This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theor...This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.展开更多
The reliability of the electronic components inside a guided projectile is highly affected by the launch dynamics of guided projectile.The engraving process plays a crucial role on determining the ballistic performanc...The reliability of the electronic components inside a guided projectile is highly affected by the launch dynamics of guided projectile.The engraving process plays a crucial role on determining the ballistic performance and projectile stability.This paper analyzes the dynamic response of a guided projectile during the engraving process.By considering the projectile center of gravity moving during the engraving process,a dynamics model is established with the coupling of interior ballistic equations.The results detail the stress situation of a guided projectile band during its engraving process.Meanwhile,the axial dynamic response of projectile in the several milliseconds following the engraving process is also researched.To further explore how the different performance of the engraving band can affect the dynamics of guided projectile,this paper focuses on these two aspects:(a) the effects caused by the different band geometry;and(b) the effects caused by different band materials.The time domain and frequency domain responses show that the dynamics of the projectile are quite sensitive to the engraving band width.A material with a small modulus of elasticity is more stable than one with a high modulus of elasticity.展开更多
A series of ballistic experiments were performed to investigate the damage behavior of high velocity reactive material projectiles(RMPs) impacting liquid-filled tanks,and the corresponding hydrodynamic ram(HRAM) was s...A series of ballistic experiments were performed to investigate the damage behavior of high velocity reactive material projectiles(RMPs) impacting liquid-filled tanks,and the corresponding hydrodynamic ram(HRAM) was studied in detail.PTFE/Al/W RMPs with steel-like and aluminum-like densities were prepared by a pressing/sintering process.The projectiles impacted a liquid-filled steel tank with front aluminum panel at approximately 1250 m/s.The corresponding cavity evolution characteristics and HRAM pressure were recorded by high-speed camera and pressure acquisition system,and further compared to those of steel and aluminum projectiles.Significantly different from the conical cavity formed by the inert metal projectile,the cavity formed by the RMP appeared as an ellipsoid with a conical front.The RMPs were demonstrated to enhance the radial growth velocity of cavity,the global HRAM pressure amplitude and the front panel damage,indicating the enhanced HRAM and structural damage behavior.Furthermore,combining the impact-induced fragmentation and deflagration characteristics,the cavity evolution of RMPs under the combined effect of kinetic energy impact and chemical energy release was analyzed.The mechanism of enhanced HRAM pressure induced by the RMPs was further revealed based on the theoretical model of the initial impact wave and the impulse analysis.Finally,the linear correlation between the deformation-thickness ratio and the non-dimensional impulse for the front panel was obtained and analyzed.It was determined that the enhanced near-field impulse induced by the RMPs was the dominant reason for the enhanced structural damage behavior.展开更多
This paper proposed an efficient research method for high-dimensional uncertainty quantification of projectile motion in the barrel of a truck-mounted howitzer.Firstly,the dynamic model of projectile motion is establi...This paper proposed an efficient research method for high-dimensional uncertainty quantification of projectile motion in the barrel of a truck-mounted howitzer.Firstly,the dynamic model of projectile motion is established considering the flexible deformation of the barrel and the interaction between the projectile and the barrel.Subsequently,the accuracy of the dynamic model is verified based on the external ballistic projectile attitude test platform.Furthermore,the probability density evolution method(PDEM)is developed to high-dimensional uncertainty quantification of projectile motion.The engineering example highlights the results of the proposed method are consistent with the results obtained by the Monte Carlo Simulation(MCS).Finally,the influence of parameter uncertainty on the projectile disturbance at muzzle under different working conditions is analyzed.The results show that the disturbance of the pitch angular,pitch angular velocity and pitch angular of velocity decreases with the increase of launching angle,and the random parameter ranges of both the projectile and coupling model have similar influence on the disturbance of projectile angular motion at muzzle.展开更多
The majority of the projectiles used in the hypersonic penetration study are solid flat-nosed cylindrical projectiles with a diameter of less than 20 mm.This study aims to fill the gap in the experimental and analytic...The majority of the projectiles used in the hypersonic penetration study are solid flat-nosed cylindrical projectiles with a diameter of less than 20 mm.This study aims to fill the gap in the experimental and analytical study of the evolution of the nose shape of larger hollow projectiles under hypersonic penetration.In the hypersonic penetration test,eight ogive-nose AerMet100 steel projectiles with a diameter of 40 mm were launched to hit concrete targets with impact velocities that ranged from 1351 to 1877 m/s.Severe erosion of the projectiles was observed during high-speed penetration of heterogeneous targets,and apparent localized mushrooming occurred in the front nose of recovered projectiles.By examining the damage to projectiles,a linear relationship was found between the relative length reduction rate and the initial kinetic energy of projectiles in different penetration tests.Furthermore,microscopic analysis revealed the forming mechanism of the localized mushrooming phenomenon for eroding penetration,i.e.,material spall erosion abrasion mechanism,material flow and redistribution abrasion mechanism and localized radial upsetting deformation mechanism.Finally,a model of highspeed penetration that included erosion was established on the basis of a model of the evolution of the projectile nose that considers radial upsetting;the model was validated by test data from the literature and the present study.Depending upon the impact velocity,v0,the projectile nose may behave as undistorted,radially distorted or hemispherical.Due to the effects of abrasion of the projectile and enhancement of radial upsetting on the duration and amplitude of the secondary rising segment in the pulse shape of projectile deceleration,the predicted DOP had an upper limit.展开更多
