For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be d...For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be developed.This paper emphasizes the global planning and the local replanning arithmetic based on three-dimensional velocity potential field for the moving threats.During the test on the ground and in the sky,GCS show the remote sensing information precisely and send the control command in time.The system can be used to assist in the function of autonomous complex task for MUAV.展开更多
China's manned spaceflight missions have been introduced briefly,and the research planning of space sciences for China's Space Station(CSS) has been presented with the topics in the research areas,including:li...China's manned spaceflight missions have been introduced briefly,and the research planning of space sciences for China's Space Station(CSS) has been presented with the topics in the research areas,including:life science and biotechnology,microgravity fluid physics and combustion science,space material science,fundamental physics,space astronomy and astrophysics,earth sciences and application,space physics and space environment,experiments of new space technology.The research facilities,experiment racks,and supporting system planned in CSS have been described,including:multifunctional optical facility,research facility of quantum and optic transmission,and a dozen of research racks for space sciences in pressurized module,etc.In the next decade,significant breakthroughs in space science and utilization will hopefully be achieved,and great contributions will be made to satisfy the need of the social development and people's daily life.展开更多
The nonlinear response of structures is usually evaluated by considering two accelerograms acting simultaneously along the orthogonal directions. In this study, the infl uence of the earthquake direction on the seismi...The nonlinear response of structures is usually evaluated by considering two accelerograms acting simultaneously along the orthogonal directions. In this study, the infl uence of the earthquake direction on the seismic response of building structures is examined. Three multi-story RC buildings, representing a very common structural typology in Italy, are used as case studies for the evaluation. They are, respectively, a rectangular plan shape, an L plan shape and a rectangular plan shape with courtyard buildings. Nonlinear static and dynamic analyses are performed by considering different seismic levels, characterized by peak ground acceleration on stiff soil equal to 0.35 g, 0.25 g and 0.15 g. Nonlinear dynamic analyses are carried out by considering twelve different earthquake directions, and rotating the direction of both the orthogonal components by 30° for each analysis(from 0° to 330°). The survey is carried out on the L plan shape structure. The results show that the angle of the seismic input motion signifi cantly infl uences the response of RC structures; the critical seismic angle, i.e., the incidence angle that produces the maximum demand, provides an increase of up to 37% in terms of both roof displacements and plastic hinge rotations.展开更多
Recently, if you look at the trend of the Unmanned Combat Entities (UCE) on the world that are actually operational, a large number of personnel per one UCE has been operating the GCS. However, UCEs to perform the att...Recently, if you look at the trend of the Unmanned Combat Entities (UCE) on the world that are actually operational, a large number of personnel per one UCE has been operating the GCS. However, UCEs to perform the attack/reconnaissance mission are very expensive assets and require a considerable amount of time to train for UCE operations. Accordingly, the future battlefield environment has become important to develop multiple UCE ground control station. In this study, we developed a multiple UCE GCS that one operator can operate up to four UCEs. The software was built with a total of 6 displays using a Lockheed Martin Corporation’s prepar3D. Scenario of research takes into account the operation of the South Korea-type future multiple UCEs, to take advantage of the simulation system, in this paper, we propose for each of the concepts and technologies.展开更多
人工势场法由于运算量小、精度高,广泛应用于无人车的局部路径规划。针对传统人工势场法存在目标不可达、局部最小值及陷入U型障碍物的问题,提出一种基于Frenet坐标系下改进人工势场法的路径规划算法。构建Frenet坐标系来表述车辆避障运...人工势场法由于运算量小、精度高,广泛应用于无人车的局部路径规划。针对传统人工势场法存在目标不可达、局部最小值及陷入U型障碍物的问题,提出一种基于Frenet坐标系下改进人工势场法的路径规划算法。构建Frenet坐标系来表述车辆避障运动,简化规划模型,解决路径规划中车辆与所在道路相对位置不易表述的问题。提出安全椭圆模型和预测距离的概念来调整势场影响区域,加入基于Frenet坐标系下的参考线势场及动态速度势场改进斥力场函数,解决车辆在静态和动态下的避障问题。利用数学仿真软件进行仿真,以不同车速在直道和弯道场景中对所提出的路径规划方法进行静态和动态避障仿真实验。研究结果表明:不同车速下的前轮转角、横摆角速度均控制在较小范围内,改进算法可以有效解决传统人工势场法的缺陷,同时与快速搜索随机树(Rapidly-exploring Random Tree,RRT)算法相比,其在避障过程中路径规划计算效率提高了42.8%,改进算法优势明显。展开更多
基金Sponsored by the Key Programs of National Natural Science Foundation of China(Grant No.60736025 and 60905056)the Major Programs of China National Space Administration(Grant No.D2120060013)
文摘For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be developed.This paper emphasizes the global planning and the local replanning arithmetic based on three-dimensional velocity potential field for the moving threats.During the test on the ground and in the sky,GCS show the remote sensing information precisely and send the control command in time.The system can be used to assist in the function of autonomous complex task for MUAV.
