Maneuvering target tracking of UAV based on MN-DDPG and transfer learning

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.     

Bidirectional parallel multi-branch convolution feature pyramid network for target detection in aerial images of swarm UAVs

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.     

基于匹配处理的纯方位目标运动分析方法

以被动声纳观测的目标方位信息为基础,将匹配处理技术用到目标运动参数纯方位估计中,建立了进行纯方位目标运动分析的匹配处理模型,给出相关的优化处理算法,并通过仿真计算验证了模型的有效性。仿真结果表明该算法在目标运动参数的收敛时间和距离等指标上有较明显改善。     

增强部队思想政治教育针对性实效性需要着力解决的几个问题

贯彻落实胡主席关于加强部队思想政治教育针对性、实效性的重要指示,当前需着力解决以下几个问题:进一步强化对思想政治教育地位作用的认识,切实依法履行职责;增强教育内容的针对性,突出回答和解决官兵的信仰追求、立身做人、使命职责和心理健康问题;探索富有时代气息的方法手段,把管用的传统做法与现代手段、教育资源与官兵积极性充分调动和运用起来;通过院校和在职培训、创造良好工作条件等途径大力提高基层政治干部授课能力。     

粘土的结构性与超固结

土体中的结构性与超固结都可以使土体表现出超固结特性。通过结构性与超固结对土体力学性质影响比较,揭示了它们对土体力学性质的影响存在本质差异,需要将它们区分开来。基于土体中的结构性、超固结对土体固结特性的影响差异及粘土的正常固结线的唯一性,提出了粘土的结构性与超固结的定量描述方法,据此对原状粘土进行分类。土体的结构性主要包括土体的化学胶结等真正改变了土样结构的因素,用结构性参数来定量描述,而次固结、干缩作用可看成与超固结作用一致,一起用超固结参数来定量描述。     

战车火控外弹道实时解算的研究

论证了战车火控系统弹道实时解算技术的现状和发展 ,提出了现代火控弹道问题实时解算的新的数学模型。这一先进的弹道解算设计方法 ,适应于计算机运算速度已大幅提高的技术水平 ,具有高度通用化的特点 ,并且使弹道问题的解算可以完全脱离射表进行     

带脉冲负荷的电站柴油机动态性能分析

通过对某一个在脉冲负荷作用下配置了液压调速器的电站柴油机系统的动态仿真计算 ,确定了改善这类系统动态性能的方法 ,并通过调整使系统动态性能达到了要求     

亚音速轴流风扇静转子相互作用线谱噪声预报

静转子相互作用线谱噪声是亚音速轴流风扇主要噪声源之一,快速预报该噪声对风扇设计初期的叶片选型和参数设计具有重要意义.因此在叶栅响应函数理论的基础上考虑静转子叶片的相互作用,采用叶片经验尾流模型模拟转子尾流,推导得到静转子叶栅相互作用线谱辐射声功率半经验半理论计算公式.通过与NASA已有的试验模型和计算模型结果对比,验证...     

军区营房管理辅助决策信息系统设计研究

为满足现代战争对后勤保障提出的新要求,改革传统的营房保障模式,根据信息系统、数据库及网络建设的理论,通过对军区营房管理部门组织结构、工作流程、业务内容、部门权限的分析,提出了军区营房管理辅助决策信息系统设计的要求、系统的配置、系统主要模块划分等内容,为系统的进一步开发搭建了框架。     

柱锥级联型爆磁压缩发生器的实验研究

研究了柱锥级联型爆磁压缩发生器。给出了主要实验结果。发生器的负载是3.5μH,最大电流是55.8KA,上升前沿是14.3μs,电压为30.5KV。平均电流放大倍数是6.4。