A terminal ballistic analysis of the effects of 7.62 mm × 51 AP P80 rounds on inclined high-strength armor steel plates is the focus of the presented study.The findings of an instrumented ballistic testing combin...A terminal ballistic analysis of the effects of 7.62 mm × 51 AP P80 rounds on inclined high-strength armor steel plates is the focus of the presented study.The findings of an instrumented ballistic testing combined with 3D advanced numerical simulations performed using the IMPETUS Afea? software yielded the conclusions.The experimental verification proved that slight differences in the pitch-andyaw angles of a projectile upon an impact caused different damage types to the projectile’s core.The residual velocities predicted numerically were close to the experimental values and the calculated core deviations were in satisfactory agreement with the experimental results.An extended matrix of the core deviation angles with combinations of pitch-and-yaw upon impact angles was subsequently built on the basis of the numerical study.The presented experimental and numerical investigation examined thoroughly the influence of the initial pitch and yaw angles on the after-perforation projectile’s performance.展开更多
In this paper,an integrated guidance and control method based on an adaptive path-following controller is proposed to control a spin-stabilized projectile with only translational motion information under the constrain...In this paper,an integrated guidance and control method based on an adaptive path-following controller is proposed to control a spin-stabilized projectile with only translational motion information under the constraint of an actuator,uncertainties in aerodynamic parameters and measurements,and control system complexity.Owing to the fairly high rotation speed,the dynamic model of this missile is strongly nonlinear,uncertain and coupled in pitch,yaw and roll channels.A theoretical equivalent resultant force and uncertainty compensation method are comprehensively used to realize decoupling of pitch and yaw.In response to the strong nonlinear and time-varying characteristics of the dynamic system,the quasi-linear model whose parameters are obtained by interpolation of points selected as the segmentation points in the trajectory envelope,is used for calculation in each step.To cope with the system uncertainty caused by model approximation,parameter uncertainty and ballistic interference,an extended state estimator is used to compensate the output feedback according to the test ballistic angle.In order to improve the tracking efficiency and ensure the tracking error convergence with only translational motion information,the virtual guide point,whose derivative is deduced according to the Lyapunov principle,is calculated in real time according to the projection relationship between the real-time position and the reference trajectory,and a virtual line-of-sight angle and the backstepping method are used for the design of the guidance and control system.In order to avoid the influence of control input saturation on the guidance and control performance due to the actuator limitation and improve the robustness of the system,an anti-saturation compensator is designed according to the two-step method.The feasibility and effectiveness of the path-following controller is verified through closed-loop flight simulations with measurement,control,and condition uncertainties.The results indicate that the designed controller can converge to the reference path and evidently decrease the distance between the impact point and target under different uncertainties.展开更多
Despite the success of guided wave ultrasonic inspection for internal defect detection in steel pipes,its application on polyethylene(PE)pipe remains relatively unexplored.The growth of internal cracks in PE pipe seve...Despite the success of guided wave ultrasonic inspection for internal defect detection in steel pipes,its application on polyethylene(PE)pipe remains relatively unexplored.The growth of internal cracks in PE pipe severely affects its pressure-holding capacity,hence the early detection of internal cracks is crucial for effective pipeline maintenance strategies.This study extends the scope of guided wave-based ultrasonic testing to detect the growth of internal cracks in a natural gas distribution PE pipe.Laboratory experiments and a finite element model were planned to study the wave-crack interaction at different stages of axially oriented internal crack growth with a piezoceramic transducer-based setup arranged in a pitch-catch configuration.Mode dispersion analysis supplemented with preliminary experiments was performed to isolate the optimal inspection frequency,leading to the selection of the T(0,1)mode at 50-kHz for the investigation.A transmission index based on the energy of the T(0,1)mode was developed to trace the extent of simulated crack growth.The findings revealed an inverse linear correlation between the transmission index and the crack depth for crack growth beyond 20%crack depth.展开更多
A novel acceleration tracking controller is proposed in this paper, for a Spinning Glide Guided Projectile(SGGP) subject to cross-coupling dynamics, external disturbances, and parametric uncertainties. The cross-coupl...A novel acceleration tracking controller is proposed in this paper, for a Spinning Glide Guided Projectile(SGGP) subject to cross-coupling dynamics, external disturbances, and parametric uncertainties. The cross-coupled dynamics for the SGGP are formulated with mismatched and matched uncertainties, and then divided into acceleration and angular rate subsystems via the hierarchical principle. By exploiting the structural property of the SGGP, model-assisted Extended State Observers(ESOs) are designed to estimate online the lumped disturbances in the acceleration and angular rate dynamics. To achieve a rapid response and a strong robustness, integral sliding mode control laws and sigmoid-function-based tracking differentiators are integrated into the ESO-based Trajectory Linearization Control(TLC) framework. It is proven that the acceleration tracking controller can guarantee the ultimate boundedness of the signals in the closed-loop system and make the tracking errors arbitrarily small. The superiority and effectiveness of the proposed control scheme in its decoupling ability, accurate acceleration tracking performance and antidisturbance capability are validated through comparisons and extensive simulations.展开更多
An optimization method is introduced to design the aerodynamic parameters of a dual-spin twodimensional guided projectile with the canards for trajectory correction. The nose guidance component contains two pairs of c...An optimization method is introduced to design the aerodynamic parameters of a dual-spin twodimensional guided projectile with the canards for trajectory correction. The nose guidance component contains two pairs of canards which can provide lift and despin with the projectile for stability. The optimal design algorithm is developed to decide the profiles both of the steering and spinning canards,and their deflection angles are also simulated to meet the needs of trajectory correction capabilities.Finally, the aerodynamic efficiency of the specific canards is discussed according to the CFD simulations.Results that obtained here can be further applied to the exterior ballistics design.展开更多
