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.     

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     

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。     

电刷镀含纳米粉复合镀层结构和磨损性能

用含纳米金刚石粉的镍镀液电刷镀复合镀层,系统试验研究了复合镀层中纳米金刚石对镀层显微结构、力学性能及耐磨性能的影响.结果表明,纳米金刚石的弥散强化作用,可有效改善镀层的生长、减小内应力,提高镀层的显微硬度.含纳米金刚石粉的复合镀层在室温、高负荷下具有优良的抗疲劳和抗磨损性能,其耐磨性是纯镍镀层的4倍.     

灵活的多层嵌套拉丁超立方体设计构造

计算机试验的设计方法越来越受到重视,嵌套拉丁超立方体设计是计算机试验设计中的一种新型方法,其在多种精度试验中有广泛的应用。但多数嵌套拉丁超立方体设计要求低精度试验次数需为高精度试验次数的倍数,这在应用中会有很大的局限性。通过对其构造方法的改进,得到一种结构更加灵活的多层嵌套拉丁超立方体设计,使得不同精度试验的次数可以更加灵活选取。该设计方法在一维投影上可以达到很好的均匀性。仿真结果表明,该方法较若干相关方法能够达到更小的均方误差。     

双层气囊隔振装置多目标协同姿态控制方法

针对双层气囊隔振装置高精度姿态平衡控制需求,提出多目标协同姿态控制方法。通过建立双层隔振装置动力学模型、充放气控制等效作用力模型,建立了控制响应特性分析模型。并基于多目标满意优化方法建立了多目标协同姿态控制方法,使得双层气囊隔振装置能够较好地适应上下层气囊隔振装置姿态耦合,实现姿态平衡控制,并可有效抑制结构弹性变形对姿态平衡控制的影响。在双层气囊隔振装置上验证了该控制方法的可行性。该方法将用于某型船舶大型发电机组双层气囊隔振系统,实现双层气囊隔振装置柔性支撑状态下的姿态平衡控制。     

固体药燃气逆向喷流热防护有效性分析

针对高超声速飞行器逆向喷流介质供应,采用固体药燃烧产生的燃气作为喷流的介质,来减小供应系统的质量与体积。采用数值计算的方法对高速飞行器球头逆向喷流流场进行数值模拟,分析不同飞行条件下高温燃气对球头热防护的影响。研究表明,采用高温燃气会减弱逆向喷流的热防护效果,但是对比无逆向喷流的驻点热流,最大热流仍然存在大幅度的下降。通过调节喷流压力,在不增加喷流质量的情况下,高温燃气逆向喷流可以取得与常温介质一致的热防护效果。针对6马赫数以上的飞行,现有的固体药燃气温度能够对飞行器头部实现有效的热防护。     

石河子市社区老年人的心理服务需求分析

[目的]了解石河子市社区老年人心理服务需求.[方法]采用《社区老年人心理服务需求访谈提纲》对20名石河子市社区老人进行访谈研究.[结果]权威人士或机构、亲人和朋友、知识讲座是老年人获取心理服务信息的渠道;心理咨询与团体交流活动、心理健康知识、主动问询与心理支持是老年人希望的心理服务内容;服务专业化、服务社区化、服务人员稳定化是老年人希望的心理服务形式的主要特征.[结论]开展心理健康教育,提供专业的心理咨询服务,定期家访是满足社区老年人心理服务需求的有效途径.