液压驱动型四足机器人对角小跑步态本体水平位置控制方法

为了对对角小跑中四足机器人本体的水平位置进行控制,建立基于沿支撑线方向运动分解的机器人近似动力学模型,将本体和对角支撑腿简化为一个七连杆结构和一个线性倒立摆,并且基于线性倒立摆解析模型提出摆动腿落足点位置计算方法,进而实现对本体水平位置的控制。针对液压作动器伸缩速度受限的问题,利用单腿冗余关节将关节角速度优化问题转化为标准二次型规划问题,通过设计二次型规划问题解法,降低对摆动腿关节角速度的需求,并且避免了传统伪逆方法可能产生的腿部奇异位型。仿真和实验结果表明:该方法能够实现在关节角速度受限的情况下,有效跟踪本体水平位置的期望轨迹。     

基于麒麟嵌入式操作系统的车载智能终端软件远程升级的设计与实现

为解决基于麒麟嵌入式操作系统的车载智能终端实际应用中的软件升级问题,提出了利用GPRS技术、IAP编程方式、应答机制、断点续传技术和校验机制实现嵌入式系统的软件远程升级方案,保证了数据传输的实时性、快速性、准确性和可靠性,并且通过各种实验模拟了升级过程中的异常情况,实验结果表明,所提出的方案能保证终端正确可靠地完成软件的远程升级,这也就验证了该远程升级方案的可行性.     

一种面向复杂地理空间栅格数据处理算法并行化的任务调度方法

随着并行计算技术的成熟,地理空间栅格数据处理算法的并行化研究成为新的热点。聚焦于处理流程包含多个计算步骤的复杂地理空间栅格数据处理算法,基于空间计算域理论,提出了一个随着算法处理流程而动态变化的任务调度方法。实验证明,该方法在算法流程的每一个计算步都会调整任务分组方案,因此相比于传统任务调度方法,任务调度的负载均衡效果更好,并行算法程序的运行时间更短。     

基于专家系统的飞机致命性部件辨识方法研究

介绍了飞机致命性部件的辨识方法,尤其对该方法的核心部分,即损伤模式影响及致命性分析(DMECA)进行了详细的剖析。引用可靠性分析中比较成熟的FMECA(故障模式影响及致命性分析)思路来确定飞机的致命性部件,从而可为飞机易损性评估及战伤修复提供前提条件。通过考虑影响部件损伤率的因素(部件的尺寸大小、防护与遮挡、复杂程度等),借助系统综合评价中的关联矩阵方法,解决了DMECA分析表单中损伤率的来源问题,从而使DMECA方法切实可行。     

面向故障的软件测试方法研究

提出了一种面向故障的软件测试方法,用以检测C程序中坏的存储分配、存储泄漏、空指针引用、数组越界和未初始化变量等5类故障.该方法在词法分析和语法分析的基础上,利用检查点查找算法查找可疑点,通过适当的人工确认,能够有效找出软件中的故障.     

细晶钢的摩擦学性能初探

细晶钢作为新一代的钢铁材料,通过细化晶粒提高强度,改善其摩擦学性能。经试验对比细晶钢和45#钢在不同添加剂、不同负荷条件下的摩擦磨损情况,结果表明细晶钢在特定添加剂的高负荷条件下,其摩擦学性能优于45#钢。     

电磁屏蔽模型房接地性能实验研究

接地是建筑物实现宽频电磁屏蔽的重要技术措施,而导电的屏蔽功能层与接地系统电连接后也反过来影响接地的性能指标。采用导电混凝土为主料制作接地电极和电磁屏蔽模型房,测试单屏蔽模型房悬空、单电极-单屏蔽模型房接地以及单电极-双屏蔽模型房并联接地3种情况下的接地电阻变化规律。实验发现,屏蔽功能层本身可以等效为一个电阻,与接地系统并联后可以有效降低接地电阻;屏蔽功能层面积越大,电阻降低越多。实验结果可以为建筑物电磁屏蔽工程的接地设计与实践提供参考。     

基于综合势力图的态势估计方法

在AI兵棋对抗中,能够更全面地理解态势信息是AI棋手获胜的前提条件.提出了基于综合势力图的态势估计方法,阐述了势力图的原理和一般生成过程,提出基于综合势力图的态势分析框架;将AI兵棋的静态信息、经验信息和动态信息计算叠加形成综合势力图,在此基础上分析敌方位置、视野以及火力威胁等态势相关信息,得到态势估计结果,为AI决策提供信息支撑;基于AI兵棋推演平台进行内置规则AI和基于势力图的AI之间的对抗实验,实验结果表明该方法能够提升AI决策的准确性,提高AI在兵棋对抗中的胜率.     

Fracture mechanism of a cylindrical shell cut by circumferential detonation collision

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.     

Cooperative interception with fast multiple model adaptive estimation

For the case that two pursuers intercept an evasive target, the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target, which performs a bang For the case that two pursuers intercept an evasive target, the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target, which performs a bang-bang evasive maneuver with a random switching time. Combined Fast multiple model adaptive estimation (Fast MMAE) algorithm, the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration. Introduced the detection error model related to the line-of-sight (LOS) separation angle of two interceptors, an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance. Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion, Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately. The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.