基于人工势场法和Ad-hoc网络的多机器人编队控制

ad-hoc网络具有自组性强、快速组网和高抗毁等特性,以它组网的多机器人编队适用于一些无法预先安装通信设备的特殊场合。但是由于ad-hoc网络的通信覆盖范围有限、网络动态性强,在进行编队控制时如果不考虑编队中机器人之间的通信距离,可能导致机器人因与网络失去联系而脱离编队。为了确保多机器人编队的完整性,在使用势场法进行编队控制时,除考虑目标和障碍物的影响外,同时将机器人之间的通信距离作为一种引力加入传统的环境势场模型。仿真实验的结果证明该方法可以有效地控制ad-hoc方式组网的机器人编队。     

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。     

平板湍流边界层内气泡流流动实验研究

在低湍流度水槽里 ,利用片光源显示了平板气液两相湍流边界层内气泡流的流场结构 ,研究了平板安装位置、来流速度、喷气方式等参数对湍流边界层内气泡流的影响 .利用激光测速技术测量了平板水平放置时气泡流最外缘处的水平速度及厚度 .结果表明 :平板喷气减阻的原因在于喷气改变了平板湍流边界层的流动结构 ,抑制了湍流     

横观各向同性压电材料中的运动螺位错

考虑横观各向同性压电材料中螺位错的亚音速运动问题。应用复变函数方法 ,得到了运动螺位错产生的电弹场的解析解。当螺位错的运动速度为零时 ,其解便退化成由Pak给出的静止螺位错产生的电弹场。     

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.     

电偶腐蚀下非稳态扩散瞬时静电场分析

为分析在浓差极化条件下非稳态过程中的静电场分布情况,在斐克第二定律的基础上利用拉普拉斯变换求解电极表面氧浓度随时间的变化。通过法拉第定律分析受氧浓度控制下的电偶腐蚀电流密度,在此基础上利用电流元模型求解电解质溶液中任意位置处产生的瞬时电位及静电场强度,并通过实验验证结果的正确性。结果表明：浓差极化下的非稳态扩散传质产生的静电场及电位会随着时间的增加而逐渐减小,并最终达到稳态,且电流密度会随着氧的浓度减小而减小。     

舰船腐蚀电场建模及补偿最优解验证

基于等效偶极子法,从补偿偶极子长度、角度、大小三方面给出了任意角度的补偿偶极子场解析式,再利用电荷矢量叠加原理,建立了"腐蚀偶极子+补偿偶极子"电场模型。仿真以单轴桨船为例,先验证"腐蚀偶极子+补偿偶极子"电场模型的正确性,再进行补偿偶极子对舰船电场的影响验证,从而得出补偿最优解。模拟实验结果表明,补偿阳极在工程允许条件下距离补偿系统接船端最远处,且补偿系统平行于水平面和船体时补偿效果最优;在补偿最优条件下,理论上是可以抵消原舰船腐蚀电场的。     

实兵演习战场态势研究

实兵演习战场态势是指挥员通过实战化训练提升获取战场情况、指挥部队行动能力的重要支撑和手段。首先针对当前实兵演习战场态势存在的数据结构、传输机制、系统架构和聚合显示等重点难点问题进行了详细地阐述和分析,然后在此基础上提出了态势数据结构的层次化设计、按需公布订购的数据传输机制、态势框架的柔性化设计和基于作战能力的态势聚合机制等相关的解决方法。以期能够建立一个支持大规模、分布式联合应用,并且可以显示综合战场态势和专用战场态势的战场态势系统。     

共享经济视域下的军事训练场地整合

军改以来,"军委管总、战区主战、军种主建"的格局打破了原有军事训练场地的建设、管理和使用模式,训练场地需求旺盛,缺口较大,急需构建适应新体制新机制的新型训练场地建设管理体系,满足训练需求。本文分析了当前军事训练场地建设管理中存在的问题,提出了基于共享经济模式整合军事训练场地资源的对策措施。     

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.