Automated Guided Vehicles(AGVs)have been introduced into various applications,such as automated warehouse systems,flexible manufacturing systems,and container terminal systems.However,few publications have outlined pr...Automated Guided Vehicles(AGVs)have been introduced into various applications,such as automated warehouse systems,flexible manufacturing systems,and container terminal systems.However,few publications have outlined problems in need of attention in AGV applications comprehensively.In this paper,several key issues and essential models are presented.First,the advantages and disadvantages of centralized and decentralized AGVs systems were compared;second,warehouse layout and operation optimization were introduced,including some omitted areas,such as AGVs fleet size and electrical energy management;third,AGVs scheduling algorithms in chessboardlike environments were analyzed;fourth,the classical route-planning algorithms for single AGV and multiple AGVs were presented,and some Artificial Intelligence(AI)-based decision-making algorithms were reviewed.Furthermore,a novel idea for accelerating route planning by combining Reinforcement Learning(RL)andDijkstra’s algorithm was presented,and a novel idea of the multi-AGV route-planning method of combining dynamic programming and Monte-Carlo tree search was proposed to reduce the energy cost of systems.展开更多
The time-sequenced damage behavior of the reactive projectile impacting double-layer plates is discussed.The analytical model considering the combined effect of kinetic and chemical energy is developed to reveal the d...The time-sequenced damage behavior of the reactive projectile impacting double-layer plates is discussed.The analytical model considering the combined effect of kinetic and chemical energy is developed to reveal the damage mechanism.The influences of impact velocity and reactive projectile chemical characteristics on the damage effect are decoupled analyzed based on this model.These analyses indicate that the high energy releasing efficiency and fast reaction propagation velocity of the reactive projectile are conducive to enhancing the damage effect.The experiments with various reactive projectiles impact velocity increasing from 702 to 1385 m/s were conducted to verify this model.The experimental results presented that,the damage hole radius of the rear-plate increases with the increase of impact velocity.At the impact velocity of 1350 m/s,the radius of damage hole formed by PTFE/Al/Bi_(2)O_(3),PTFE/Al/MoO_(3),PTFE/Al/Fe_(2)O_(3)projectile on the rear-plate become smaller in sequence.These results are consistent with the analytical model prediction,demonstrating that this model can predict the damage effect quantitatively.This work is of constructive significance to the application of reactive projectiles.展开更多
The finite-depth concrete panels have been widely applied in the protective structures,and its impact resistance and dynamic fracture failures,especially the scabbing/perforation limits,under high velocity projectile ...The finite-depth concrete panels have been widely applied in the protective structures,and its impact resistance and dynamic fracture failures,especially the scabbing/perforation limits,under high velocity projectile impact,are mainly concerned by protective engineers,which are numerically studied based on an improved dynamic concrete model in this study.Firstly,based on the framework of the KCC(Karagozian&Case concrete)model,a dynamic concrete model is proposed which considers an independent tensile damage model and a continued transition between dynamic tensile and compressive properties.Secondly,the strength surface,equation of state and damage parameters of the proposed model are comprehensively calibrated by a triaxial compressive test with high confinement pressure,the rationality of which is further verified based on the single element tests,e.g.,uniaxial and triaxial compression as well as uniaxial,biaxial and triaxial tension.Thirdly,a series of projectile high velocity impact tests on thin and thick concrete panels are simulated,which indicates that the projectile residual velocity and dynamic fracture failures are reproduced satisfactorily,while the KCC model underestimates both the spalling and scabbing dimensions severely.Finally,based on the validated concrete model and finite element analyses approach,the validations of the existing five empirical formulae are evaluated,in terms of the depth of penetration(DOP)and scabbing/perforation limits of concrete panel.Both the Army corps of engineers(ACE)and modified National Defense Research Committee(NDRC)formulae are recommended in the design of the protective structure to avoid scabbing failure.展开更多
Background: The diagnosis of prostate cancer (PCa) relies on clinical assessment with digital rectal examination, serum PSA and histological examination. Limitations in our technical facilities, high financial cost of...Background: The diagnosis of prostate cancer (PCa) relies on clinical assessment with digital rectal examination, serum PSA and histological examination. Limitations in our technical facilities, high financial cost of ultrasound-guided biopsy often prevent us from implementing the guidelines on the practice of prostate biopsy. Methods: We conducted a retrospective and cross-sectional descriptive study comparing digital-guided and ultrasound-guided transrectal prostate biopsy of 400 patients over a period of 12 years in the Yaounde Central Hospital. We reviewed files of patients who underwent digital and ultrasound guided biopsy procedures. Data was analyzed using EPI info 7.0. Parametric variables were reported as means and standard deviations and percentages and counts were used to report categorical variables. Results: Out of the 400 patients, 292 digital-guided transrectal biopsies (73%) and 108 ultrasound-guided transrectal biopsies (27%) were performed in patients who were suspected of having prostate cancer (PCa). Patients were aged between 39 to 90 years. Both procedures were effective in identifying prostate cancer. Gleason score between 2 to 10 detected prostate adenocarcinoma for 301 patients (75.2%). The complications included anal pain, rectal bleeding, hematuria and urinary tract infections, with an occurrence rate similar for both ultrasound-guided (2.25%) and digitally-guided techniques (2.5%). Seven patients (1.75%) required hospitalization for management of complications. The mortality rate was null. Conclusion: Both techniques are effective in detecting PCa with the similar complication rates. Digital-guided trans-rectal prostate biopsy still has its place in a resource-limited setting like ours.展开更多
