An Efficient Optimization Design Framework for Low-Resistance Shape of Bionic Amphibious Robot

To realize the low-resistance shape optimization design of amphibious robots,an efficient optimization design framework is proposed to improve the geometric deformation flexibility and optimization efficiency.In the proposed framework,the free-form deformation parametric model of the flat slender body is established and an analytical calculation method for the height constraints is derived.CFD method is introduced to carry out the high-precision resistance calculation and a constrained Kriging-based optimization method is built to improve the optimization efficiency by circularly infilling the new sample points which satisfying the constraints.Finally,the shape of an amphibious robot example is optimized to get the low-resistance shape and the results demonstrate that the presented optimization design framework has the advantages of simplicity,flexibility and high efficiency.

Optimization of Center of Gravity Position and Anti-Wave Plate Angle of Amphibious Unmanned Vehicle Based on Orthogonal Experimental Method

When the amphibious vehicle navigates in water,the angle of the anti-wave plate and the position of the center of gravity greatly influence the navigation characteristics.In the relevant research on reducing the navigation resistance of amphibious vehicles by adjusting the angle of the anti-wave plate,there is a lack of scientific selection of parameters and reasonable research of simulation results by using mathematical methods,and the influence of the center of gravity position on navigation characteristics is not considered at the same time.To study the influence of the combinations of the angle of the anti-wave plate and the position of the center of gravity on the resistance reduction characteristics,a numerical calculation model of the amphibious unmanned vehicle was established by using the theory of computational fluid dynamics,and the experimental data verified the correctness of the numerical model.Based on this numerical model,the navigation characteristics of the amphibious unmanned vehicle were studied when the center of gravity was located at different positions,and the orthogonal experimental design method was used to optimize the parameters of the angle of the anti-wave plate and the position of the center of gravity.The results show that through the parameter optimization analysis based on the orthogonal experimental method,the combination of the optimal angle of the anti-wave plate and the position of the center of gravity is obtained.And the numerical simulation result of resistance is consistent with the predicted optimal solution.Compared with the maximum navigational resistance,the parameter optimization reduces the navigational resistance of the amphibious unmanned vehicle by 24%.

Investigation on nonlinear rolling dynamics of amphibious vehicle under wind and wave load

Nonlinear amphibious vehicle rolling under regular waves and wind load is analyzed by a single degree of freedom system.Considering nonlinear damping and restoring moments,a nonlinear rolling dynamical equation of amphibious vehicle is established.The Hamiltonian function of the nonlinear rolling dynamical equation of amphibious vehicle indicate when subjected to joint action of periodic wave excitation and crosswind,the nonlinear rolling system degenerates into being asymmetric.The threshold value of excited moment of wave and wind is analyzed by the Melnikov method.Finally,the nonlinear rolling motion response and phase portrait were simulated by four order Runge-Kutta method at different excited moment parameters.

Preparation and Conducting Behavior of Amphibious Organic/Inorganic Hybrid Proton Exchange Membranes Based on Benzyltetrazole

A series of novel amphibious organic/inorganic hybrid proton exchange membranes with H3PO4 doped which could be used under both wet and dry conditions was prepared through a sol-gel process based on acrylated triethoxysilane（A-TES） and benzyltetrazole-modified triethoxysilane（BT-TES）.The dual-curing approach including UV-curing and thermal curing was used to obtain the crosslinked membranes.Polyethylene glycol（400） diacrylate（PEGDA） was used as an oligomer to form the polymeric matrix.The molecular structures of precursors were characterized by 1 H,13 C and 29 Si NMR spectra.The thermogravimetric analysis（TGA） results show that the membranes exhibit acceptable thermal stability for their application at above 200 oC.The differential scanning calorimeter（DSC） determination indicates that the crosslinked membranes with the mass ratios of below 1.6 of BT-TES to A-TES and the same mass of H3PO4 doped as that of A-TES possess the-T g s,and the lowest T g（-28.9 ℃） exists for the membrane with double mass of H3PO4 doped as well.The high proton conductivity in a range of 9.4―17.3 mS/cm with the corresponding water uptake of 19.1%―32.8% of the membranes was detected at 90 oC under wet conditions.Meanwhile,the proton conductivity in a dry environment for the membrane with a mass ratio of 2.4 of BT-TES to A-TES and double H3PO4 loading increases from 4.89×10-2 mS/cm at 30 ℃ to 25.7 mS/cm at 140 ℃.The excellent proton transport ability under both hydrous and anhydrous conditions demonstrates a potential application in the polymer electrolyte membrane fuel cells.

