The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction ...The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.展开更多
Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suf...Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suffers from significant performance degradation owing to the limited number of physical elements.To improve the underdetermined DOA estimation performance of a ULA radar mounted on a small UAV platform,we propose a nonuniform linear motion sampling underdetermined DOA estimation method.Using the motion of the UAV platform,the echo signal is sampled at different positions.Then,according to the concept of difference co-array,a virtual ULA with multiple array elements and a large aperture is synthesized to increase the degrees of freedom(DOFs).Through position analysis of the original and motion arrays,we propose a nonuniform linear motion sampling method based on ULA for determining the optimal DOFs.Under the condition of no increase in the aperture of the physical array,the proposed method obtains a high DOF with fewer sampling runs and greatly improves the underdetermined DOA estimation performance of ULA.The results of numerical simulations conducted herein verify the superior performance of the proposed method.展开更多
Automatic modulation recognition(AMR)of radiation source signals is a research focus in the field of cognitive radio.However,the AMR of radiation source signals at low SNRs still faces a great challenge.Therefore,the ...Automatic modulation recognition(AMR)of radiation source signals is a research focus in the field of cognitive radio.However,the AMR of radiation source signals at low SNRs still faces a great challenge.Therefore,the AMR method of radiation source signals based on two-dimensional data matrix and improved residual neural network is proposed in this paper.First,the time series of the radiation source signals are reconstructed into two-dimensional data matrix,which greatly simplifies the signal preprocessing process.Second,the depthwise convolution and large-size convolutional kernels based residual neural network(DLRNet)is proposed to improve the feature extraction capability of the AMR model.Finally,the model performs feature extraction and classification on the two-dimensional data matrix to obtain the recognition vector that represents the signal modulation type.Theoretical analysis and simulation results show that the AMR method based on two-dimensional data matrix and improved residual network can significantly improve the accuracy of the AMR method.The recognition accuracy of the proposed method maintains a high level greater than 90% even at -14 dB SNR.展开更多
In order to suppress the low-frequency ultrasound vibration in the broadband range of 20 k Hz—100 k Hz,this paper proposes and discusses an acoustic metamaterial with low-frequency ultrasound vibration attenuation pr...In order to suppress the low-frequency ultrasound vibration in the broadband range of 20 k Hz—100 k Hz,this paper proposes and discusses an acoustic metamaterial with low-frequency ultrasound vibration attenuation properties,which is configured by hybrid arc and sharp-angle convergent star-shaped lattices.The effect of the dispersion relation and the bandgap characteristic for the scatterers in star-shaped are simulated and analyzed.The target bandgap width is extended by optimizing the geometry parameters of arc and sharp-angle convergent lattices.The proposed metamaterial configured by optimized hybrid lattices exhibits remarkable broad bandgap characteristics by bandgap complementarity,and the simulation results verify a 99%vibration attenuation amplitude can be obtained in the frequency of20 k Hz—100 k Hz.After the fabrication of the proposed hybrid configurational star-shaped metamaterial by 3D printing technique,the transmission loss experiments are performed,and the experimental results indicate that the fabricated metamaterial has the characteristics of broadband vibration attenuation and an amplitude greater than 85%attenuation for the target frequency.These results demonstrate that the hybrid configurational star-shaped metamaterials can effectively widen the bandgap and realize high efficiency attenuation,which has capability for the vibration attenuation in the application of highprecise equipment.展开更多
In order to improve the energy output consistency of 3, 3’-diamino-4, 4’-azoxyfurazan(DAAF) in the new insensitive booster and the safety and efficiency in the preparation process, a continuous preparation system of...In order to improve the energy output consistency of 3, 3’-diamino-4, 4’-azoxyfurazan(DAAF) in the new insensitive booster and the safety and efficiency in the preparation process, a continuous preparation system of DAAF from synthesis to spherical coating was designed and established in this paper, which combined ultrasonic micromixing reaction with microdroplet globular template. In the rapid micromixing stage, the microfluidic mixing technology with ultrasonic was used to synergistically strengthen the uniform and rapid mass transfer mixing reaction between raw materials to ensure the uniformity of DAAF particle nucleation-growth, and to prepare high-quality DAAF crystals with uniform structure and morphology and concentrated particle size distribution. In the microdroplet globular template stage, the microfluidic droplet technology was used to form a droplet globular template with uniform size under the shear action of the continuous phase of the dispersed phase solution containing DAAF particles and binder. The size of the droplet template was controlled by adjusting the flow rate ratio between the continuous phase and the dispersed phase. In the droplet globular template, with the diffusion of the solvent in the dispersed phase droplets, the binder precipitates to coat the DAAF into a ball, forming a DAAF microsphere with high sphericity, narrow particle size distribution and good monodispersity. The problem of discontinuity and DAAF particle suspension in the process was solved, and the coating theory under this process was studied. DAAF was coated with different binder formulations of fluororubber(F2604), nitrocellulose(NC) and NC/glycidyl azide polymer(GAP), and the process verification and evaluation of the system were carried out. The balling effects of large, medium and small droplet templates under different binder formulations were studied. The scanning electron microscope(SEM) results show that the three droplet templates under the three binder formulations exhibit good balling effect and narrow particle size distribution. The DAAF microspheres were characterized by powder X-ray diffraction(XRD), differential scanning calorimetry(DSC), thermo-gravimetric(TG) and sensitivity analyzer. The results showed that the crystal structure of DAAF did not change during the process, and the prepared DAAF microspheres had lower decomposition temperature and lower mechanical sensitivity than raw DAAF. The results of detonation parameters show that the coating of DAAF by using the above three binder formulations will not greatly reduce the energy output of DAAF, and has comparable detonation performance to raw DAAF. This study proves an efficient and safe continuous system from synthesis to spherical coating modification of explosives, which provides a new way for the continuous, safe and efficient preparation of spherical explosives.展开更多
