Trajectory Simulation for Underwater Vehicle with Power-Lunched

The motion of combustion gas bubble produced by underwater ignition was developed based on Rayleigh-Plesset equation. Combining the bubble motion equation with the underwater launched vehicle motion equation in the longitudinal plane, a trajectory simulation model with power-launched was established. The hydrodynamic characteristics of underwater ignition at different depths and the trajectory analysis of the underwater vehicle with power-launched were given by simulation. The simulation results have a good agreement with experimental results, and show that the thrust peak caused by underwater ignition and the stable thrust both decrease slightly with the increase of the water depth, and the thrust peak will decline obviously by enlarging the initial radius of gas bubble; the thrust peak generated at the instant of ignition and the low-frequency oscillation of the stable thrust have no significant influence on the trajectory of underwater vehicle.     

基于LBS系统的位置轨迹隐私保护技术综述

基于位置的服务（LBS）方式为用户生活带来了便捷,同时也存在着位置轨迹隐私泄露的风险。如何对这些隐私数据加以保护,成为目前研究者的研究热点。对现有的隐私保护方法系统架构进行总结,对位置隐私保护技术和轨迹隐私保护技术进行综述,分类介绍了基于扭曲技术、加密技术、匿名技术以及差分隐私技术的隐私保护方法,对各种隐私保护技术下的最新算法进行整理归纳。根据对已有技术的了解,提出了现有研究中存在的不足以及未来研究的方向。     

禁飞区无人机预警算法研究

针对大量在空中无秩序飞行的无人机有可能会闯入飞机场等禁飞区的情况,为了避免发生空中交通安全事故,提出了一种无人机禁飞区预警算法。首先,该算法经过坐标变换将描述无人机位置点的GPS坐标转换成对应的平面坐标;接着,采用改进的最小二乘曲线拟合算法预测出无人机的飞行轨迹;然后,通过计算预测的飞行轨迹曲线在当前点的切线是否会与描述禁飞区的电子围栏相交,来判断无人机是否会进入禁飞区。同时,所有的无人机都会安装上飞行数据记录模块,来实时地为该算法提供无人机的飞行状态信息。最后,通过MATLAB仿真实验验证了该预警算法的可行性和有效性,表明该算法可以对禁飞区周围的无人机进行预警。     

碳纳米管受介电泳作用三维运动仿真

利用溶于介电液中的碳纳米管在外加交变电场作用下极化产生介电泳力和液体粘滞阻力的共同作用,建立了碳纳米管受力和运动模型;对碳纳米管的运动过程进行了仿真,得到了碳纳米管从特定初始点开始的三维运动轨迹和可以实现组装的碳纳米管初始点分布区域.计算了碳纳米管运动过程中所受介电泳力和速度的变化规律,距离电极间隙越近,碳纳米管受力和速度越大,最大分别能达到10^-9 N和10⁵μm/s的数量级.仿真结果为碳纳米管介电电泳组装提供指导.     

基于投影成像原理的弹丸着靶姿态高精度测试方法研究

弹丸着靶姿态测试是弹道参数测试中的重要项目,姿态参数与着靶速度、弹丸质量、能量传递效率共同反映了弹丸的终点效能,由于弹丸目标小、速度快,对其着靶瞬间的三维姿态角的高精度测试还无法实现。采用投影测试方法、视场标定方法、数据修正计算方法,解决了目标的高质量成像、标定判读、角度计算等难题,实现了小口径弹丸的着靶姿态测试,完善了测试项目,提升了测试能力。     

含有柔顺关节的并联机器人轨迹跟踪实验

使用柔顺关节代替刚性转动副搭建柔顺关节并联机器人实验平台.利用OPTOTRAK测量系统对3-DOF柔顺关节并联机器人动平台轨迹进行测量.实验数据的对比分析表明:柔顺并联机器人运行平稳,由轴向漂移和弹性振动引起的误差均控制在允许范围之内.     

移动服务机器人共享控制研究

移动服务机器人在提高老人/残疾人活动空间方面具有重要作用.针对机器人自主避障失败时存在安全问题,提出了基于共享控制的服务机器人系统.构建基于机器视觉与人眼视觉共享控制的机器人系统.研究服务机器人的共享策略问题和眼电信号角度与参考轨迹关系.引入人工场解决自适应轨迹跟踪算法的平滑性.仿真结果说明基于人工场导向方法能平滑逼近期望轨迹.实验结果表明本系统能够满足使用者的安全需求.     

Extended trajectory shaping guidance law considering a first-order autopilot lag

To satisfy the terminal position and impact angel constraints, an optimal guidance problem was discussed for homing missiles. For a stationary or a slowly moving target on the ground, an extended trajectory shaping guidance law considering a first-order autopilot lag (ETSGL-CFAL) was proposed. To derive the ETSGL-CFAL, a time-to-go-nth power weighted objection function was adopted and three different derivation methods were demonstrated while the Schwartz inequality method was mainly demonstrated. The performance of the ETSGL-CFAL and the ETSGL guidance laws was compared through simulation. Simulation results show that although a first-order autopilot is introduced into the ETSGL-CFAL guidance system, the position miss distance and terminal impact angle error induced by the impact angle is zero for different guidance time.     

Trajectory Optimization Design for Morphing Wing Missile

This paper presents a new particle swarm optimization (PSO) algorithm to optimize the trajectory of morphing-wing missile so as to achieve the enlargement of the maximum range. Equations of motion for the two-dimensional dynamics are derived by treating the missile as an ideal controllable mass point. An investigation of aerodynamic characteristics of morphing-wing missile with varying geometries is performed. After deducing the optimizing trajectory model for maximizing range, a type of discrete method is put forward for taking optimization control problem into nonlinear dynamic programming problem. The optimal trajectory is solved by using PSO algorithm and penalty function method. The simulation results suggest that morphing-wing missile has the larger range than the fixed-shape missile when launched at supersonic speed, while morphing-wing missile has no obvious range increment than the fixed-shape missile at subsonic speed.     

Optimal Release Control of Companion Satellite System Using Electromagnetic Forces

Electromagnetic forces generated by the inter-action of component satellites can be used to release companion satellites. Optimal release trajectories for companion satellite system using inter-electromagnetic forces were investigated. Firstly, nonlinear relative motion dynamic equations of a two-craft electromagnetic companion satellite system were derived in spatial polar coordinates. Then principles of electromagnetic satellite formation flying were introduced. Secondly, the characteristics of the electromagnetic companion satellites release were analyzed and optimal release trajectories of companion satellites using electromagnetic forces were obtained using Gauss pseudospectral method. Three performance criteria were chosen as minimum time, minimum acceleration of the separation distance and minimum control acceleration. Finally, three release examples including expansion along separation distance, rotation in orbital plane and stable formation reconfiguration were given to demonstrate the feasibility of this method. Results indicated that the release trajectories can converge to optimal solutions effectively and the concept of release companion satellites using electromagnetic forces is practicable.