Hydrodynamics Research on Amphibious Vehicle Systems:Modeling Theory

For completing the hydrodynamics software development and the engineering application research on the amphibious vehicle systems, hydrodynamic modeling theory of the amphibious vehicle systems is elaborated, which includes to build up the dynamic system model of amphibious vehicle motion on water, gun tracking-aiming-firing, bullet hit and armored check-target, gunner operating control, and the simulation computed model of time domain for random sea wave.

Supervised Feature Learning for Offline Writer Identification Using VLAD and Double Power Normalization

As an indispensable part of identity authentication,offline writer identification plays a notable role in biology,forensics,and historical document analysis.However,identifying handwriting efficiently,stably,and quickly is still challenging due to the method of extracting and processing handwriting features.In this paper,we propose an efficient system to identify writers through handwritten images,which integrates local and global features from similar handwritten images.The local features are modeled by effective aggregate processing,and global features are extracted through transfer learning.Specifically,the proposed system employs a pre-trained Residual Network to mine the relationship between large image sets and specific handwritten images,while the vector of locally aggregated descriptors with double power normalization is employed in aggregating local and global features.Moreover,handwritten image segmentation,preprocessing,enhancement,optimization of neural network architecture,and normalization for local and global features are exploited,significantly improving system performance.The proposed system is evaluated on Computer Vision Lab(CVL)datasets and the International Conference on Document Analysis and Recognition(ICDAR)2013 datasets.The results show that it represents good generalizability and achieves state-of-the-art performance.Furthermore,the system performs better when training complete handwriting patches with the normalization method.The experimental result indicates that it’s significant to segment handwriting reasonably while dealing with handwriting overlap,which reduces visual burstiness.

An Unsupervised Writer Identification Based on Generating Clusterable Embeddings

The writer identification system identifies individuals based on their handwriting is a frequent topic in biometric authentication and verification systems.Due to its importance,numerous studies have been conducted in various languages.Researchers have established several learning methods for writer identification including supervised and unsupervised learning.However,supervised methods require a large amount of annotation data,which is impossible in most scenarios.On the other hand,unsupervised writer identification methods may be limited and dependent on feature extraction that cannot provide the proper objectives to the architecture and be misinterpreted.This paper introduces an unsupervised writer identification system that analyzes the data and recognizes the writer based on the inter-feature relations of the data to resolve the uncertainty of the features.A pairwise architecturebased Autoembedder was applied to generate clusterable embeddings for handwritten text images.Furthermore,the trained baseline architecture generates the embedding of the data image,and the K-means algorithm is used to distinguish the embedding of individual writers.The proposed model utilized the IAM dataset for the experiment as it is inconsistent with contributions from the authors but is easily accessible for writer identification tasks.In addition,traditional evaluation metrics are used in the proposed model.Finally,the proposed model is compared with a few unsupervised models,and it outperformed the state-of-the-art deep convolutional architectures in recognizing writers based on unlabeled data.

基于不同海况的某两栖火炮横摇仿真研究

对于两栖火炮来说,作战时能够实现水上快速浮渡,基于不同的海况条件可实现安全可靠的水上射击,是登陆作战能否成功的一项关键因素。为了掌握不同海况条件下两栖火炮发射安全性与稳定性,建立了两栖火炮水上发射动力学模型,获取了两栖火炮水上射击横摇角位移,结合两栖火炮水上射击横摇角测试,验证了动力学模型的计算精度。基于皮尔逊和莫斯克维奇海浪谱海面模型,建立了1~4级海况条件下两栖火炮横摇仿真模型,获取了两栖火炮不同海况条件下的横摇最大幅值及横摇周期,结合耐波性分析,为两栖火炮不同海况条件下的发射安全性进行了评估。