The identification of intercepted radio fuze modulation types is a prerequisite for decision-making in interference systems.However,the electromagnetic environment of modern battlefields is complex,and the signal-to-n...The identification of intercepted radio fuze modulation types is a prerequisite for decision-making in interference systems.However,the electromagnetic environment of modern battlefields is complex,and the signal-to-noise ratio(SNR)of such environments is usually low,which makes it difficult to implement accurate recognition of radio fuzes.To solve the above problem,a radio fuze automatic modulation recognition(AMR)method for low-SNR environments is proposed.First,an adaptive denoising algorithm based on data rearrangement and the two-dimensional(2D)fast Fourier transform(FFT)(DR2D)is used to reduce the noise of the intercepted radio fuze intermediate frequency(IF)signal.Then,the textural features of the denoised IF signal rearranged data matrix are extracted from the statistical indicator vectors of gray-level cooccurrence matrices(GLCMs),and support vector machines(SVMs)are used for classification.The DR2D-based adaptive denoising algorithm achieves an average correlation coefficient of more than 0.76 for ten fuze types under SNRs of-10 d B and above,which is higher than that of other typical algorithms.The trained SVM classification model achieves an average recognition accuracy of more than 96%on seven modulation types and recognition accuracies of more than 94%on each modulation type under SNRs of-12 d B and above,which represents a good AMR performance of radio fuzes under low SNRs.展开更多
Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force tra...Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped robot.The method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum conservation.At the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is proposed.State switching and landing stability control are also added.Finally,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.展开更多
There are many theories and tools for human or robot motion simulation,but most of them require complex calculations.The LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates ...There are many theories and tools for human or robot motion simulation,but most of them require complex calculations.The LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates simulation of the Ground Reaction Force(GRF)of body landing by spring damping model and ignoring joint rotation movements,which can reduce the amount of computation obviously.In this paper,the LNZN model of human running is selected as the basis and is modified to obtain the LNZN model of a robot,which expands the application of the LNZN model.According to the structure of the human foot,a foot structure is then added to the simplified model to reduce the GRF.We also applied driving forces to the new model to simulate the whole high jump motion of the robot to expand the functions of the LNZN model.The obtained GRF data were anastomotic to the actual experimental results.In addition,the effects of variables,such as the mass,hardness,and damping,of the foot on the GRF at the moment of landing were also explored.Finally,based on the guidelines obtained for the design of the robot’s foot structure,we fabricated new robot’s feet and installed them on the actual robot and achieved a better cushioning effect than the original foot in experiments.展开更多
Combining the methods of theoretical,numerical and experimental,this research focuses on the jet formation behavior and optimization of trunconical hypercumulation shaped charge structure.With the three-stage division...Combining the methods of theoretical,numerical and experimental,this research focuses on the jet formation behavior and optimization of trunconical hypercumulation shaped charge structure.With the three-stage division,formation theory of trunconical hypercumulation shaped charge jet is established based on micro element method.By dimensional analysis,main control parameters are identified and their effect on jet formation are analyzed.Through numerical modelling and orthogonal optimization method,influence of the factors and their levels over the indicators of jet tip velocity and jet length as well as order of the significance of each factor and level are obtained.Penetration experiments of trunconical hypercumulation shaped charge based on the orthogonal optimization reveals its advantage over traditional conical shaped charge structure,and finally determines the optimal influence factor level combination.The research and results would provide useful guide for the design and application of trunconical hypercumulation shaped charge structure.展开更多
To investigate the thermal response and initiation behavior of ternary fluoropolymer-matrix PTFE/Al/W reactive materials,a research combining shock loading tests and trans-scale modelling is conducted.On the basis of ...To investigate the thermal response and initiation behavior of ternary fluoropolymer-matrix PTFE/Al/W reactive materials,a research combining shock loading tests and trans-scale modelling is conducted.On the basis of a good agreement of the numerically simulated and tested shock wave propagation,the significant impact of component ratios and particle sizes on the evolution of mesoscopic temperature,hot-spots and initiation is well characterized and analyzed.Results demonstrate that as the content of W increases,the range of mesoscopic high-temperature area increases and tends to distribute more uniform,while material with smaller W particles causes more intense particle deformation and larger temperature rise.The time to reach the critical temperature shows positive correlation to the content of W,while the critical temperature of hot-spots shows negative correlation to the particle size of W.For PTFE/Al/W of high density,with the increase of W particle size,the reaction rate decrease,however the time to reach the peak reaction rate shortens.展开更多
This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance ...This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.展开更多