This paper investigates the computational solution to the problem of projectile motion under a significant linear drag effect. The drag force acting on the particle within the medium of propagation is proportional to ...This paper investigates the computational solution to the problem of projectile motion under a significant linear drag effect. The drag force acting on the particle within the medium of propagation is proportional to the cross-section area of the projectile, the velocity of the particle, and the medium’s density. From zero air resistance force (vacuum) the problems are well known with solutions, but with air resistance (drag force) the problems have no exact analytical solutions which lead to most of the significant scientific research works using numerical methods. Therefore, this study aims to present the analysis of the computational modelling of drag force exerted by the surrounding medium on the linear motion. However, the horizontal and vertical components of differential equations of motion were derived and characterized from the solutions governed by Newton’s 2<sup>nd</sup> law of motion. The baseball features were presented as the projectile (object) in this work. In addition, the numerical computational results were received from FreeMat. The results were discussed and compared with those from the vacuum. Moreover, the displacements, velocities, range, and trajectories of the projectile were all discussed and a conclusion was made.展开更多
The center manifold method has been widely used in the field of stochastic dynamics as a dimensionality reduction method.This paper studied the angular motion stability of a projectile system under random disturbances...The center manifold method has been widely used in the field of stochastic dynamics as a dimensionality reduction method.This paper studied the angular motion stability of a projectile system under random disturbances.The random bifurcation of the projectile is studied using the idea of the Routh-Hurwitz stability criterion,the center manifold reduction,and the polar coordinates transformation.Then,an approximate analytical presentation for the stationary probability density function is found from the related Fokker–Planck equation.From the results,the random dynamical system of projectile generates three different dynamical behaviors with the changes of the bifurcation parameter and the noise strength,which can be a reference for projectile design.展开更多
To quickly break through a reinforced concrete wall and meet the damage range requirements of rescuers entering the building,the combined damage characteristics of the reinforced concrete wall caused by EFP penetratio...To quickly break through a reinforced concrete wall and meet the damage range requirements of rescuers entering the building,the combined damage characteristics of the reinforced concrete wall caused by EFP penetration and explosion shock wave were studied.Based on LS-DYNA finite element software and RHT model with modified parameters,a 3D large-scale numerical model was established for simulation analysis,and the rationality of the material model parameters and numerical simulation algorithm were verified.On this basis,the combined damage effect of EFP penetration and explosion shock wave on reinforced concrete wall was studied,the effect of steel bars on the penetration of EFP was highlighted,and the effect of impact positions on the damage of the reinforced concrete wall was also examined.The results reveal that the designed shaped charge can form a crater with a large diameter and high depth on the reinforced concrete wall.The average crater diameter is greater than 67 cm(5.58 times of charge diameter),and crater depth is greater than 22 cm(1.83 times of charge diameter).The failure of the reinforced concrete wall is mainly caused by EFP penetration.When only EFP penetration is considered,the average diameter and depth of the crater are 54.0 cm(4.50 times of charge diameter)and 23.7 cm(1.98 times of charge diameter),respectively.The effect of explosion shock wave on crater depth is not significant,resulting in a slight increase in crater depth.The average crater depth is 24.5 cm(2.04 times of charge diameter)when the explosion shock wave is considered.The effect of explosion shock wave on the crater diameter is obvious,which can aggravate the damage range of the crater,and the effect gradually decreases with the increase of standoff distance.Compared with the results for a plain concrete wall,the crater diameter and crater depth of the reinforced concrete wall are reduced by 5.94%and 9.96%,respectively.Compared to the case in which the steel bar is not hit,when the EFP hit one steel bar and the intersection of two steel bars,the crater diameter decreases by 1.36%and 5.45%respectively,the crater depth decreases by 4.92%and 14.02%respectively.The EFP will be split by steel bar during the penetration process,resulting in an irregular trajectory.展开更多
In order to improve the recognition rate and accuracy rate of projectiles in six sky-screens intersection test system,this work proposes a new recognition method of projectiles by combining particle swarm optimization...In order to improve the recognition rate and accuracy rate of projectiles in six sky-screens intersection test system,this work proposes a new recognition method of projectiles by combining particle swarm optimization support vector and spatial-temporal constrain of six sky-screens detection sensor.Based on the measurement principle of the six sky-screens intersection test system and the characteristics of the output signal of the sky-screen,we analyze the existing problems regarding the recognition of projectiles.In order to optimize the projectile recognition effect,we use the support vector machine and basic particle swarm algorithm to form a new recognition algorithm.We set up the particle swarm algorithm optimization support vector projectile information recognition model that conforms to the six sky-screens intersection test system.We also construct a spatial-temporal constrain matching model based on the spatial geometric relationship of six sky-screen intersection,and form a new projectile signal recognition algorithm with six sky-screens spatial-temporal information constraints under the signal classification mechanism of particle swarm optimization algorithm support vector machine.Based on experiments,we obtain the optimal penalty and kernel function radius parameters in the PSO-SVM algorithm;we adjust the parameters of the support vector machine model,train the test signal data of every sky-screen,and gain the projectile signal classification results.Afterwards,according to the signal classification results,we calculate the coordinate parameters of the real projectile by using the spatial-temporal constrain of six sky-screens detection sensor,which verifies the feasibility of the proposed algorithm.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.52272358 and 62103052)。
文摘This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.
