Finite-time tracking control and vibration suppression based on the concept of virtual control force for flexible two-link space robot

The dynamic modeling, finite-time trajectory tracking control and vibration suppression of a flexible two-link space robot are studied. Firstly, the dynamic model of the system is established by combining Lagrange method with assumed mode method. In order to ensure that the base attitude and the joints of space robot can reach the desired positions within a limited time, a non-singular fast terminal sliding mode (NFTSM) controller is designed, which realizes the finite-time convergence of the trajectory tracking errors. Subsequently, for the sake of suppressing the vibrations of flexible links, a hybrid tra-jectory based on the concept of the virtual control force is developed, which can reflect the flexible modes and the trajectory tracking errors simultaneously. By modifying the original control scheme, a NFTSM hybrid controller is proposed. The hybrid control scheme can not only realized attitude stabili-zation and trajectory tracking of joints in finite time, but also provide a new method of vibration sup-pression. The simulation results verify the effectiveness of the designed hybrid control strategy.     

Effect of projectile parameters on opening behavior of PELE penetrating RC target

When a penetrator with enhanced lateral effect (PELE) impacts on a reinforced concrete (RC) target, the target is damaged with a large opening. An understanding of how PELE projectile parameters affect the opening dimension, is essential for effective design of the PELE projectile. In this study, under the condition that the impact velocity and target parameters (strength and thickness) were fixed values, the important influence factors of the PELE (jacket wall thickness B, jacket material strength Y1, filling material strength Y2 and angle of monolithic jacketθ) were determined by a dimensional analysis. Tests and simulations of the PELE penetrating the RC target were conducted to analyze the influence of these factors on opening diameter ((D), an equivalent diameter under relative kinetic energy). Based on the test and simulation results, it is found that the influence of these factors B, Y1 andθon the deformation mode of the jacket shows a similar trend:as values of the three factors decrease, the jacket deforms from small bending deformation to large one, and then to curling deformation. This causes the opening diameter to first increase with the decrease of these three factors, and then decreases. It is well known that the bending resistance of the jacket is related to these factors B, Y1 andθ. Therefore, a plastic limit bending moment (M0) of the jacket was quoted to characterize the influence of these factors on the bending deformation of the jacket and the opening diameter of the target. The influence factor Y2 causes (D) to first increase with the increase of Y2, and then decreases. A formula was developed to predict the opening diameter, whose influence parameters were considered in a dimensionless way. It has been shown that the dimensionless opening diameter (D)/d1 is dependent on two dimensionless parameters Q = (d31fc/M0) and G = (fc/Y2), where d1 and fc are the outer diameter of the projectile and the compressive strength of the target, respectively.     

Recursive weighted least squares estimation algorithm based on minimum model error principle

Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive esti-mation algorithm is insensitive to initial conditions and of good robustness.     

Improving the damage potential of W-Zr reactive structure material under extreme loading condition

Projectiles made of reactive structure materials(RSM)can damage the target with not only kinetic but also chemical energy,but the enhanced damage potential of RSM may become compromised if extreme loading condition disintegrates the projectile before the target is reached.In this work,a ductile coating of Ni was introduced to a tungsten-zirconium(W-Zr)alloy,a typical brittle RSM,to preserve the damage potential of the projectile.Detonation driving tests were carried out with X-ray photography and gun-powder deflagration driving tests were carried out with high-speed photography for the coated and uncoated RSM samples,respectively.The craters on the witness target were analyzed by scanning electron microscopy and X-ray diffraction.The Ni coating was found to effectively preserve the damage potential of the W-Zr alloy under extreme loading conditions,whereas the uncoated sample fractured and ignited before impacting the target in both detonation and deflagration driving.The crack propa-gation between the reactively brittle core and the ductile coating was analyzed based on the crack arrest theory to mechanistically demonstrate how the coating improves the structural integrity and preserves the damage potential of the projectile.Specifically,the Ni coating envelops the W-Zr core until the coated sphere penetrates the target,and the coating is then eroded and worn to release the reactive core for the projectile to damage the target more intensively.     

支持原位计算的高效三角矩阵乘法向量化方法

向量化算法映射是向量处理器的难点问题。提出一种高效的支持原位计算的三角矩阵乘法向量化方法:将L1D配置为SRAM模式,用双缓冲的乒乓方式平滑多级存储结构的数据传输,使得内核的计算与DMA数据搬移完全重叠,让内核始终以峰值速度运行,从而取得最佳的计算效率;将不规则的三角矩阵乘法计算均衡分布到各个向量处理单元,充分开发向量处理器的多级并行性;将结果矩阵保存在乘数矩阵中,实现原位计算,节省了存储空间。实验结果表明,提出的向量化方法使三角矩阵乘法性能达到1053.7GFLOPS,效率为91.47%。     

红外警戒系统点目标检测距离理论分析

给出了红外警戒系统点目标探测距离的计算模型与公式,分析了影响点目标探测距离的参数间关系,并得出有关目标提取算法及传感器参数选择的几点重要结论.     

面向大规模网络的入侵检测与预警系统研究

开展面向大规模网络的入侵检测与预警系统的研究,对于提高我国网络系统的应急响应能力、缓解网络攻击所造成的危害、提高系统的反击能力等具有十分重要的意义。首先对国内外的研究现状进行综述;然后,提出了面向大规模网络的入侵检测与预警系统的体系结构与组成;最后,着重对与本系统研制相关的关键技术与难点进行论述。     

一个监控式局部自主机器人控制器的实现与分析

本文介绍了一个严格监督控制（Ｓｕｐｅｒｖｉｓｏｒｙｃｏｎｔｒｏｌ）定义下的局部自主机器人控制器ＧＫＤ３的设计和实现，并从监督控制理论的角度，对ＧＫＤ３的体系结构和功能进行了分析和讨论。     

用单球法测量大直径锯齿形螺纹中径的原理及装置

本文论述了用单球法测量大直径锯齿形螺纹中径的原理与方法，具体介绍了为实现这种方法而设计的检测装置。对这个装置进行了精度标定和测试，实验表明，该测量仪器使用方便，精度较高，具有较强的实用性。     

直接网络中的自适应路由算法分析

互连网络是大规模并行计算机的重要组成部分，路由算法是其中决定网络性能的重要因素，本文在直接网络结构基础上对路由算法进行讨论，给出了一种分类方法，并着重对采用虫孔路由开关技术的自适应路由算法进行分析，为进一步的评价和设计新的算法提供了参考。