Energetic materials pose challenges in preparation and handling due to their contradictory properties of high-energy and low-sensitivity.The emergence of co-crystal explosives is a new opportunity to change this situa...Energetic materials pose challenges in preparation and handling due to their contradictory properties of high-energy and low-sensitivity.The emergence of co-crystal explosives is a new opportunity to change this situation.If the co-crystal explosive is coated into spherical particles with uniform particle size distribution,this contradiction can be further reduced.Therefore,binder-coated hexanitrohexaazaisowurtzitane/2,4,6-trinitrotoluene(CL-20/TNT)co-crystal microspheres were prepared by droplet microfluidic technology in this work.The coating effects of different binder formulations of nitrocellulose(NC)and NC/fluorine rubber(F2604)on the co-crystal spheres were studied.The scanning electron microscopy(SEM)results showed that the use of droplet microfluidic technology with the above binders can provide co-crystal microspheres with regular spherical morphology,uniform particle size distribution and good dispersion.X-ray diffraction(XRD),fourier-transform infrared(FT-IR),differential scanning calorimetry(DSC)and thermo-gravimetric(TG)methods were employed to compare the properties of the co-crystal microspheres,raw material and pure co-crystal.The formation of CL-20/TNT co-crystal in the microspheres was confirmed,and the co-crystal microspheres exhibited better thermal stability than the raw material and pure co-crystal.In addition,the mechanical sensitivity and combustion performance of the co-crystal microspheres were further studied.The results showed that the co-crystal microspheres were more insensitive than CL-20 and pure co-crystal,and displayed excellent self-sustained combustion performance and theoretical detonation performance.This study provides a new method for the fast,simple and one-step preparation of CL-20/TNT co-crystal microspheres,with binder coating,uniform particle size distribution,and excellent performance level.展开更多
Research on the expansion and fracture of explosively driven metal shells has been a key issue in weapon development and structural protection.It is important to study and predict the failure mode,fracture mechanism,a...Research on the expansion and fracture of explosively driven metal shells has been a key issue in weapon development and structural protection.It is important to study and predict the failure mode,fracture mechanism,and fragment distribution characteristics of explosively driven metal shells.In this study,we used the finite element-smoothed particle hydrodynamics(FE-SPH)adaptive method and the fluid-structure interaction method to perform a three-dimensional numerical simulation of the expansion and fracture of a metal cylindrical shell.Our method combined the advantages of the FEM and SPH,avoiding system mass loss,energy loss,and element distortion;in addition,the proposed method had a good simulation effect on the interaction between detonation waves and the cylindrical shell.The simulated detonation wave propagation,shell damage morphology,and fragment velocity distribution were in good agreement with theoretical and experimental results.We divided the fragments into three regions based on their shape characteristics.We analyzed the failure mode and formation process of fragments in different regions.The numerical results reproduced the phenomenon in which cracks initiated from the inner surface and extended to the outer surface of the cylindrical shell along the 45°or 135°shear direction.In addition,fragments composed of elements are identified,and the mass and characteristic lengths of typical fragments at a stable time are provided.Furthermore,the mass and size distribution characteristics of the fragments were explored,and the variation in the fitting results of the classical distribution function under different explosion pressures was examined.Finally,based on mathematical derivation,the distribution formula of fragment velocity was improved.The improved formula provided higher accuracy and could be used to analyze any metal cylindrical shells with different length-to-diameter ratios.展开更多
To solve the problem of the low interference success rate of air defense missile radio fuzes due to the unified interference form of the traditional fuze interference system,an interference decision method based Q-lea...To solve the problem of the low interference success rate of air defense missile radio fuzes due to the unified interference form of the traditional fuze interference system,an interference decision method based Q-learning algorithm is proposed.First,dividing the distance between the missile and the target into multiple states to increase the quantity of state spaces.Second,a multidimensional motion space is utilized,and the search range of which changes with the distance of the projectile,to select parameters and minimize the amount of ineffective interference parameters.The interference effect is determined by detecting whether the fuze signal disappears.Finally,a weighted reward function is used to determine the reward value based on the range state,output power,and parameter quantity information of the interference form.The effectiveness of the proposed method in selecting the range of motion space parameters and designing the discrimination degree of the reward function has been verified through offline experiments involving full-range missile rendezvous.The optimal interference form for each distance state has been obtained.Compared with the single-interference decision method,the proposed decision method can effectively improve the success rate of interference.展开更多
Under the background of vigorously developing facilities of island/reef in the world,the economic value and strategic significance of the island/reef have become increasingly important.Unfortunately,they may easily be...Under the background of vigorously developing facilities of island/reef in the world,the economic value and strategic significance of the island/reef have become increasingly important.Unfortunately,they may easily become the attacking target of missiles in the war time.Therefore,aiming at the damage quantification of the targets in the island/reef under the missile attacking,a macroscopic damage assessment model for the target area is proposed in this paper.The model focuses on the construction of the assessment model framework.Firstly,the analytic hierarchy process and the grey relational analysis are applied to measure the importance of each target in the region through four indicators of the target hazard,striking urgency,damage advantage and mission relevance,respectively.Secondly,based on the damage mechanism of shock wave and fragments to target,the corresponding damage model is established,and the damage grade of each target in the evaluated area is obtained according to the damage criteria and grading standard.Finally,the model obtains the overall damage grade of the target area by employing the fuzzy comprehensive evaluation method,with synthesizing the importance and the damage grade of each target.Through the verification of an example,it demonstrates the certain feasibility of the model and provides a certain basis and reference for the subsequent research.展开更多
