This paper aims to find a reliable, collision-free path in a dynamic environment for highly maneuverable unmanned combat air vehicles (UCAVs). Given the real-time nature of the operational scenario, quick and adaptable reactions of UCAVs are necessary for updates in situational awareness. Therefore, we propose a three dimensional (3D) path planning approach based on the situational space to provide the tactical requirements of UCAVs for tracking targets and avoiding collisions. First, to ensure reliable nonlinear measurements, the interacting multiple model (IMM) algorithm based on a cubature Kalman filter (CKF) is chosen for the tracking and prediction algorithm. A constraint reference frame combining the kinematic model of constant acceleration (CA) is developed to solve the problem of arrival point generation. Second, by analyzing the relative motion between the UCAV and the moving objects, we define the situation space and give the corresponding calculation method. In tracking the moving target, the guidance vector contains the fusion information of displacement and velocity. At the same time, taking advantage of the one-step situation space as the judgment of the threat, we further plan the collision avoidance strategy. Third, as the safety in a practically reachable trajectory of the UCAV possesses the absolute priority, the collision avoidance acceleration accounts for this dominant factor in path planning. Simulations and experimental results prove that the proposed approach can plan a smooth and flyable path in 0.008 s under the premise of soft-landing target tracking. 相似文献
SrLa[Ga1−x(R0.5Ti0.5)x]O4 (R = Mg, Zn) ceramics were prepared by a standard solid state sintering method. The single-phase ceramics with K2NiF4-type layered perovskite structure and I4/mmm space group were obtained, indicating that SrLa(R0.5Ti0.5) and SrLaGaO4 can form the unlimited solid solutions. With increasing x for R = Mg and Zn, εr increases monotonously, the Qf value first increases and then decreases, while τf increases from a negative to a positive value. The optimized microwave dielectric properties were obtained as following: εr = 23.3, Qf = 89 400 GHz, τf = −0.8 ppm/°C for SrLa[Ga0.6(Mg0.5Ti0.5)0.4]O4 and εr = 23.3, Qf = 76 200 GHz, τf = 0.2 ppm/°C for SrLa[Ga0.7(Zn0.5Ti0.5)0.3]O4, indicating that the present solid solution ceramics are the promising candidates as microwave resonator materials for the telecommunication applications. 相似文献
With the depletion of fossil fuels and the aggravation of environmental pollution, the research and development speed of electric vehicles has been accelerating, and the thermal management of battery pack has become increasingly important. This paper selects the electric vehicle battery pack with natural air cooling as the study subject, conducts simulation analysis of the heat dissipation performance of battery packs with and without vents. Then this paper researches on the influence of internal flow field and external flow field. Field synergy principle is used to analyze the effect of velocity field and temperature field amplitude. The results show the following: it is found that the maximum temperature rise and the internal maximum temperature difference of the battery pack with vents are reduced by about 23.1% and 19.9%, raising speed value can improve the heat dissipation performance, and raising temperature value can decrease the heat dissipation performance. Reasonable design of the vents can make the inner and outer flow field work synergistically to achieve the best cooling effect. Then the reference basis for the air cooling heat dissipation performance analysis of electric vehicle, battery pack structure arrangement, and air‐inlet and air‐outlet pattern choosing are offered. 相似文献
Aqueous Zinc-ion batteries (ZIBs), using zinc negative electrode and aqueous electrolyte, have attracted great attention in energy storage field due to the reliable safety and low-cost. A composite material comprised of VO2·0.2H2O nanocuboids anchored on graphene sheets (VOG) is synthesized through a facile and efficient microwave-assisted solvothermal strategy and is used as aqueous ZIBs cathode material. Owing to the synergistic effects between the high conductivity of graphene sheets and the desirable structural features of VO2·0.2H2O nanocuboids, the VOG electrode has excellent electronic and ionic transport ability, resulting in superior Zn ions storage performance. The Zn/VOG system delivers ultrahigh specific capacity of 423 mAh·g−1 at 0.25 A·g−1 and exhibits good cycling stability of up to 1,000 cycles at 8 A·g−1 with 87% capacity retention. Systematical structural and elemental characterizations confirm that the interlayer space of VO2·0.2H2O nanocuboids can adapt to the reversible Zn ions insertion/extraction. The as-prepared VOG composite is a promising cathode material with remarkable electrochemical performance for low-cost and safe aqueous rechargeable ZIBs.
Nano Research - Doping control has been a key challenge for electronic applications of van der Waals materials. Here, we demonstrate complementary doping of black phosphorus using controlled ionic... 相似文献