An eikonal equation based path planning method using polygon decomposition and curve evolution

Path planning is a key technique of autonomous navigation for robots, and the velocity field is an important part. Constructing velocity field in a complex workspace is still challenging. In this paper, an inner normal guided segmentation algorithm in a complex polygon is proposed to decompose the complex workspace in this paper. The artificial potential field model based on probability theory is then used to calculate the potential field of the decomposed workspace, and the velocity field is obtained by utilizing the potential field of this workspace. Path optimization is implemented by curve evolution, during which the internal force generated in the smoothing process of the initial path by a mean filter and the external force is obtained from the gradient of the workspace potential field. The parameter selection principle is deduced by analyzing the influence of several parameters on the path length and smoothness. Simulation results show that the designed polygon decomposition algorithm can effectively segment complex workspace and that the path optimization algorithm can shorten and smoothen paths.     

Efficient budget allocation strategies for elementary effects method in stochastic simulation

This paper focuses on extending the Morris' elementary effects method (MM) for sensitivity analysis/factor screening originated in the context of deterministic computer experiments to the stochastic simulation setting. Given a fixed simulation budget to expend, the main objective is to provide efficient and accurate estimates of main and interaction (or nonlinear) effects coined by the standard MM for characterizing the importance of each factor, despite the impact of simulation errors. Taking into account both the factor/input sampling uncertainty rooted in MM and the random errors inherent in a stochastic simulation, we develop efficient budget allocation strategies for implementing MM in this new context. Under each strategy proposed, we derive its corresponding optimal budget partition and optimal budget allocation rules. Numerical results corroborate the practical effectiveness of the proposed budget allocation strategies.     

鳍对拖式吊舱推进器水动力性能的影响

为考察鳍对拖式吊舱推进器水动力性能的影响,用基于速度势的面元法建立了吊舱推进器水动力性能计算的数学模型,对附鳍的吊舱式推进器的定常及非定常水动力性能进行了预报.螺旋桨和吊舱及鳍之间的相互影响通过迭代计算来处理.采用计算较为简便的关于扰动速度势的基本积分微分方程,并采用双曲面形状的面元以消除面元间的缝隙.在桨叶随边满足压力Kutta条件,用Yanagizawa方法求得物体表面的速度分布.计算了无鳍、单鳍和双鳍拖式吊舱推进器的水动力性能,计算结果表明,鳍会产生推力,使得双鳍时整个推进器的水动力性能最好,单鳍次之,无鳍最低.     

印度外空技术试验受到的压制、影响及其对策研究

印度开展外空技术试验遭受了来自国际舆论的谴责、强国遏制与外空法约束等多个方面的压力.当今世界航天大国都在竞相开展外空技术试验.当各国面临相似的问题时,应尽快开展研究,找出如何以合理的理由、灵活的手段开展试验,同时集结优势力量开展国际合作.本文深入分析主要航天国家对印度开展外空试验的主要压制手段,以此剖析印度外空技术试验...     

Adaptive phasefield modelling of crack propagation in orthotropic functionally graded materials

In this work, we extend the recently proposed adaptive phase field method to model fracture in orthotropic functionally graded materials (FGMs). A recovery type error indicator combined with quadtree decomposition is employed for adaptive mesh refinement. The proposed approach is capable of capturing the fracture process with a localized mesh refinement that provides notable gains in computational efficiency. The implementation is validated against experimental data and other nu-merical experiments on orthotropic materials with different material orientations. The results reveal an increase in the stiffness and the maximum force with increasing material orientation angle. The study is then extended to the analysis of orthotropic FGMs. It is observed that, if the gradation in fracture properties is neglected, the material gradient plays a secondary role, with the fracture behaviour being dominated by the orthotropy of the material. However, when the toughness increases along the crack propagation path, a substantial gain in fracture resistance is observed.     

Did the Russian General Staff experiment with free play during VOSTOK-2018?

The VOSTOK-2018 strategic field training exercise (FTX) that took place in mid-September 2018 rehearsed forces’ integration and combat preparedness across multiple strategic directions. Regarding combat readiness, the research question outlined in this paper relates to whether the General Staff experimented with mission-command - a key component of Russia’s modern military thinking. The answer is clearly no: operational creative manoeuvring hardly featured during the VOSTOK-2018 drills for clearly identified reasons. At the systemic level, little room was left for initiatives since the drills focused on implementing and testing command and control (C2) systems. At the structural level, VOSTOK-2018 was not oriented towards mission-command but ‘mission-control’ and streamlining centralised decision-making processes down to the tactical level. At the symbolic level, free play was not exercised due to the participation of China in the drills, and the necessity to impress Chinese military observers.     

公路隧道火灾探测器选型试验研究

为了更好地指导公路隧道的设计单位、建设单位科学合理地选用火灾探测器,组织开展了隧道实体点火试验,结合实际设计了明火、污染、移动火盆和烟火4组试验,对3种火灾探测器的报警时间和报警准确性进行了试验研究,并对试验结果进行了分析,认为火焰探测器适于在山西省公路特长隧道和长隧道中使用。     

水下航行体尾流磁异常的计算方法

本文从磁流体动力学基本方程出发,通过对各物理量进行量级分析,导出了水下航行体诱导海流在地磁场中引起磁异常的计算公式,给出了计算方法。作为例子,对水下旋成体尾流引起磁异常的大小进行了量级估计。     

点电荷对的电力线和等势面的计算机模拟

为了了解空间各点电场强度的大小和方向,需要借助于电力线或等势面。研 究了由电势叠加原理计算出点电荷对的等势面方程,由高斯定理计算出点电荷对的电力线 族方程,并用Mathematica软件作出了相应的图。该方法简单、准确。     

一种改进的遥感图像分形维数提取算法

基于离散分形布朗随机场的图像分数维提取方法,在综合分析和实验验证的基础上,提出了一种改进的图像分形维数计算方法。仿真实验证明,该算法相较于原算法计算结果稳定,不同地物的区分能力强,能够应用于遥感图像的地物分类。