Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

A stiffness parameter and truncation error criterion for adaptive path following in structural mechanics

We explore a truncation error criterion to steer adaptive step length refinement and coarsening in incremental-iterative path following procedures, applied to problems in large-deformation structural mechanics. Elaborating on ideas proposed by Bergan and collaborators in the 1970s, we first describe an easily computable scalar stiffness parameter whose sign and rate of change provide reliable information on the local behavior and complexity of the equilibrium path. We then derive a simple scaling law that adaptively adjusts the length of the next step based on the rate of change of the stiffness parameter at previous points on the path. We show that this scaling is equivalent to keeping a local truncation error constant in each step. We demonstrate with numerical examples that our adaptive method follows a path with a significantly reduced number of points compared to an analysis with uniform step length of the same fidelity level. A comparison with Abaqus illustrates that the truncation error criterion effectively concentrates points around the smallest-scale features of the path, which is generally not possible with automatic incrementation solely based on local convergence properties.     

Liquid Marble Patchwork on Super-Repellent Surface

Liquid marble (LM) is a droplet that is wrapped by hydrophobic solid particles, which behave as a non-wetting soft solid. Based on these properties, LM can be applied in fluidics and soft device applications. A wide variety of functional particles have been synthesized to form functional LMs. However, the formation of multifunctional LMs by integrating several types of functional particles is challenging. Here, a general strategy for the flexible patterning of functional particles on droplet surfaces in a patchwork-like design is reported. It is shown that LMs can switch their macroscopic behavior between a stable and active state on super-repellent surfaces in situ by jamming/unjamming the surface particles. Active LMs hydrostatically coalesce to form a self-sorted particle pattern on the droplet surface. With the support of LM handling robotics, on-demand cyclic activation–manipulation–coalescence–stabilization protocols by LMs with different sizes and particle types result in the reliable design of multi-faced LMs. Based on this concept, a single bi-functional LM is designed from two mono-functional LMs as an advanced droplet carrier.     

面源红外诱饵对抗红外制导导弹干扰策略研究

面源红外诱饵使用的过程中,合理有效的干扰策略是干扰红外制导导弹的关键,针对这一问题,通过理论分析与仿真模拟相结合得到面源红外诱饵对抗红外制导导弹的干扰策略。首先以红外成像制导导弹为例,介绍红外制导导弹的仿真模型,然后将攻击过程分为锁定前与锁定后,以命中率为评价指标,得到两个阶段下的最佳干扰策略,包括诱饵的最佳释放时机、释放间隔以及载机应采取的机动动作等。     

有线电视系统干扰信号的产生及排除

通过对有线电视系统干扰信号产生原因的理论分析，提出在实际操作中的解决方案，以期达到使有线电视系统信号的输出更稳定、电视画面更清晰的目的。     

现代战争中的电子干扰和反干扰技术

介绍现代战争中的电子干扰和反干扰技术、提高干扰与抗干扰能力的相关新技术措施,以及国内外现有的新电子干扰设备,描述电子对抗的发展趋势,同时也指出了仍存在的一些问题.     

黄河口河道演变规律探讨

通过分析黄河口河道在纵剖面、横断面、河型等方面的演变过程,总结归纳出黄河口河道的演变规律。指出:黄河口泥沙在潮汐涨落等因素影响下,河口河道纵剖面逐渐形成台阶状,与此同时,河口滩地横比降逐渐发展为倒比降;河口河道中段由顺直型河道逐渐转为弯曲型河道,而下段仍为相对顺直、游荡型河道。当河口河道中段比降减小到一定程度后,此河段开始漫滩、卡冰、出汊。河口台阶的形成揭示了黄河口流路由单股河道逐渐转为出汊的过程,即黄河口流路由“青壮期”逐渐转为“衰亡期”的过程。延长黄河口流路使用年限的途径是:①尽量减少黄河下游输向黄河口的泥沙量;②采取河口挖沙或人工改汊措施,地点宜选在河口河道的中下段。     

单脉冲导引头对多干扰源的角分辨

当多个噪声调频干扰同时进入单脉信号引头主波束内时，导引头对干扰源的角度分辨是非常困难的。本文主要研究了导引头单脉冲接收机对宽带噪声调频干扰源的响应，分析了当单脉冲主波束内存在多个噪声调频干扰源时，导引头指向角的跟踪规律，并重点讨论了一种用聚类来提取角信息的方法，最后仿真证实了该方法的正确性和有效性。     

无线电引信被干扰率及抗干扰率

本文从无线电引信相对杀伤比率出发，引伸出引信被干扰率及抗干扰率的定义及计算公式。     

雷达仿真系统中电磁干扰环境的仿真设计和实施

雷达仿真系统是为检测雷达设备的抗干扰能力以及在各种电磁环境下的工作性能而设计的，包括有源干扰和无源干扰的模拟仿真。本文阐述了无源干扰即杂波的散射模型和仿真过程；从同步脉冲干扰的基本原理出发，阐明在雷达工作环境仿真系统中距离拖引、速度拖引、虚假目标等同步脉冲有源干扰的设计和实施过程；并针对工作在搜索和跟踪交替模式下的相控阵雷达提出自适应综合干扰方式；最后分析并总结了系统仿真时为真实、有效地模拟电磁干扰环境应注意的关键问题。