集体记忆与历史重述——左翼作家的“左翼文学”回忆

左翼作家对“左翼文学”的回忆蔚为大观,构成现代中国不容忽略而又意味深远的文化景观。其重构历史的强烈意图,与当下政治生态、社会现实之间的深层互动,使其足以作为实践中国现代文学研究“记忆的转向”的典型样本。左翼作家通过个人史、“左联”史和左翼文学史的叙述,完成形象重塑、身份认同、重构历史、接续传统等多种意图,充分体现话语生产与意识形态之间的紧密关系。“左翼文学”回忆对社会框架十分依赖,呈现出明显的“集体记忆”特征,打上了社会主导思想和主流意识形态的深深印记,但“个体记忆”又常常逸出“社会框架”,对集体记忆构成冲击与反抗,使得左翼作家的回忆呈现出微妙的张力。然而无论如何,左翼作家的“左翼文学”回忆都在很大程度上重构了中国现代文学史,深度影响了我们对左翼文学的认知。

轮式高速两栖车辆水上航行阻力成分占比分析

对某轮式高速两栖车辆水上航行工况全航速范围的阻力成分占比开展分析,为其水动力构型的优化设计提供方向性指导。采用CFD软件FINETM/Marine开展带自由面的模型阻力数值计算,通过与模型试验结果对比验证了数值计算方法。通过叠模数值计算确定了对应各航速的水粘压阻力,其中针对高速时的“干方尾”现象,提出以动态吃水平面切割尾波谷自由面形成尾部导流体的叠模计算几何模型构建方法。结合带自由面阻力计算得到的空气阻力和其他水阻力成分,分析了不同阻力成分的占比及其随航速变化的规律。结果表明,该轮式两栖车全速度范围内的水阻力在总阻力中的占比都高于90%;排水航行阶段,水粘压阻力占比最高,约为45%~70%;过渡航行阶段,兴波和飞溅阻力占比最高,约为45%~70%;滑行阶段,水摩擦阻力占比随航速增大迅速提高,设计航速时在总阻力中占比约为36%。

《清人诗文集总目提要》订补——以吴本泰等八位嘉兴作家为中心

就《清人诗文集总目提要》及《清人别集总目》两书,对其中吴本泰、袁国梓、葛定辰、葛定远、屠焯、屠逵、蒋楷和富遇恩八位浙江嘉兴地区作家的生卒年等有关问题予以订补,供编撰者及其他相关读者参考。

应用于水陆两栖勘测及紧急救援的仿生机械龟

针对现有水下航行器能耗高、噪声大、续航能力一般等问题,通过探索水下仿生扑翼的推进机理,结合流体力学运动的知识,利用SolidWorks仿造龟的外形设计了仿生机械龟。该机械龟装载浮力与重力感应系统,通过PID算法控制机器在水中的平衡,使用Arduino作为主控制板,利用传感器、摄像系统与数据传输系统,进行实时监测并传输数据,龟壳中设计了贮藏空间,满足勘测和物资救援任务。实验结果表明,所设计的水陆两栖仿生机械龟优化了形态和运行控制系统,对比美国耶鲁大学研制出的仿乌龟形水陆两栖机器人ART,能够适应多样化地形高效的运动,具有高灵活性和机动性,能完成对水中温度、压强、地形进行实时监测并将数据传输回终端。

水陆两栖车辆水上运动特性实时仿真系统研究

为解决水陆两栖车辆水动力性能参数获取难度大、运动姿态预测慢等问题,设计一种两栖车辆水上运动特性实时仿真系统,实现仿真模型的驱动、运动姿态预测以及数据的监测和输出,通过动态流体-物体相互作用数值计算方法对车体动力学系数进行修正,提升了实时仿真系统的精度。在此基础上研制试验样车,对不同工况下实时仿真系统的准确性进行验证。试验结果表明:所构建的两栖车辆水上运动特性实时仿真系统兼具计算精度和计算效率,可以快速准确地预测车辆的运动姿态,适用于多种复杂工况,具有姿态预测的泛用性。新系统在两栖车辆研制阶段、驾驶员培训、半实物仿真演练、复杂环境模拟等方面具有较强的应用价值和应用前景。

“西安鲁迅”的多重面向与历史生成

文章综合运用日记、书信、手稿、回忆录、原始报刊史料及相关研究著述,对百年来有关“鲁迅在西安”的文献进行梳理和总结。从人的鲁迅、作家鲁迅、学者鲁迅、战士鲁迅等角度考察“西安鲁迅”的多重面向及其历史生成过程,揭示其背后所隐含的人际交往、时代语境、政治影响、学术变迁等复杂因素。通过对既往研究的清理与反思,指出研究者应从关注鲁迅与现实、地理空间的“西安”,延伸到历史、文化空间的“长安”,在学科的交叉融合中拓展相关研究的广度和深度。