To understand the discharge characteristics under a gap of micrometers,the breakdown voltage and current–voltage curve are measured experimentally in a needle-to-plate electrode at a microscale gap of 3–50 μm in ai...To understand the discharge characteristics under a gap of micrometers,the breakdown voltage and current–voltage curve are measured experimentally in a needle-to-plate electrode at a microscale gap of 3–50 μm in air.The effect of the needle radius and the gas pressure on the discharge characteristics are tested.The results show that when the gap is larger than 10 μm,the relation between the breakdown voltage and the gap looks like the Paschen curve;while below 10 μm,the breakdown voltage is nearly constant in the range of the tested gap.However,at the same gap distance,the breakdown voltage is still affected by the pressure and shows a trend similar to Paschen's law.The current–voltage characteristic in all the gaps is similar and follows the trend of a typical Townsend-to-glow discharge.A simple model is used to explain the non-normality of breakdown in the micro-gaps.The Townsend mechanism is suggested to control the breakdown process in this configuration before the gap reduces much smaller in air.展开更多
Sliding wall-climbing robot(SWCR) is applied worldwide for its continuous motion,however,considerable air leakage causes two problems:great power consumption and big noise,and they constraint the robot's comprehen...Sliding wall-climbing robot(SWCR) is applied worldwide for its continuous motion,however,considerable air leakage causes two problems:great power consumption and big noise,and they constraint the robot's comprehensive performance.So far,effective theoretical model is still lacked to solve the problems.The concept of SWCR's adsorption performance is presented,and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR's adsorption performance.The effect of locomotion mechanism selection and seal's pressure allocation upon utilization rate of given adsorption force is discussed,and the theoretical way for relevant parameters optimization are provided.The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system's thermodynamics and hydrodynamics.On this condition,a design method for SWCR-specific impeller is presented,which shows how the impeller's key parameters impact its aerodynamic performance with the aid of computational fluid dynamics(CFD) simulations.The robot prototype,BIT Climber,is developed,and its functions such as mobility,adaptability on wall surface,payload,obstacle ability and wall surface inspection are tested.Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface,at the impeller's rated rotating speed,the total adsorption force can reach 237.2 N,the average effective negative pressure is 3.02 kPa and the design error is 3.8% only,which indicates a high efficiency.Furthermore,it is found that the robot suction system's static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment.This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR's adsorption performance and expand this robot applicability on the various walls.A sliding wall-climbing robot with high adhesion efficiency is developed,and this robot has the features of light body in weight,small size in structure and good capability in payload.展开更多
The conventional Duffing oscillator weak signal detection method, which is based on a strong reference signal, has inherent deficiencies. To address these issues, the characteristics of the Duffing oscillator's ph...The conventional Duffing oscillator weak signal detection method, which is based on a strong reference signal, has inherent deficiencies. To address these issues, the characteristics of the Duffing oscillator's phase trajectory in a smallscale periodic state are analyzed by introducing the theory of stopping oscillation system. Based on this approach, a novel Duffing oscillator weak wide-band signal detection method is proposed. In this novel method, the reference signal is discarded, and the to-be-detected signal is directly used as a driving force. By calculating the cosine function of a phase space angle, a single Duffing oscillator can be used for weak wide-band signal detection instead of an array of uncoupled Duffing oscillators. Simulation results indicate that, compared with the conventional Duffing oscillator detection method,this approach performs better in frequency detection intervals, and reduces the signal-to-noise ratio detection threshold,while improving the real-time performance of the system.展开更多
A newly developed pure rolling fatigue test rig with three contact points is used to test the rolling contact fatigue properties of silicon nitride ceramic balls. Ball surfaces are examined after failure with optical ...A newly developed pure rolling fatigue test rig with three contact points is used to test the rolling contact fatigue properties of silicon nitride ceramic balls. Ball surfaces are examined after failure with optical microscopy and scanning electron microscopy. The failure cause,fatigue phenomenon and mechanics are analyzed. The research shows that subsurface cracks play a dominant role in the formation of spalling failure. These cracks originated from volume defects of the material and propagate,to form elliptical fatigue spalls under the action of principal tensile stresses. The principal tensile stress increases with increasing contact load,causing spall formation and reduction of rolling contact life. The greater the principal tensile stress is,the more severe the peeling of near surface is. Under the same condition,the closer volume defects are to the surface,the more likely failure occurs,the shorter the rolling contact life is.展开更多
With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced ...With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle inspection.The modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss function.During the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through experiments.The comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.展开更多
基金the National Natural Science Foundation of China(Grant No.61973033)Preliminary Research of Equipment(Grant No.9090102010305)for funding the experiments。
文摘The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.