基金supported by the Research Fund for the Natural Science Foundation of Jiangsu province (BK20131348)Key Laboratory Fund(Grant No. 9140C300103140C30001),People's Republic of China
文摘The reliability of the electronic components inside a guided projectile is highly affected by the launch dynamics of guided projectile.The engraving process plays a crucial role on determining the ballistic performance and projectile stability.This paper analyzes the dynamic response of a guided projectile during the engraving process.By considering the projectile center of gravity moving during the engraving process,a dynamics model is established with the coupling of interior ballistic equations.The results detail the stress situation of a guided projectile band during its engraving process.Meanwhile,the axial dynamic response of projectile in the several milliseconds following the engraving process is also researched.To further explore how the different performance of the engraving band can affect the dynamics of guided projectile,this paper focuses on these two aspects:(a) the effects caused by the different band geometry;and(b) the effects caused by different band materials.The time domain and frequency domain responses show that the dynamics of the projectile are quite sensitive to the engraving band width.A material with a small modulus of elasticity is more stable than one with a high modulus of elasticity.
基金supported by the Youth Foundation of State Key Laboratory of Explosion Science and Technology (Grant No.QNKT22-12)the State Key Program of National Natural Science Foundation of China (Grant No.12132003)。
文摘A series of ballistic experiments were performed to investigate the damage behavior of high velocity reactive material projectiles(RMPs) impacting liquid-filled tanks,and the corresponding hydrodynamic ram(HRAM) was studied in detail.PTFE/Al/W RMPs with steel-like and aluminum-like densities were prepared by a pressing/sintering process.The projectiles impacted a liquid-filled steel tank with front aluminum panel at approximately 1250 m/s.The corresponding cavity evolution characteristics and HRAM pressure were recorded by high-speed camera and pressure acquisition system,and further compared to those of steel and aluminum projectiles.Significantly different from the conical cavity formed by the inert metal projectile,the cavity formed by the RMP appeared as an ellipsoid with a conical front.The RMPs were demonstrated to enhance the radial growth velocity of cavity,the global HRAM pressure amplitude and the front panel damage,indicating the enhanced HRAM and structural damage behavior.Furthermore,combining the impact-induced fragmentation and deflagration characteristics,the cavity evolution of RMPs under the combined effect of kinetic energy impact and chemical energy release was analyzed.The mechanism of enhanced HRAM pressure induced by the RMPs was further revealed based on the theoretical model of the initial impact wave and the impulse analysis.Finally,the linear correlation between the deformation-thickness ratio and the non-dimensional impulse for the front panel was obtained and analyzed.It was determined that the enhanced near-field impulse induced by the RMPs was the dominant reason for the enhanced structural damage behavior.
基金the National Natural Science Foundation of China(Grant No.11472137).
文摘This paper proposed an efficient research method for high-dimensional uncertainty quantification of projectile motion in the barrel of a truck-mounted howitzer.Firstly,the dynamic model of projectile motion is established considering the flexible deformation of the barrel and the interaction between the projectile and the barrel.Subsequently,the accuracy of the dynamic model is verified based on the external ballistic projectile attitude test platform.Furthermore,the probability density evolution method(PDEM)is developed to high-dimensional uncertainty quantification of projectile motion.The engineering example highlights the results of the proposed method are consistent with the results obtained by the Monte Carlo Simulation(MCS).Finally,the influence of parameter uncertainty on the projectile disturbance at muzzle under different working conditions is analyzed.The results show that the disturbance of the pitch angular,pitch angular velocity and pitch angular of velocity decreases with the increase of launching angle,and the random parameter ranges of both the projectile and coupling model have similar influence on the disturbance of projectile angular motion at muzzle.
基金the National Natural Science Foundation of China(Grant No.12102050)the Open Fund of State Key Laboratory of Explosion Science and Technology(Grant No.SKLEST-ZZ-21-18).
