基于动态和静态环境对象观测一致性约束的移动机器人多传感器标定优化方法

为了解决机器人未知环境导航过程中的多源、异构传感器空间一致性观测问题,提出了基于动态和静态环境对象观测一致性约束的摄像机与激光测距传感器联合标定优化方法。利用协方差交集方法实现运动目标图像平面方向状态融合,同时采用卡尔曼滤波和概率数据关联滤波实现一对一和一对多信息源的静态角点特征图像平面方向状态融合;在此基础上,利用动态和静态物体融合前与融合后状态误差构造优化目标函数,并利用非线性优化方法实现标定参数优化。实验结果表明,该设计方法能够提高多传感器环境观测的一致性水平,验证了该方法的有效性。     

基于多源不确定数据融合的研究

提出了一种多源不确定数据的融合模型,该模型从信息的合理性、传感器的可靠性及信息的相似度上分析和处理不确定信息,并根据信息的一致性和传感器可靠性,实现传感器信息的筛选,有效地处理冲突信息和错误信息.以多传感器目标识别为例,进行建模仿真.结果表明,该融合模型在环境动态变化,传感器可靠性降低的情况下,保证了融合结果的准确性.     

基于Origin的国防工程识别信息融合模型

采用DELPHI法,以专家对识别信息的融合值为基础,运用Origin技术进行数据与曲线的拟合分析,确立了国防工程识别信息融合的数学计算模型．按照一致性数据的融合方法,对该模型的具体运用进行深化．研究表明,在国防工程识别信息融合的研究领域中,该算法优于现有的多传感器一致性数据融合方法,且是一个开放的研究体系,容易推广与改进．     

一种微型惯性冲击传感器

介绍了一种适用于非旋或微旋火箭弹无线电近炸引信的惯性冲击传感器,讨论了其理论建模方法及相关内容,从理论、设计和试验方面对传感器冲击响应情况进行了初步分析。试验和应用证明该传感器作用可靠,能有效地避免因火箭弹体颤振和扭振使传感器闭合而引起的“早炸”事故．其结构、设计方法和相关数据也可供炮弹、导弹引信用惯性冲击传感器设计人员参考。     

基于概率圆序贯检验的弹道一致性评定方法

现行弹道一致性评定方法的评定结果受弹丸散布、试验组数、每组用弹量等影响较大.基于数理统计、射击理论和序贯试验理论,提出了一种基于概率圆序贯检验的弹道一致性评定新方法.主要优点是检验结果不受组数和用弹量的影响,使研制方和使用方所承担的风险基本相当,能够减少试验的用弹量并节约试验成本.采用该方法分析了以往弹道一致性试验数据,结果表明,该检验方法具有一定的适用性和工程应用价值.     

基于方差分析的弹道一致性检验方法探讨

现行弹道一致性检验通常采用检验模型，在实际工程运用中发现该方法存在诸多不足之处。文中基于数理统计的方差分析理论，结合弹道一致性的概念以及射击理论与实际检验需求．给出了一种一致性检验的新方法．大量的试验数据验证了该方法具有一定的可靠性和适用性。     

平均弹道一致性检验方法分析及改进

文中针对利用少量样本进行检验造成平均弹道一致性检验判据中正态特性发生变化等问题,利用正态性检验、稳健估计等统计学方法,对试验样本进行了预先检验和数据预处理,重建了检验模型,得出了新的检验方法,并对改进后的检验方法进行了验证,结果表明该方法具有更好的可靠性和适用性.     

