车联网环境下车辆协同高精度定位研究进展

车辆位置信息是许多智能交通应用的基础,如车辆导航、路径规划和车辆编队等.现有研究中融合单车车载多源传感器的定位方法无法有效解决城市峡谷、隧道和立交桥等卫星信号不可用条件下的车辆定位问题.围绕车辆高精度定位进行了综合评述,主要深入研究分析了车辆协同定位技术.首先分析了单车自主定位的关键技术及其主要应用场景;然后对车辆协同...     

非致命防暴动能弹作战效能评估

提出了非致命防暴动能弹作战效能的评估法,分析了非致命防暴动能弹的技术性能,建立了以非致命性为核心指标的防暴动能弹效能指标体系。采用定性分析与定量分析相结合,将集对分析法应用到了非致命防暴动能弹的效能评估中,对3种防暴动能弹进行了效能评估。为非致命防暴动能弹的研发生产提供了重要的理论支撑。     

二部图的(g,f)匹配

本文证明了二部图存在(g,f)匹配和f 因子的充要条件以及有关的几个结果,并且给出了求二部图的最大(g,f)匹配、最小(g,f)匹配和最小权最大f 匹配、最小权(g,f)匹配、最大权(g,f)匹配的算法。     

基于测试码并行的同步时序电路故障模拟方法

将组合电路故障模拟的一些加速技术推广到时序电路故障模拟中,提出并实现了一个功能块级的基于测试码并行的同步时序电路故障模拟方法,对部分ISCAS89 Benchmark电路的模拟结果表明,该故障模拟方法有较好的性能.     

融合初值校准与二阶逼近的单星测频定位算法

为减小单星测频定位的误差,提出一种融合初值校准与二阶逼近的单星测频定位算法。该算法在卫星接收信号多普勒频移为零的时间点,通过测距获得卫星到定位目标的距离信息,利用距离信息修正轨道平面与定位目标的几何关系,为初值的选取提供校准手段;将校准的初值代入含二阶级数的定位方程泰勒展开式,通过较少次数的迭代得到定位目标的真实位置,从而降低定位的算法复杂度,提高定位精度。仿真结果表明,所提出的算法与多普勒单星定位算法相比,迭代次数和定位误差大幅度减小,其实现简单、计算量少、误差小,在单星定位研究领域具有较高的理论价值和实用价值。     

无人机避障航路规划方法研究综述

随着无人机作业空域从中高空不断向低空甚至超低空拓展,复杂的低空障碍环境对无人机造成了严重的威胁。研究无人机避障航路规划理论与方法,对于保障无人机的飞行安全和提升其任务效率具有重要作用。对无人机避障航路规划方法的研究现状进行了梳理,首先,根据航路规划问题所建立的优化模型,将规划方法划分为基于数学规划的方法、基于路标图的方法、基于空间分解的方法、基于势场的方法、基于随机规划的方法和基于机器学习的方法六个大类。然后,分别介绍了各类型方法的基本原理、代表性研究以及优缺点。最后,对避障航路规划方法未来可能的研究方向进行了展望。综述表明,复杂环境下无人机三维航路规划方法的研究仍有提升空间;未来应考虑将传统规划方法与新一代人工智能技术相结合;航路规划方法研究应充分考虑机载传感器的实际性能和工作特性;规划航路的可跟踪性问题也亟待解决。     

Study on performance degradation and failure analysis of machine gun barrel

An increase in the use of the gun barrel will cause wear of the inner wall, which reduces the muzzle velocity and the spin rate of the projectile. The off-bore flight attitude and trajectory of the projectile also change, affecting the shooting power and the accuracy. Exterior ballistic data of a high-speed spinning projectile are required to study the performance change. Therefore, based on the barrel's accelerated life test, the whole process of projectile shooting is reproduced using numerical simulation technology, and key information on the ballistic performance change at each shooting stage are acquired. Studies have shown that in the later stages of barrel shooting, the accuracy of shooting has not decreased significantly. However, it is found that the angle of attack of the projectile increases as the wear of the barrel increases. The maximum angle of attack reaches 0.106 rad when the number of shots reaches 4300. Meanwhile, elliptical bullet hole has appeared on the target at this shooting stage. Through combining external ballistic theory with simulation results, the primary reason of this phenomenon is found to be a significant decrease in the muzzle spin rate of the projectile. At the end of the barrel life, the projectile muzzle spin rate is 57.5% lower than that of a barrel without wear.     

