自适应二阶滑模的有限时间收敛角度约束制导律

针对终端角度约束制导问题,提出了一种新型基于自适应二阶滑模的有限时间收敛角度约束制导律.构建非奇异有限时间收敛滑模面,保证了滑模面上角度及角速率误差有限时间快速收敛.采用参数自适应二阶滑模算法构建角度约束制导律,所设计的制导律不仅可抑制目标机动加速度等未知干扰,而且可确保滑模面的有限时间可达.相比采用传统二阶滑模或者含有切换项的滑模制导律,所提出的制导律参数可自适应变化,从而无需提前已知目标加速度等不确定项的上界信息.在各种目标机动情况下仿真,结果表明所设计的制导律具有强自适应以及快速收敛的制导性能.     

Irreversible demagnetization mechanism of permanent magnets during electromagnetic buffering

The permanent magnets will be irreversibly demagnetized under high temperature and high velocity during the electromagnetic buffering. In this study, the magnetic field induced by eddy currents and the self-demagnetizing field of permanent magnet are taken into consideration together for demagnetiza-tion analyse. The magnetic Reynolds number is used to express the eddy currents demagnetization. The correction coefficient being expressed as the index of the air-gap width, the inner cylinder thickness, iron pole axial length and the permanent magnet demagnetization coefficient is introduced by magnetic path analysis to represent the self-demagnetization effect and the demagnetization extent. The electromag-netic buffer (EMB) prototype is tested under intensive impact loads of different strengths at room temperature. The accuracy of the nonlinear irreversible demagnetization finite element model is verified by demagnetization on damping force, velocity and displacement. Finally, high-velocity demagnetization and high-temperature demagnetization are analysed in order to obtain the distribution law of irre-versible demagnetization.     

Numerical simulation study on penetration performance of depleted Uranium (DU) alloy fragments

Due to its high strength, high density, high hardness and good penetration capabilities, Depleted ura-nium alloys have already shined in armor-piercing projectiles. There should also be a lot of room for improvement in the application of fragment killing elements. Therefore, regarding the performance of the depleted uranium alloy to penetrate the target plate, further investigation is needed to analyze its advantages and disadvantages compared to tungsten alloy. To study the difference in penetration per-formance between depleted uranium alloy and tungsten alloy fragments,firstly, a theoretical analysis of the adiabatic shear sensitivity of DU and tungsten alloys was given from the perspective of material constitutive model. Then, taking the cylindrical fragment penetration target as the research object, the penetration process and velocity characteristics of the steel target plates penetrated by DU alloy frag-ment and tungsten alloy fragment were compared and analyzed, by using finite element software ANSYS/LS-DYNA and Lagrange algorithm. Lastly, the influence of different postures when impacting target and different fragment shapes on the penetration results is carried out in the research. The results show that in the penetration process of the DU and tungsten alloy fragments, the self-sharpening properties of the DU alloy can make the fragment head sharper and the penetrating ability enhance. Under the same conditions, the penetration capability of cylindrical fragment impacting target in vertical posture is better than that in horizontal posture, and the penetration capability of the spherical fragment is slightly better than that of cylindrical fragment.     

次声波技术与心理战应用

次声波是一种频率变化范围在10?4 Hz～20 Hz之间的声波,它具有穿透力强、传输距离远以及不易被吸收的特点,以此制造的次声波武器伤人但不毁物。近年来,随着高新技术的不断发展,次声波武器在心理战领域得到了广泛应用。本文首先对次声波技术及次声波武器的概念进行了简要介绍;其次,研究了次声波的生物学效应,分析了次声波频率、声压强度以及作用时间与生物学效应的关系,发现三种次声波的作用参数与生物学效应之间的关系虽然错综复杂,但也有一定规律可循;最后,提出了次声波武器在心理战的三个潜在应用前景,即利用次声波穿透力强的特点发展对掩体人员作战的心理战装备、利用次声波的生物学效应发展反恐作战的心理战装备以及利用次声波的生理致伤机理发展心理战防护装备。     