基于计算流体动力学方法的两栖飞机规则波中运动特性研究

针对水陆两栖飞机加速起飞运动过程受波浪干扰问题,本文基于Star-CCM+平台数值模拟技术,引入SST k-ε湍流模型求解RANS方程,VOF方法捕捉自由液面,DFBI模块以及重叠网格技术模拟水上飞机六自由度运动,建立了一套波浪中水陆两栖飞机加速滑行起飞运动特性研究方案。以波长和波高为变量,探讨了加速滑行过程中上述变量对水上飞机升沉、纵摇运动响应以及机身重心处垂向加速度的影响规律。结果表明:随着波长增加,飞机升沉运动先增加后缓慢变化,飞机重心垂向加速度、纵摇角加速度和纵摇峰值集中在波长为2~3倍机身长度海况范围内;随着波高增大,飞机升沉、纵摇运动及重心垂向加速度最大值随之增大,且长波中的运动变化量较短波中更大;机翼气动升力数值模拟结果与计算值一致,该方案可用于水陆两栖飞机气动力相关计算。

两栖攻击舰编队海上航渡对潜防御队形优化配置研究

针对两栖攻击舰编队对潜防御时的队形配置问题,从潜艇对编队的威胁分析入手,建立了潜艇鱼雷极限射距圆模型,通过模型分析与仿真计算,得出了两栖攻击舰应配置在威胁圆圆心稍后位置的结论,并给出了优化位置计算模型;结合潜艇威胁范围与威胁距离模型及警戒舰艇对潜防御范围模型,给出了护航兵力优化配置方法,为两栖攻击舰编队海上航渡时的对潜防御提供了参考。

语篇主观性表征研究

基于语言主观性理论,本研究重点考察语篇的主观性表征。研究发现,语篇主观性表征有词汇、句法和语用等方面,它们共同承载着说写者的情感、态度、认识等主观自我成分。本研究与语言主观性现象的微观研究互补,为语篇层面语言主观性现象的整体研究提供研究思路,有利于深入挖掘说写者隐藏在语篇中的主观自我表征方式。

“90后”女性的东北记忆与文学观照——以黑龙江籍青年女作家杨知寒为例

杨知寒被称为继“铁西三剑客”之后的“东北文艺复兴”的接力书写者和“新东北作家群”中的领军人物。作为生长于齐齐哈尔市的“90后”女作家,杨知寒用精到的笔触、冷峻的叙事,以“子一代”的视角和女性的细腻观察,再现了世纪之交以来东北经济的衰退和由此带来的社会阵痛及道德困境,揭示了社会转型期人与人之间光怪陆离的情感变化。杨知寒在作品中塑造了大量的女性形象,这些从少女到青年乃至中老年的女性形象,着眼于时代变迁中的女性命运,深刻揭示了在时代大潮冲击下的女性命运的悲与喜,以及隐藏于人性深处的善与恶。

论康巴藏族作家群汉藏文化互融书写

康巴藏族作家群汉藏文化互融书写,主要包括以茶马互市为轴心的汉藏文化互融书写,以汉藏通婚为轴心的汉藏文化互融书写,以民俗、建筑、宗教等为重心的汉藏文化互融书写。它不仅凸显了汉藏民族对彼此文化的认同感,彰显了汉藏两个民族的友谊与感情,歌颂了汉藏民族“一家亲”的和谐民族关系,而且对汉藏族等各民族铸牢中华民族共同体意识,反对民族分裂,维护国家统一、稳定与安定团结,推动各民族共同发展繁荣等,具有重要现实意义。

新乡土叙事的审美现代性书写——以范墩子的短篇小说集《虎面》为例

90后陕西青年作家范墩子已出版多部小说集、散文集和随笔,作品显示出了强劲的创作势头和深刻的审美内涵。范墩子的写作在小说和散文两大文学体裁中来回穿梭,《虎面》是其小说创作承前启后的重要作品。小说用梦幻变形的手法追寻已逝的童年记忆,用冷静机敏的智慧探求繁华都市背后普通人群的无奈与艰辛,用自然真挚的语言追索生活中的浮光掠影,以自己独特的生命体验彰显着新时代陕西青年作家创作的多元图景。