基金National Natural Science Foundation of China(61973037)National 173 Program Project(2019-JCJQ-ZD-324)。
文摘Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suffers from significant performance degradation owing to the limited number of physical elements.To improve the underdetermined DOA estimation performance of a ULA radar mounted on a small UAV platform,we propose a nonuniform linear motion sampling underdetermined DOA estimation method.Using the motion of the UAV platform,the echo signal is sampled at different positions.Then,according to the concept of difference co-array,a virtual ULA with multiple array elements and a large aperture is synthesized to increase the degrees of freedom(DOFs).Through position analysis of the original and motion arrays,we propose a nonuniform linear motion sampling method based on ULA for determining the optimal DOFs.Under the condition of no increase in the aperture of the physical array,the proposed method obtains a high DOF with fewer sampling runs and greatly improves the underdetermined DOA estimation performance of ULA.The results of numerical simulations conducted herein verify the superior performance of the proposed method.
基金National Natural Science Foundation of China under Grant No.61973037China Postdoctoral Science Foundation under Grant No.2022M720419。
文摘Automatic modulation recognition(AMR)of radiation source signals is a research focus in the field of cognitive radio.However,the AMR of radiation source signals at low SNRs still faces a great challenge.Therefore,the AMR method of radiation source signals based on two-dimensional data matrix and improved residual neural network is proposed in this paper.First,the time series of the radiation source signals are reconstructed into two-dimensional data matrix,which greatly simplifies the signal preprocessing process.Second,the depthwise convolution and large-size convolutional kernels based residual neural network(DLRNet)is proposed to improve the feature extraction capability of the AMR model.Finally,the model performs feature extraction and classification on the two-dimensional data matrix to obtain the recognition vector that represents the signal modulation type.Theoretical analysis and simulation results show that the AMR method based on two-dimensional data matrix and improved residual network can significantly improve the accuracy of the AMR method.The recognition accuracy of the proposed method maintains a high level greater than 90% even at -14 dB SNR.
基金National Natural Science Foundation of China(Grant Nos.51821003,52175524,61704158)the Natural Science Foundation of Shanxi Province(Grant No.202103021224206)Shanxi"1331 Project"Key Subjects Construction to provide fund for conducting experiments。
文摘In order to suppress the low-frequency ultrasound vibration in the broadband range of 20 k Hz—100 k Hz,this paper proposes and discusses an acoustic metamaterial with low-frequency ultrasound vibration attenuation properties,which is configured by hybrid arc and sharp-angle convergent star-shaped lattices.The effect of the dispersion relation and the bandgap characteristic for the scatterers in star-shaped are simulated and analyzed.The target bandgap width is extended by optimizing the geometry parameters of arc and sharp-angle convergent lattices.The proposed metamaterial configured by optimized hybrid lattices exhibits remarkable broad bandgap characteristics by bandgap complementarity,and the simulation results verify a 99%vibration attenuation amplitude can be obtained in the frequency of20 k Hz—100 k Hz.After the fabrication of the proposed hybrid configurational star-shaped metamaterial by 3D printing technique,the transmission loss experiments are performed,and the experimental results indicate that the fabricated metamaterial has the characteristics of broadband vibration attenuation and an amplitude greater than 85%attenuation for the target frequency.These results demonstrate that the hybrid configurational star-shaped metamaterials can effectively widen the bandgap and realize high efficiency attenuation,which has capability for the vibration attenuation in the application of highprecise equipment.
基金National Natural Science Foundation of China(Grant No.22005275)to provide fund for conducting experiments.
文摘In order to improve the energy output consistency of 3, 3’-diamino-4, 4’-azoxyfurazan(DAAF) in the new insensitive booster and the safety and efficiency in the preparation process, a continuous preparation system of DAAF from synthesis to spherical coating was designed and established in this paper, which combined ultrasonic micromixing reaction with microdroplet globular template. In the rapid micromixing stage, the microfluidic mixing technology with ultrasonic was used to synergistically strengthen the uniform and rapid mass transfer mixing reaction between raw materials to ensure the uniformity of DAAF particle nucleation-growth, and to prepare high-quality DAAF crystals with uniform structure and morphology and concentrated particle size distribution. In the microdroplet globular template stage, the microfluidic droplet technology was used to form a droplet globular template with uniform size under the shear action of the continuous phase of the dispersed phase solution containing DAAF particles and binder. The size of the droplet template was controlled by adjusting the flow rate ratio between the continuous phase and the dispersed phase. In the droplet globular template, with the diffusion of the solvent in the dispersed phase droplets, the binder precipitates to coat the DAAF into a ball, forming a DAAF microsphere with high sphericity, narrow particle size distribution and good monodispersity. The problem of discontinuity and DAAF particle suspension in the process was solved, and the coating theory under this process was studied. DAAF was coated with different binder formulations of fluororubber(F2604), nitrocellulose(NC) and NC/glycidyl azide polymer(GAP), and the process verification and evaluation of the system were carried out. The balling effects of large, medium and small droplet templates under different binder formulations were studied. The scanning electron microscope(SEM) results show that the three droplet templates under the three binder formulations exhibit good balling effect and narrow particle size distribution. The DAAF microspheres were characterized by powder X-ray diffraction(XRD), differential scanning calorimetry(DSC), thermo-gravimetric(TG) and sensitivity analyzer. The results showed that the crystal structure of DAAF did not change during the process, and the prepared DAAF microspheres had lower decomposition temperature and lower mechanical sensitivity than raw DAAF. The results of detonation parameters show that the coating of DAAF by using the above three binder formulations will not greatly reduce the energy output of DAAF, and has comparable detonation performance to raw DAAF. This study proves an efficient and safe continuous system from synthesis to spherical coating modification of explosives, which provides a new way for the continuous, safe and efficient preparation of spherical explosives.