一种动态多传感器一致性融合算法

针对现有一致性融合算法在处理时变系统的状态估计时,不能准确度量传感器的一致性和可靠性,且传感器一致性均值和可靠性度量存在＂数据饱和＂和＂历史信息浪费＂等问题,将一致性均值和方差的计算转化为时变参数估计问题,引入一致性衰减因子和方差衰减因子,更为客观地度量传感器的一致性和可靠性,实现传感器融合权重的动态调整,从而将一致性融合算法推广应用到时变系统。仿真结果表明,该方法可更为合理地分配各传感器的融合权重,改善一致性融合算法的性能。     

基于相关性函数和模糊贴近度的多传感器数据融合

针对多传感器数据融合中,各传感器测量数据的可靠程度难以确定以及如何提高数据融合结果的精度问题.文中提出了利用模糊理论中的相关性函数来计算多传感器的相互支持程度,并基于模糊贴近度,对支持程度高的传感器数据进行融合.仿真结果表明,相比同类融合方法,该方法获得的结果具有更高的精度和可靠性.     

多惯性仪表冗余系统方案设计及其关键技术

首先介绍了多惯性仪表冗余系统的功能和优缺点,指出它是提高弹道导弹制导系统可靠性和精度的重要途径.然后讨论了实现多惯性仪表冗余系统所需解决的几项关键技术,包括冗余系统的配置方案、优化冗余方法、惯性仪表选取和数据融合方法等,并给出了相应的建议和对策,最后以仿真实例表明该方案是可行的.     

Nitrosation and Nitration of Tetraacetyldibenzylhexaazaisowurtzitane

Tetraacetyldibenzylhitane (TADBIW) was subjected to debenzylation by nitrosating with inorganic materials available commercially to synthesize tetraacetyldinitrosohexaazaisowurtzitane (TADNSIW). TADNSIW was purified, and its structure was determined by FTIR, 1H NMR, MS and element analysis. The debenzylation reaction of TADBIW gave quantitative benzaldehyde as a by-product. This indicates that the reaction produces an imine cation as an intermediate. Hexanitrohexaazaisowurtzitane (HNIW) was prepared from unpurified TADNSIW with the yield over 96.0 % and the purity more than 98.0 %. And the mechanism of the reaction from TADNSIW to HNIW is proposed to be oxidation of nitroso and nitration of acetyl on the molecule of TADNSIW, This reaction system involved is simple, and the reaction can complete within a short time and under mild conditions. The product can be easily to separate and the waste disposed readily.     

Method for Measuring Velocity of Warhead Fragments Based on Photoelectric Detection

For measuring velocity and impacting position of single fragment of warhead, a non-contact measuring method is proposed, in which a six-light-screen array, a position indicator, a multi-channel chronograph and a computer are used.The principle of measurement is described. The key device of the system is a light screen array sensor which consists of six light screens allocated with certain geometrical parameters. When the fragment flies through the light screen array, the time of passing through each of the screens is recorded by the multi-channel chronograph. According to the time data and the geometrical parameters of the array, the velocity vector and the location of the fragment can be calculated immediately. The presented method can be used to locate the fragment and to measure the real velocity on its flying direction. It can also be used to measure the velocity of a fragment swarm after the system is engineered further.     

A Robust Algorithm for Watermarking 2D Vector Maps with Low Shape-Distortions

The technique of watermarking has been introduced into 2D vector maps for many potential applications such as protecting the copyright of important GIS （geographical information system） data and tracing the data source of military maps. In most previous works, although the validity of the map data could be preserved during the embedding procedure, the shape-distortions of the map elements are usually neglected which would tend to degrade the invisibility of the watermarking schemes. A shape-preserving algorithm for watermarking 2D vector maps is presented in this paper. A 1D distance sequence extracted from the original map is adopted as the cover data instead of 2D coordinates. A watermark bit is represented by changing the distributions of the cover data. The embedding procedure induces lower shape-distortions than in former works. Experimental results indicate better invisibility of the proposed scheme, as well as its robustness to certain attacks such as map simplification, interpolation, additive noise and most geometric transforms.     