文摘The majority of the projectiles used in the hypersonic penetration study are solid flat-nosed cylindrical projectiles with a diameter of less than 20 mm.This study aims to fill the gap in the experimental and analytical study of the evolution of the nose shape of larger hollow projectiles under hypersonic penetration.In the hypersonic penetration test,eight ogive-nose AerMet100 steel projectiles with a diameter of 40 mm were launched to hit concrete targets with impact velocities that ranged from 1351 to 1877 m/s.Severe erosion of the projectiles was observed during high-speed penetration of heterogeneous targets,and apparent localized mushrooming occurred in the front nose of recovered projectiles.By examining the damage to projectiles,a linear relationship was found between the relative length reduction rate and the initial kinetic energy of projectiles in different penetration tests.Furthermore,microscopic analysis revealed the forming mechanism of the localized mushrooming phenomenon for eroding penetration,i.e.,material spall erosion abrasion mechanism,material flow and redistribution abrasion mechanism and localized radial upsetting deformation mechanism.Finally,a model of highspeed penetration that included erosion was established on the basis of a model of the evolution of the projectile nose that considers radial upsetting;the model was validated by test data from the literature and the present study.Depending upon the impact velocity,v0,the projectile nose may behave as undistorted,radially distorted or hemispherical.Due to the effects of abrasion of the projectile and enhancement of radial upsetting on the duration and amplitude of the secondary rising segment in the pulse shape of projectile deceleration,the predicted DOP had an upper limit.
文摘A terminal ballistic analysis of the effects of 7.62 mm × 51 AP P80 rounds on inclined high-strength armor steel plates is the focus of the presented study.The findings of an instrumented ballistic testing combined with 3D advanced numerical simulations performed using the IMPETUS Afea? software yielded the conclusions.The experimental verification proved that slight differences in the pitch-andyaw angles of a projectile upon an impact caused different damage types to the projectile’s core.The residual velocities predicted numerically were close to the experimental values and the calculated core deviations were in satisfactory agreement with the experimental results.An extended matrix of the core deviation angles with combinations of pitch-and-yaw upon impact angles was subsequently built on the basis of the numerical study.The presented experimental and numerical investigation examined thoroughly the influence of the initial pitch and yaw angles on the after-perforation projectile’s performance.
文摘In this paper,an integrated guidance and control method based on an adaptive path-following controller is proposed to control a spin-stabilized projectile with only translational motion information under the constraint of an actuator,uncertainties in aerodynamic parameters and measurements,and control system complexity.Owing to the fairly high rotation speed,the dynamic model of this missile is strongly nonlinear,uncertain and coupled in pitch,yaw and roll channels.A theoretical equivalent resultant force and uncertainty compensation method are comprehensively used to realize decoupling of pitch and yaw.In response to the strong nonlinear and time-varying characteristics of the dynamic system,the quasi-linear model whose parameters are obtained by interpolation of points selected as the segmentation points in the trajectory envelope,is used for calculation in each step.To cope with the system uncertainty caused by model approximation,parameter uncertainty and ballistic interference,an extended state estimator is used to compensate the output feedback according to the test ballistic angle.In order to improve the tracking efficiency and ensure the tracking error convergence with only translational motion information,the virtual guide point,whose derivative is deduced according to the Lyapunov principle,is calculated in real time according to the projection relationship between the real-time position and the reference trajectory,and a virtual line-of-sight angle and the backstepping method are used for the design of the guidance and control system.In order to avoid the influence of control input saturation on the guidance and control performance due to the actuator limitation and improve the robustness of the system,an anti-saturation compensator is designed according to the two-step method.The feasibility and effectiveness of the path-following controller is verified through closed-loop flight simulations with measurement,control,and condition uncertainties.The results indicate that the designed controller can converge to the reference path and evidently decrease the distance between the impact point and target under different uncertainties.
基金the financial support provided by USDOT Pipeline and Hazardous Materials Safety Administration (PHMSA)through the Competitive Academic Agreement Program (CAAP)。
文摘Despite the success of guided wave ultrasonic inspection for internal defect detection in steel pipes,its application on polyethylene(PE)pipe remains relatively unexplored.The growth of internal cracks in PE pipe severely affects its pressure-holding capacity,hence the early detection of internal cracks is crucial for effective pipeline maintenance strategies.This study extends the scope of guided wave-based ultrasonic testing to detect the growth of internal cracks in a natural gas distribution PE pipe.Laboratory experiments and a finite element model were planned to study the wave-crack interaction at different stages of axially oriented internal crack growth with a piezoceramic transducer-based setup arranged in a pitch-catch configuration.Mode dispersion analysis supplemented with preliminary experiments was performed to isolate the optimal inspection frequency,leading to the selection of the T(0,1)mode at 50-kHz for the investigation.A transmission index based on the energy of the T(0,1)mode was developed to trace the extent of simulated crack growth.The findings revealed an inverse linear correlation between the transmission index and the crack depth for crack growth beyond 20%crack depth.
基金supported by the Fundamental Research Funds for the Central University(No.30919011401)。
文摘A novel acceleration tracking controller is proposed in this paper, for a Spinning Glide Guided Projectile(SGGP) subject to cross-coupling dynamics, external disturbances, and parametric uncertainties. The cross-coupled dynamics for the SGGP are formulated with mismatched and matched uncertainties, and then divided into acceleration and angular rate subsystems via the hierarchical principle. By exploiting the structural property of the SGGP, model-assisted Extended State Observers(ESOs) are designed to estimate online the lumped disturbances in the acceleration and angular rate dynamics. To achieve a rapid response and a strong robustness, integral sliding mode control laws and sigmoid-function-based tracking differentiators are integrated into the ESO-based Trajectory Linearization Control(TLC) framework. It is proven that the acceleration tracking controller can guarantee the ultimate boundedness of the signals in the closed-loop system and make the tracking errors arbitrarily small. The superiority and effectiveness of the proposed control scheme in its decoupling ability, accurate acceleration tracking performance and antidisturbance capability are validated through comparisons and extensive simulations.