基金National Natural Science Foundation of China under Grant No.61973037China Postdoctoral Science Foundation 2022M720419 to provide fund for conducting experiments。
文摘The identification of intercepted radio fuze modulation types is a prerequisite for decision-making in interference systems.However,the electromagnetic environment of modern battlefields is complex,and the signal-to-noise ratio(SNR)of such environments is usually low,which makes it difficult to implement accurate recognition of radio fuzes.To solve the above problem,a radio fuze automatic modulation recognition(AMR)method for low-SNR environments is proposed.First,an adaptive denoising algorithm based on data rearrangement and the two-dimensional(2D)fast Fourier transform(FFT)(DR2D)is used to reduce the noise of the intercepted radio fuze intermediate frequency(IF)signal.Then,the textural features of the denoised IF signal rearranged data matrix are extracted from the statistical indicator vectors of gray-level cooccurrence matrices(GLCMs),and support vector machines(SVMs)are used for classification.The DR2D-based adaptive denoising algorithm achieves an average correlation coefficient of more than 0.76 for ten fuze types under SNRs of-10 d B and above,which is higher than that of other typical algorithms.The trained SVM classification model achieves an average recognition accuracy of more than 96%on seven modulation types and recognition accuracies of more than 94%on each modulation type under SNRs of-12 d B and above,which represents a good AMR performance of radio fuzes under low SNRs.
基金supported by the National Key Research Program of China 2018AAA0100103.
文摘Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped robot.The method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum conservation.At the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is proposed.State switching and landing stability control are also added.Finally,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.
基金funded by National Natural Science Foundation of China(No.62073041).
文摘There are many theories and tools for human or robot motion simulation,but most of them require complex calculations.The LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates simulation of the Ground Reaction Force(GRF)of body landing by spring damping model and ignoring joint rotation movements,which can reduce the amount of computation obviously.In this paper,the LNZN model of human running is selected as the basis and is modified to obtain the LNZN model of a robot,which expands the application of the LNZN model.According to the structure of the human foot,a foot structure is then added to the simplified model to reduce the GRF.We also applied driving forces to the new model to simulate the whole high jump motion of the robot to expand the functions of the LNZN model.The obtained GRF data were anastomotic to the actual experimental results.In addition,the effects of variables,such as the mass,hardness,and damping,of the foot on the GRF at the moment of landing were also explored.Finally,based on the guidelines obtained for the design of the robot’s foot structure,we fabricated new robot’s feet and installed them on the actual robot and achieved a better cushioning effect than the original foot in experiments.
基金support from the Beijing Municipal Natural Science Foundation(Grant No.1214022).
文摘Combining the methods of theoretical,numerical and experimental,this research focuses on the jet formation behavior and optimization of trunconical hypercumulation shaped charge structure.With the three-stage division,formation theory of trunconical hypercumulation shaped charge jet is established based on micro element method.By dimensional analysis,main control parameters are identified and their effect on jet formation are analyzed.Through numerical modelling and orthogonal optimization method,influence of the factors and their levels over the indicators of jet tip velocity and jet length as well as order of the significance of each factor and level are obtained.Penetration experiments of trunconical hypercumulation shaped charge based on the orthogonal optimization reveals its advantage over traditional conical shaped charge structure,and finally determines the optimal influence factor level combination.The research and results would provide useful guide for the design and application of trunconical hypercumulation shaped charge structure.
基金support received from the Beijing Municipal Natural Science Foundation(Grant No.1214022).
文摘To investigate the thermal response and initiation behavior of ternary fluoropolymer-matrix PTFE/Al/W reactive materials,a research combining shock loading tests and trans-scale modelling is conducted.On the basis of a good agreement of the numerically simulated and tested shock wave propagation,the significant impact of component ratios and particle sizes on the evolution of mesoscopic temperature,hot-spots and initiation is well characterized and analyzed.Results demonstrate that as the content of W increases,the range of mesoscopic high-temperature area increases and tends to distribute more uniform,while material with smaller W particles causes more intense particle deformation and larger temperature rise.The time to reach the critical temperature shows positive correlation to the content of W,while the critical temperature of hot-spots shows negative correlation to the particle size of W.For PTFE/Al/W of high density,with the increase of W particle size,the reaction rate decrease,however the time to reach the peak reaction rate shortens.