Numerical simulation of the blast wave of a multilayer composite charge

The numerical simulation of a blast wave of a multilayer composite charge is investigated. A calculation model of the near-field explosion and far-field propagation of the shock wave of a composite charge is established using the AUTODYN finite element program. Results of the near-field and far-field calculations of the shock wave respectively converge at cell sizes of 0.25–0.5 cm and 1–3 cm. The Euler––flux-corrected transport solver is found to be suitable for the far-field calculation after mapping. A numerical simulation is conducted to study the formation, propagation, and interaction of the shock wave of the composite charge for different initiation modes. It is found that the initiation mode obviously affects the shock-wave waveform and pressure distribution of the composite charge. Additionally, it is found that the area of the overpressure distribution is greatest for internal and external simultaneous initiation, and the peak pressure of the shock wave exponentially decays, fitting the calculation formula of the peak overpressure attenuation under different initiation modes, which is obtained and verified by experiment. The difference between numerical and experimental results is less than 10%, and the peak overpressure of both internal and external initiation is 56.12% higher than that of central single-point initiation.     

A novel facial emotion recognition scheme based on graph mining

Recent years have seen an explosion in graph data from a variety of scientific, social and technological fields. From these fields, emotion recognition is an interesting research area because it finds many applications in real life such as in effective social robotics to increase the interactivity of the robot with human, driver safety during driving, pain monitoring during surgery etc. A novel facial emotion recognition based on graph mining has been proposed in this paper to make a paradigm shift in the way of representing the face region, where the face region is represented as a graph of nodes and edges and the gSpan frequent sub-graphs mining algorithm is used to find the frequent sub-structures in the graph database of each emotion. To reduce the number of generated sub-graphs, overlap ratio metric is utilized for this purpose. After encoding the final selected sub-graphs, binary classification is then applied to classify the emotion of the queried input facial image using six levels of classification. Binary cat swarm intelligence is applied within each level of classification to select proper sub-graphs that give the highest accuracy in that level. Different experiments have been conducted using Surrey Audio-Visual Expressed Emotion (SAVEE) database and the final system accuracy was 90.00%. The results show significant accuracy improvements (about 2%) by the proposed system in comparison to current published works in SAVEE database.     

Analysis of the stress wave and rarefaction wave produced by hypervelocity impact of sphere onto thin plate

Shock wave is emitted into the plate and sphere when a sphere hypervelocity impacts onto a thin plate. The fragmentation and phase change of the material caused by the propagation and unloading of shock wave could result in the formation of debris cloud eventually. Propagation models are deduced based on one-dimensional shock wave theory and the geometry of sphere, which uses elliptic equations (corresponding to ellipsoid equations in physical space) to describe the propagation of shock wave and the rarefaction wave. The “Effective thickness” is defined as the critical plate thickness that ensures the rarefaction wave overtake the shock wave at the back of the sphere. The “Effective thickness” is directly related to the form of the debris cloud. The relation of the “Effective thickness” and the “Optimum thickness” is also discussed. The impacts of Al spheres onto Al plates are simulated within SPH to verify the propagation models and associated theories. The results show that the wave fronts predicted by the propagation models are closer to the simulation result at higher impact velocity. The curvatures of the wave fronts decrease with the increase of impact velocities. The predicted “Effective thickness” is consistent with the simulation results. The analysis about the shock wave propagation and unloading in this paper can provide a new sight and inspiration for the quantitative study of hypervelocity impact and space debris protection.