文摘China's manned spaceflight missions have been introduced briefly,and the research planning of space sciences for China's Space Station(CSS) has been presented with the topics in the research areas,including:life science and biotechnology,microgravity fluid physics and combustion science,space material science,fundamental physics,space astronomy and astrophysics,earth sciences and application,space physics and space environment,experiments of new space technology.The research facilities,experiment racks,and supporting system planned in CSS have been described,including:multifunctional optical facility,research facility of quantum and optic transmission,and a dozen of research racks for space sciences in pressurized module,etc.In the next decade,significant breakthroughs in space science and utilization will hopefully be achieved,and great contributions will be made to satisfy the need of the social development and people's daily life.
基金partially funded by Italian Department of Civil Protection in the frame of the National ReLUIS Project 2005-2008 line 2-Theme 2
文摘The nonlinear response of structures is usually evaluated by considering two accelerograms acting simultaneously along the orthogonal directions. In this study, the infl uence of the earthquake direction on the seismic response of building structures is examined. Three multi-story RC buildings, representing a very common structural typology in Italy, are used as case studies for the evaluation. They are, respectively, a rectangular plan shape, an L plan shape and a rectangular plan shape with courtyard buildings. Nonlinear static and dynamic analyses are performed by considering different seismic levels, characterized by peak ground acceleration on stiff soil equal to 0.35 g, 0.25 g and 0.15 g. Nonlinear dynamic analyses are carried out by considering twelve different earthquake directions, and rotating the direction of both the orthogonal components by 30° for each analysis(from 0° to 330°). The survey is carried out on the L plan shape structure. The results show that the angle of the seismic input motion signifi cantly infl uences the response of RC structures; the critical seismic angle, i.e., the incidence angle that produces the maximum demand, provides an increase of up to 37% in terms of both roof displacements and plastic hinge rotations.
文摘Recently, if you look at the trend of the Unmanned Combat Entities (UCE) on the world that are actually operational, a large number of personnel per one UCE has been operating the GCS. However, UCEs to perform the attack/reconnaissance mission are very expensive assets and require a considerable amount of time to train for UCE operations. Accordingly, the future battlefield environment has become important to develop multiple UCE ground control station. In this study, we developed a multiple UCE GCS that one operator can operate up to four UCEs. The software was built with a total of 6 displays using a Lockheed Martin Corporation’s prepar3D. Scenario of research takes into account the operation of the South Korea-type future multiple UCEs, to take advantage of the simulation system, in this paper, we propose for each of the concepts and technologies.
文摘人工势场法由于运算量小、精度高,广泛应用于无人车的局部路径规划。针对传统人工势场法存在目标不可达、局部最小值及陷入U型障碍物的问题,提出一种基于Frenet坐标系下改进人工势场法的路径规划算法。构建Frenet坐标系来表述车辆避障运动,简化规划模型,解决路径规划中车辆与所在道路相对位置不易表述的问题。提出安全椭圆模型和预测距离的概念来调整势场影响区域,加入基于Frenet坐标系下的参考线势场及动态速度势场改进斥力场函数,解决车辆在静态和动态下的避障问题。利用数学仿真软件进行仿真,以不同车速在直道和弯道场景中对所提出的路径规划方法进行静态和动态避障仿真实验。研究结果表明:不同车速下的前轮转角、横摆角速度均控制在较小范围内,改进算法可以有效解决传统人工势场法的缺陷,同时与快速搜索随机树(Rapidly-exploring Random Tree,RRT)算法相比,其在避障过程中路径规划计算效率提高了42.8%,改进算法优势明显。
基金Natural Science Foundation of Anhui Province, 2008085QG343, Research on Development and Evolution Mechanism and Policy of Artificial Intelligence Open Innovation Platform。