文摘An optimization method is introduced to design the aerodynamic parameters of a dual-spin twodimensional guided projectile with the canards for trajectory correction. The nose guidance component contains two pairs of canards which can provide lift and despin with the projectile for stability. The optimal design algorithm is developed to decide the profiles both of the steering and spinning canards,and their deflection angles are also simulated to meet the needs of trajectory correction capabilities.Finally, the aerodynamic efficiency of the specific canards is discussed according to the CFD simulations.Results that obtained here can be further applied to the exterior ballistics design.
文摘Automated Guided Vehicles(AGVs)have been introduced into various applications,such as automated warehouse systems,flexible manufacturing systems,and container terminal systems.However,few publications have outlined problems in need of attention in AGV applications comprehensively.In this paper,several key issues and essential models are presented.First,the advantages and disadvantages of centralized and decentralized AGVs systems were compared;second,warehouse layout and operation optimization were introduced,including some omitted areas,such as AGVs fleet size and electrical energy management;third,AGVs scheduling algorithms in chessboardlike environments were analyzed;fourth,the classical route-planning algorithms for single AGV and multiple AGVs were presented,and some Artificial Intelligence(AI)-based decision-making algorithms were reviewed.Furthermore,a novel idea for accelerating route planning by combining Reinforcement Learning(RL)andDijkstra’s algorithm was presented,and a novel idea of the multi-AGV route-planning method of combining dynamic programming and Monte-Carlo tree search was proposed to reduce the energy cost of systems.
基金supported by the State Key Program of National Natural Science Foundation of China(Grant No.12132003)State Key Laboratory of Explosion Science and Technology(Grant No.QNKT20-07)。
文摘The time-sequenced damage behavior of the reactive projectile impacting double-layer plates is discussed.The analytical model considering the combined effect of kinetic and chemical energy is developed to reveal the damage mechanism.The influences of impact velocity and reactive projectile chemical characteristics on the damage effect are decoupled analyzed based on this model.These analyses indicate that the high energy releasing efficiency and fast reaction propagation velocity of the reactive projectile are conducive to enhancing the damage effect.The experiments with various reactive projectiles impact velocity increasing from 702 to 1385 m/s were conducted to verify this model.The experimental results presented that,the damage hole radius of the rear-plate increases with the increase of impact velocity.At the impact velocity of 1350 m/s,the radius of damage hole formed by PTFE/Al/Bi_(2)O_(3),PTFE/Al/MoO_(3),PTFE/Al/Fe_(2)O_(3)projectile on the rear-plate become smaller in sequence.These results are consistent with the analytical model prediction,demonstrating that this model can predict the damage effect quantitatively.This work is of constructive significance to the application of reactive projectiles.
基金supported by the National Natural Science Foundation of China(Grant No.52208500)。
文摘The finite-depth concrete panels have been widely applied in the protective structures,and its impact resistance and dynamic fracture failures,especially the scabbing/perforation limits,under high velocity projectile impact,are mainly concerned by protective engineers,which are numerically studied based on an improved dynamic concrete model in this study.Firstly,based on the framework of the KCC(Karagozian&Case concrete)model,a dynamic concrete model is proposed which considers an independent tensile damage model and a continued transition between dynamic tensile and compressive properties.Secondly,the strength surface,equation of state and damage parameters of the proposed model are comprehensively calibrated by a triaxial compressive test with high confinement pressure,the rationality of which is further verified based on the single element tests,e.g.,uniaxial and triaxial compression as well as uniaxial,biaxial and triaxial tension.Thirdly,a series of projectile high velocity impact tests on thin and thick concrete panels are simulated,which indicates that the projectile residual velocity and dynamic fracture failures are reproduced satisfactorily,while the KCC model underestimates both the spalling and scabbing dimensions severely.Finally,based on the validated concrete model and finite element analyses approach,the validations of the existing five empirical formulae are evaluated,in terms of the depth of penetration(DOP)and scabbing/perforation limits of concrete panel.Both the Army corps of engineers(ACE)and modified National Defense Research Committee(NDRC)formulae are recommended in the design of the protective structure to avoid scabbing failure.
文摘Background: The diagnosis of prostate cancer (PCa) relies on clinical assessment with digital rectal examination, serum PSA and histological examination. Limitations in our technical facilities, high financial cost of ultrasound-guided biopsy often prevent us from implementing the guidelines on the practice of prostate biopsy. Methods: We conducted a retrospective and cross-sectional descriptive study comparing digital-guided and ultrasound-guided transrectal prostate biopsy of 400 patients over a period of 12 years in the Yaounde Central Hospital. We reviewed files of patients who underwent digital and ultrasound guided biopsy procedures. Data was analyzed using EPI info 7.0. Parametric variables were reported as means and standard deviations and percentages and counts were used to report categorical variables. Results: Out of the 400 patients, 292 digital-guided transrectal biopsies (73%) and 108 ultrasound-guided transrectal biopsies (27%) were performed in patients who were suspected of having prostate cancer (PCa). Patients were aged between 39 to 90 years. Both procedures were effective in identifying prostate cancer. Gleason score between 2 to 10 detected prostate adenocarcinoma for 301 patients (75.2%). The complications included anal pain, rectal bleeding, hematuria and urinary tract infections, with an occurrence rate similar for both ultrasound-guided (2.25%) and digitally-guided techniques (2.5%). Seven patients (1.75%) required hospitalization for management of complications. The mortality rate was null. Conclusion: Both techniques are effective in detecting PCa with the similar complication rates. Digital-guided trans-rectal prostate biopsy still has its place in a resource-limited setting like ours.