唐朝兵役制度和后勤制度变迁下的军事审计

唐朝是中国历史上最为强大的王朝之一,其军事实力可谓中国历史的巅峰。唐朝国祚在安史之乱后还延续了150余年,唐朝的兵役制度和后勤制度对其内外军事斗争及政权的发展和延续起到了重要作用。在军事审计的保驾护航之下,唐朝的兵役及后勤制度为其初期开疆拓土与后期定土戡乱均提供了有力支持。本文以唐朝历史的衍进为线索,以唐朝兵役制度和军事后勤制度的变迁为背景,剖析唐朝军事审计制度的特点与规律,详述军事审计主体、对象、方法、法规在这一时期的发展与变化,进而探究军事审计与兵役、后勤制度的关联,总结提炼出军事审计在国家兵役、后勤制度和国家安全方面发挥的重要作用,为现阶段军事审计更好服务于军事制度提供发展思路。     

Visual SLAM in dynamic environments based on object detection

A great number of visual simultaneous localization and mapping (VSLAM) systems need to assume static features in the environment. However, moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption. To cope with this challenging topic, a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed. To reduce the influence of dynamic content, we incorporate the deep-learning-based object detection method in the visual odometry, then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system. Experiment with both on the TUM and KITTI benchmark dataset, as well as in a real-world environment, the results clarify that our method can significantly reduce the tracking error or drift, enhance the robustness, accuracy and stability of the VSLAM system in dynamic scenes.     

水下航行器动力定位下的运动轨迹设计与仿真

对远程低速水下航行器在动力定位系统作用下的运动进行了研究.远程低速水下航行器由于航程远必须采用GPS全球导航定位系统进行导航,于是水下航行器就必须具有动力定位的能力,使之可以在需要GPS导航的时候上浮到近水面,导航完成后再下潜回航行深度.在建立水下航行器运动数学模型及进行推力分配的基础上,对远程低速水下航行器的典型运动轨迹进行了仿真,并对仿真结果进行了分析.     

仿生扭波推进模型航行试验研究

为研究长鳍扭波推进的水动力性能,在对尼罗河魔鬼鱼形体构造、游动模式研究的基础上,研制了一种仿生长鳍扭波推进航行器.该推进器能逼真地模仿尼罗河魔鬼鱼长背鳍的扭波运动模式,产生强劲的水动力.在水池中开展扭波推进模型航行试验,得到了航行速度与扭波频率的关系曲线.该曲线表明:扭波推进模型的航行速度与扭波频率成正比.提出了一种测量机器鱼鱼鳍推水功率的实验方法,实验结果表明:扭波长鳍的推水功率与扭波频率的3次方成正比.     

THE CREATION OF THE ICC

The implications for African states of the recently created International Criminal Court should be carefully considered. There are far-reaching limitations placed on the ICC's jurisdictional scheme, both temporally as well as by the preconditions to the exercise of jurisdiction in the form of territoriality and nationality. The Court's powers may also be constrained out of deference to the grant of an internationally acceptable amnesty, and national courts may be constrained to recognise immunities from prosecution for high-ranking officials. These limitations need to be properly understood so that the ICC can be effectively utilised by African States to declare and act upon their commitment to the principle of individual criminal liability for those responsible for the most serious crimes.     

基于面向对象技术的柴油机在线状态监测系统设计

将软件设计中的面向对象思想扩展到系统设计中,针对柴油机实车运行在线监测中的变速变载及空间有限等问题,基于CAN总线的可靠性、信息传输的实时性和多主工作方式,设计分布式智能监测节点和上位机监控中心．分布式监测节点同步采集柴油机运行数据并进行降噪和简单特征提取后,将实时采样数据和在线监测结果上传至基于嵌入式PCI04的上位机监控中心,进行二次特征提取和智能模式识别,从而实现柴油机在线状态监测与故障预警和诊断．