基金supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019)the Shanghai Science and Technology Major Project(2021SHZDZX)+2 种基金the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820)the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822)the China Postdoctoral Science Foundation(2022M710093)。
文摘This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.
基金National Natural Science Foundation of China(Grant No.22005275)to provide fund for conducting experiments。
文摘Energetic materials pose challenges in preparation and handling due to their contradictory properties of high-energy and low-sensitivity.The emergence of co-crystal explosives is a new opportunity to change this situation.If the co-crystal explosive is coated into spherical particles with uniform particle size distribution,this contradiction can be further reduced.Therefore,binder-coated hexanitrohexaazaisowurtzitane/2,4,6-trinitrotoluene(CL-20/TNT)co-crystal microspheres were prepared by droplet microfluidic technology in this work.The coating effects of different binder formulations of nitrocellulose(NC)and NC/fluorine rubber(F2604)on the co-crystal spheres were studied.The scanning electron microscopy(SEM)results showed that the use of droplet microfluidic technology with the above binders can provide co-crystal microspheres with regular spherical morphology,uniform particle size distribution and good dispersion.X-ray diffraction(XRD),fourier-transform infrared(FT-IR),differential scanning calorimetry(DSC)and thermo-gravimetric(TG)methods were employed to compare the properties of the co-crystal microspheres,raw material and pure co-crystal.The formation of CL-20/TNT co-crystal in the microspheres was confirmed,and the co-crystal microspheres exhibited better thermal stability than the raw material and pure co-crystal.In addition,the mechanical sensitivity and combustion performance of the co-crystal microspheres were further studied.The results showed that the co-crystal microspheres were more insensitive than CL-20 and pure co-crystal,and displayed excellent self-sustained combustion performance and theoretical detonation performance.This study provides a new method for the fast,simple and one-step preparation of CL-20/TNT co-crystal microspheres,with binder coating,uniform particle size distribution,and excellent performance level.
基金supported by the National Natural Science Foundation of China(Grant No.11872118,11627901)。
文摘Research on the expansion and fracture of explosively driven metal shells has been a key issue in weapon development and structural protection.It is important to study and predict the failure mode,fracture mechanism,and fragment distribution characteristics of explosively driven metal shells.In this study,we used the finite element-smoothed particle hydrodynamics(FE-SPH)adaptive method and the fluid-structure interaction method to perform a three-dimensional numerical simulation of the expansion and fracture of a metal cylindrical shell.Our method combined the advantages of the FEM and SPH,avoiding system mass loss,energy loss,and element distortion;in addition,the proposed method had a good simulation effect on the interaction between detonation waves and the cylindrical shell.The simulated detonation wave propagation,shell damage morphology,and fragment velocity distribution were in good agreement with theoretical and experimental results.We divided the fragments into three regions based on their shape characteristics.We analyzed the failure mode and formation process of fragments in different regions.The numerical results reproduced the phenomenon in which cracks initiated from the inner surface and extended to the outer surface of the cylindrical shell along the 45°or 135°shear direction.In addition,fragments composed of elements are identified,and the mass and characteristic lengths of typical fragments at a stable time are provided.Furthermore,the mass and size distribution characteristics of the fragments were explored,and the variation in the fitting results of the classical distribution function under different explosion pressures was examined.Finally,based on mathematical derivation,the distribution formula of fragment velocity was improved.The improved formula provided higher accuracy and could be used to analyze any metal cylindrical shells with different length-to-diameter ratios.
基金National Natural Science Foundation of China(61973037)National 173 Program Project(2019-JCJQ-ZD-324).
文摘To solve the problem of the low interference success rate of air defense missile radio fuzes due to the unified interference form of the traditional fuze interference system,an interference decision method based Q-learning algorithm is proposed.First,dividing the distance between the missile and the target into multiple states to increase the quantity of state spaces.Second,a multidimensional motion space is utilized,and the search range of which changes with the distance of the projectile,to select parameters and minimize the amount of ineffective interference parameters.The interference effect is determined by detecting whether the fuze signal disappears.Finally,a weighted reward function is used to determine the reward value based on the range state,output power,and parameter quantity information of the interference form.The effectiveness of the proposed method in selecting the range of motion space parameters and designing the discrimination degree of the reward function has been verified through offline experiments involving full-range missile rendezvous.The optimal interference form for each distance state has been obtained.Compared with the single-interference decision method,the proposed decision method can effectively improve the success rate of interference.
文摘Under the background of vigorously developing facilities of island/reef in the world,the economic value and strategic significance of the island/reef have become increasingly important.Unfortunately,they may easily become the attacking target of missiles in the war time.Therefore,aiming at the damage quantification of the targets in the island/reef under the missile attacking,a macroscopic damage assessment model for the target area is proposed in this paper.The model focuses on the construction of the assessment model framework.Firstly,the analytic hierarchy process and the grey relational analysis are applied to measure the importance of each target in the region through four indicators of the target hazard,striking urgency,damage advantage and mission relevance,respectively.Secondly,based on the damage mechanism of shock wave and fragments to target,the corresponding damage model is established,and the damage grade of each target in the evaluated area is obtained according to the damage criteria and grading standard.Finally,the model obtains the overall damage grade of the target area by employing the fuzzy comprehensive evaluation method,with synthesizing the importance and the damage grade of each target.Through the verification of an example,it demonstrates the certain feasibility of the model and provides a certain basis and reference for the subsequent research.
