis for a projectile (Lm), and the eccentric distance of the centroid (Lr). The results imply that the control scheme by means of modifying mass center (moving mass or mass eccentricity) is promising for designing small-caliber spin-stabilized projectiles.  相似文献   
818.
Whipple shield, a dual-wall system, as well as its improved structures, is widely applied to defend the hypervelocity impact of space debris (projectile). This paper reviews the studies about the mechanism and process of protection against hypervelocity impacts using Whipple shield. Ground-based experiment and numerical simulation for hypervelocity impact and protection are introduced briefly. Three steps of the Whipple shield protection are discussed in order, including the interaction between the projectile and bumper, the movement and diffusion of the debris cloud, and the interaction between the debris cloud and rear plate. Potential improvements of the protection performance focusing on these three steps are presented. Representative works in the last decade are mentioned specifically. Some prospects and suggestions for future studies are put forward.  相似文献   
819.
The mitigation of blast shock with water has broad application prospects. Understanding the mitigation effects on the reflected overpressure of the explosion shock with water surrounding an explosive in a confined space is of great significance for military explosives safety applications. To estimate the effects of the parameters on the reflected overpressure of blasted shock wave, a series of experiments were carried out in confined containers with spherical explosives immersed in a certain thickness of water, and numerical simulations were conducted to explore the corresponding mechanisms. The results reveal that the reflected overpressure is abnormally aggravated at a small scaled distance. This aggravation is due to the high impulse of the bulk accelerated water shell converted from the explosion. With increasing scaled distance, the energy will be gradually dissipated. The mitigation effects will appear with the dispersed water phase front impacting at a larger scaled distance, except in the case of a dense water phase state. A critical scaled distance range of 0.7—0.8 m/kg1/3 for effective mitigation was found. It is suggested that the scaled distance of space walls should be larger than the critical value for a certain water-to-explosive weight ratio range (5—20).  相似文献   
820.
研究用模拟进化方法进行程序设计的途径。构造了以形式文法为遗传表示的程序进化器,提出了这个进化器使用的有关算法。本文用程序进化器解决了人工蚁问题。  相似文献   
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