文摘This paper investigates the computational solution to the problem of projectile motion under a significant linear drag effect. The drag force acting on the particle within the medium of propagation is proportional to the cross-section area of the projectile, the velocity of the particle, and the medium’s density. From zero air resistance force (vacuum) the problems are well known with solutions, but with air resistance (drag force) the problems have no exact analytical solutions which lead to most of the significant scientific research works using numerical methods. Therefore, this study aims to present the analysis of the computational modelling of drag force exerted by the surrounding medium on the linear motion. However, the horizontal and vertical components of differential equations of motion were derived and characterized from the solutions governed by Newton’s 2<sup>nd</sup> law of motion. The baseball features were presented as the projectile (object) in this work. In addition, the numerical computational results were received from FreeMat. The results were discussed and compared with those from the vacuum. Moreover, the displacements, velocities, range, and trajectories of the projectile were all discussed and a conclusion was made.
基金supported by the Six Talent Peaks Project in Jiangsu Province,China(Grant No.JXQC-002)。
文摘The center manifold method has been widely used in the field of stochastic dynamics as a dimensionality reduction method.This paper studied the angular motion stability of a projectile system under random disturbances.The random bifurcation of the projectile is studied using the idea of the Routh-Hurwitz stability criterion,the center manifold reduction,and the polar coordinates transformation.Then,an approximate analytical presentation for the stationary probability density function is found from the related Fokker–Planck equation.From the results,the random dynamical system of projectile generates three different dynamical behaviors with the changes of the bifurcation parameter and the noise strength,which can be a reference for projectile design.
基金supported by the Scientific and Technological Innovation Project(Grant No.KYGYZB0019003)。
文摘To quickly break through a reinforced concrete wall and meet the damage range requirements of rescuers entering the building,the combined damage characteristics of the reinforced concrete wall caused by EFP penetration and explosion shock wave were studied.Based on LS-DYNA finite element software and RHT model with modified parameters,a 3D large-scale numerical model was established for simulation analysis,and the rationality of the material model parameters and numerical simulation algorithm were verified.On this basis,the combined damage effect of EFP penetration and explosion shock wave on reinforced concrete wall was studied,the effect of steel bars on the penetration of EFP was highlighted,and the effect of impact positions on the damage of the reinforced concrete wall was also examined.The results reveal that the designed shaped charge can form a crater with a large diameter and high depth on the reinforced concrete wall.The average crater diameter is greater than 67 cm(5.58 times of charge diameter),and crater depth is greater than 22 cm(1.83 times of charge diameter).The failure of the reinforced concrete wall is mainly caused by EFP penetration.When only EFP penetration is considered,the average diameter and depth of the crater are 54.0 cm(4.50 times of charge diameter)and 23.7 cm(1.98 times of charge diameter),respectively.The effect of explosion shock wave on crater depth is not significant,resulting in a slight increase in crater depth.The average crater depth is 24.5 cm(2.04 times of charge diameter)when the explosion shock wave is considered.The effect of explosion shock wave on the crater diameter is obvious,which can aggravate the damage range of the crater,and the effect gradually decreases with the increase of standoff distance.Compared with the results for a plain concrete wall,the crater diameter and crater depth of the reinforced concrete wall are reduced by 5.94%and 9.96%,respectively.Compared to the case in which the steel bar is not hit,when the EFP hit one steel bar and the intersection of two steel bars,the crater diameter decreases by 1.36%and 5.45%respectively,the crater depth decreases by 4.92%and 14.02%respectively.The EFP will be split by steel bar during the penetration process,resulting in an irregular trajectory.
基金supported by Project of the National Natural Science Foundation of China(Grant No.62073256)in part by Shaanxi Provincial Science and Technology Department(Grant No.2020GY-125)。
文摘In order to improve the recognition rate and accuracy rate of projectiles in six sky-screens intersection test system,this work proposes a new recognition method of projectiles by combining particle swarm optimization support vector and spatial-temporal constrain of six sky-screens detection sensor.Based on the measurement principle of the six sky-screens intersection test system and the characteristics of the output signal of the sky-screen,we analyze the existing problems regarding the recognition of projectiles.In order to optimize the projectile recognition effect,we use the support vector machine and basic particle swarm algorithm to form a new recognition algorithm.We set up the particle swarm algorithm optimization support vector projectile information recognition model that conforms to the six sky-screens intersection test system.We also construct a spatial-temporal constrain matching model based on the spatial geometric relationship of six sky-screen intersection,and form a new projectile signal recognition algorithm with six sky-screens spatial-temporal information constraints under the signal classification mechanism of particle swarm optimization algorithm support vector machine.Based on experiments,we obtain the optimal penalty and kernel function radius parameters in the PSO-SVM algorithm;we adjust the parameters of the support vector machine model,train the test signal data of every sky-screen,and gain the projectile signal classification results.Afterwards,according to the signal classification results,we calculate the coordinate parameters of the real projectile by using the spatial-temporal constrain of six sky-screens detection sensor,which verifies the feasibility of the proposed algorithm.