基金supported by National Natural Science Foundation of China(11475019)the Electrostatic Research Foundation of Liu Shanghe Academicians and Experts Workstation,Beijing Orient Institute of Measurement and Test(BOIMTLSHJD20161002)
文摘To understand the discharge characteristics under a gap of micrometers,the breakdown voltage and current–voltage curve are measured experimentally in a needle-to-plate electrode at a microscale gap of 3–50 μm in air.The effect of the needle radius and the gas pressure on the discharge characteristics are tested.The results show that when the gap is larger than 10 μm,the relation between the breakdown voltage and the gap looks like the Paschen curve;while below 10 μm,the breakdown voltage is nearly constant in the range of the tested gap.However,at the same gap distance,the breakdown voltage is still affected by the pressure and shows a trend similar to Paschen's law.The current–voltage characteristic in all the gaps is similar and follows the trend of a typical Townsend-to-glow discharge.A simple model is used to explain the non-normality of breakdown in the micro-gaps.The Townsend mechanism is suggested to control the breakdown process in this configuration before the gap reduces much smaller in air.
基金supported by Ministry of Housing and Urban-Rural Development of China (Grant No. 2007-k8-6)National Natural Science of Foundation of China (Grant No. 60975070)
文摘Sliding wall-climbing robot(SWCR) is applied worldwide for its continuous motion,however,considerable air leakage causes two problems:great power consumption and big noise,and they constraint the robot's comprehensive performance.So far,effective theoretical model is still lacked to solve the problems.The concept of SWCR's adsorption performance is presented,and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR's adsorption performance.The effect of locomotion mechanism selection and seal's pressure allocation upon utilization rate of given adsorption force is discussed,and the theoretical way for relevant parameters optimization are provided.The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system's thermodynamics and hydrodynamics.On this condition,a design method for SWCR-specific impeller is presented,which shows how the impeller's key parameters impact its aerodynamic performance with the aid of computational fluid dynamics(CFD) simulations.The robot prototype,BIT Climber,is developed,and its functions such as mobility,adaptability on wall surface,payload,obstacle ability and wall surface inspection are tested.Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface,at the impeller's rated rotating speed,the total adsorption force can reach 237.2 N,the average effective negative pressure is 3.02 kPa and the design error is 3.8% only,which indicates a high efficiency.Furthermore,it is found that the robot suction system's static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment.This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR's adsorption performance and expand this robot applicability on the various walls.A sliding wall-climbing robot with high adhesion efficiency is developed,and this robot has the features of light body in weight,small size in structure and good capability in payload.
基金Project supported by the National Natural Science Foundation of China(Grant No.61673066)
文摘The conventional Duffing oscillator weak signal detection method, which is based on a strong reference signal, has inherent deficiencies. To address these issues, the characteristics of the Duffing oscillator's phase trajectory in a smallscale periodic state are analyzed by introducing the theory of stopping oscillation system. Based on this approach, a novel Duffing oscillator weak wide-band signal detection method is proposed. In this novel method, the reference signal is discarded, and the to-be-detected signal is directly used as a driving force. By calculating the cosine function of a phase space angle, a single Duffing oscillator can be used for weak wide-band signal detection instead of an array of uncoupled Duffing oscillators. Simulation results indicate that, compared with the conventional Duffing oscillator detection method,this approach performs better in frequency detection intervals, and reduces the signal-to-noise ratio detection threshold,while improving the real-time performance of the system.
基金This project is supported by Provincial University Natural Science Fund of Jiangsu, China (No. 05KJB460106)Municipal Science and Technology Development Fund of Shanghai, China (No. 0152nm031)Municipal Natural Science Fund of Nantong, China (No. Z5005).
文摘A newly developed pure rolling fatigue test rig with three contact points is used to test the rolling contact fatigue properties of silicon nitride ceramic balls. Ball surfaces are examined after failure with optical microscopy and scanning electron microscopy. The failure cause,fatigue phenomenon and mechanics are analyzed. The research shows that subsurface cracks play a dominant role in the formation of spalling failure. These cracks originated from volume defects of the material and propagate,to form elliptical fatigue spalls under the action of principal tensile stresses. The principal tensile stress increases with increasing contact load,causing spall formation and reduction of rolling contact life. The greater the principal tensile stress is,the more severe the peeling of near surface is. Under the same condition,the closer volume defects are to the surface,the more likely failure occurs,the shorter the rolling contact life is.
基金supported by the National Key Research and Development Program of China(grant number:2017YFC0806503)。
文摘With the increasing number of vehicles,manual security inspections are becoming more laborious at road checkpoints.To address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle inspection.The modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss function.During the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through experiments.The comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.