数码电子雷管中影响点火头性能因素分析

阐述了数码电子雷管中,点火药剂细结晶三硝基间苯二酚铅（LTNR）的制备工艺;从点火药剂的种类、加入黏合剂的质量分数、桥丝直径、点火头的电阻值、防潮漆的蘸涂等方面对点火头性能的影响因素进行了探讨;通过震动试验、并联起爆试验、延期精度检测与考核,试验结果表明：一次性合成的细结晶LTNR是制造数码电子雷管点火头较为理想的点火药剂,按技术要求生产的点火头性能指标能够满足行业标准要求。     

Stability of the Third Generation Intensifier under Illumination

The stability under illumination of transmission-mode GaAs photocathode sealed in the third generation intensifier is investigated by use of spectral response testing instruments. The variations of spectral response with the illumination times under weak and intense illumination are compared. The variations of photoemission performance parameters are also characterized. The results show that during initial several weak illuminations photocathode behaves no evident decay and a maximum sensitivity is achieved, while under intense illumination the sensitivity of photocathode begin to decrease largely at the first illumination. The calculated performance parameters show that the variation of surface escape probability with illumination times is a direct cause of instability of photocathode. It is also found that under intense illumination peak wavelength is moved towards short-wave and peak response is decreased, which shows that the ability of long-wave response of photocathode is decreased.     

Open Rule-setting System Applied to Conceptual Design of Engines

Open rule-setting method advanced in this paper concentrates on providing designers of engines with a convenient way to express their design innovations and develop the expected prototypes in the early CAD stage, and constitute effective models for the following analysis process of CAE and CAPP. The problems arisen in the process of conceptual design with the traditional experience-based development method are analyzed. Based on those analyses, open rule-setting method is presented and some associated technical problems are discussed. The functional framework of open rule-setting system was built as software engineering methods. The speciality of the engine product as a kind of complex product and the requirement of the engine product based on its structural particularity to rule-setting system are considered carefully. A demonstration is supplied to illustrate how the open rule-setting method enhances the efficiency and quality of the engine conceptual design.     

Design and Implementation of One Missile Visual Simulation System Based on OpenGL

The implementation of a missile＇s visual simulation system is explained that is developed with OpenGL（open graphic library） and the flight path and flight carriage in different stages of the missile are displayed. The establishment problems of the 3D scene are circumstantiated including the construction and redeployment of the model, creation of the virtual scene, setting of the multi-viewports and multi-windows etc. The missile＇s data driver, system flow, the modules and their mutual relations of the missile visual simulation system are discussed. The missile flight simulation results and effect of the scenes are given.     

Research on Linux Network Device Driver

By analyzing the working principle of Linux network device driver, discussing the Linux network driver structure and its key technologies, the general network driver structure and its design methodologies in Linux system are summarized. Through modifying the network device driver of Linux device driver 3rd version snull, c and improving the COW technology, the Zero-Copy technology in Linux （kernel version 2.6.11 ） is implemented. In the end, the success test tells us that the thorough analysis of network device driver is the foundation of many applications, and it also provides a certain improvement to a lot of real applications, even to military application development.     

Improvement and Experiment of the Reamer in Vibra Cutter Against Wave Edge of Titanium Sheet Alloy Parts

By analyzing the influencing factors of part quality making of sheet alloy of titanium by vibra cutter, the shape of upper reamer is set as cylinder and wedge-shaped form, and the lower reamer as plain and hemicycle form, and its main structural parameters are defined as well. Then it is validated further that such improved vibra cutter reamer can be used to process curve-edged parts of titanium alloy sheet. The experimental result shows that the titanium alloy sheet parts processed by above equipment have no sharpen angles for convex parts and evident crevasse of concave-edged part. In summary, such improvement can eliminate the free-waved edge and improve the manufacture quality of titanium alloy sheet parts greatly.     

Dynamic Encryption Technology in Ad-hoc Networks

A new dynamic encryption application in ad-hoc networks is proposed. The advantages of this method are its being able to use the previous ciphertext as a seed of a new encryption process, rendering the encryption process effective in all communication process by continuous dynamic key generation together with synchronization, and its capability to cut back on system bandages to a greater extent, which is valuable for the ad-hoc circumstance. In addition, the rationality and effectiveness of this novel encryption method have been verified by the test results.