轮式移动机器人有限时间镇定控制器设计

主要研究了单链链式系统的有限时间镇定问题。通过探讨n维链式系统的潜在线性结构,将其分解成一个标量子系统和一个n-1维线性时变子系统,并证明了该时变子系统在具有时变函数系统矩阵时的能控性。在此基础上,采用分段控制策略,基于终端滑模控制理论设计了不连续反馈镇定控制律,实现了系统的有限时间镇定。最后将该结论应用到非完整轮式移动机器人,仿真结果验证了方法的正确性。     

曲面的三个基本形式的系数矩阵之间关系的证明及其应用

给出R3 中曲面的 3个基本形式的系数之间关系的一个直接证明 ,并由此得到曲面的 3个基本形式之间的关系及其它一些结果 .     

关于军人基本权利限制之限制的构想

军人作为“穿着军服的公民”享有宪法规定的公民基本权利,基于其特殊使命和公共利益的需求。军人的基本权利要受到严于普通公民的限制。但为了保护军人自身的权利,防止公权力的过度介入,对军人基本权利的限制也应当有所限制。     

新阶段深化武警部队后勤保障社会化的思考

随着我国社会经济的快速发展,武警部队后勤保障社会化改革工作也进入新的阶段,应从着力点的选择、具体措施的制定和强化监督管理三个方面,对新阶段武警部队后勤保障方式社会化工作进行改革。     

制约警卫形式改革的体制机制和法制因素分析

警卫工作体制、勤务运行机制和警卫法制是顺利完成警卫任务的制度保障,当其不适应警卫工作的发展要求时,就会成为警卫工作健康发展的掣肘因素,对警卫形式改革也会产生某些负面影响。当前,警卫规格由职务确定的体制,警卫勤务层层加码的运行机制,不合理的警卫勤务质量考评机制,难以实行的警卫危险评估机制,不科学的警卫工作领导管理体制及不健全的警卫法制,已成为制约警卫形式改革的重要因素。     

消防取水码头的建造形式及选用原则

通过对消防取水码头的法规要求、建造形式的分析,就消防工作中应如何根据实际情况选用不同建造形式的消防取水码头进行了探讨,并对消防取水码头的建造和使用提出了建议。     

干部交流工作之我见

干部交流工作,作为加强干部队伍建设的一项重要措施,在许多方面起到了重要作用。但是,干部交流工作也受到很多因素的影响,为加强和完善干部交流工作,应转变观念,统筹安排,拓宽途径,扩大范围,完善干部交流政策机制,积极推进干部交流工作稳步发展。     

Past failures and future problems: the psychology of irregular war

Personal cognitive processes inform how individuals understand their environment. Cultural variation, fundamental attribution error, causal attribution, and durability bias create obstacles to Western understanding of irregular war and have created a significant institutional bias in how the US military perceives its enemies- a perception only somewhat softened after a decade of irregular war. United Special Operations Command (USSOCOM) is in a better position to overcome these problems through persistent engagement. In the event of major conflict, environmentally sensitized military planners will be better able to achieve military and policy objectives.     

Gill — A Family of Sword Cutlers

Abstract

Amongst the armour in the collection of the British Museum is a kettle-hat (Object Number: P&;E 1856,0701·2243) that was found in London during the second quarter of the nineteenth century. In January 2010, the kettle-hat was conserved before its loan to the Royal Armouries Museum for display at the Tower of London. New findings that occurred during conservation led to the most in-depth technical examination and analysis of this relatively unknown helmet since its discovery.

This paper aims to interpret the British Museum’s kettle-hat from art historical perspectives in order to place it in a wider context. The development of the kettle-hat during the 14th and 15th centuries is described along with the subsequent derivatives of transitional or progressive forms of helmet. Through stylistic comparison and consideration of related evidence it is suggested that the British Museum kettle-hat dates to the late 14th century and is of western European, possibly English, workmanship. Furthermore, although the British Museum helmet has much in common with typical forms of kettle-hat, it also has features, such as a short tail-piece, that suggest it may be closely related to some early forms of sallet.     

基于任意两共面相交圆的双目立体视觉标定法

提出一种基于同一平面内两相交圆作为平面标定模板的自标定原理,应用于固连在同一支撑架上（相对静止）的双摄像机组成的视觉系统,分别从四个角度对模板进行拍摄,即可求解摄像机的内外参数。实验表明：该算法可以得到比较满意的精度, 并且计算简便。