On the effect of pitch and yaw angles in oblique impacts of smallcaliber projectiles

A terminal ballistic analysis of the effects of 7.62 mm × 51 AP P80 rounds on inclined high-strength armor steel plates is the focus of the presented study.The findings of an instrumented ballistic testing combined with 3D advanced numerical simulations performed using the IMPETUS Afea? software yielded the conclusions.The experimental verification proved that slight differences in the pitch-andyaw angles of a projectile upon an impact caused different damage types to the projectile’s core.The residual velocities predicted numerically were close to the experimental values and the calculated core deviations were in satisfactory agreement with the experimental results.An extended matrix of the core deviation angles with combinations of pitch-and-yaw upon impact angles was subsequently built on the basis of the numerical study.The presented experimental and numerical investigation examined thoroughly the influence of the initial pitch and yaw angles on the after-perforation projectile’s performance.

Coupled DEM-FDM analyses of the effects of falling rock’s shape and impact angle on response of granular cushion and rock shed

Rock shed is an effective protection measure against rockfall.To investigate the influences of falling rock’s shape and impact angle on the impact effect of the cushioned rock shed,a modeling approach for a rock shed with a cushion layer using PFC-FLAC.The granular cushion is modeled as an aggregate of discrete non-cohesion particles,while the concrete plate and the beam are modeled as zones.The falling rock with different sphericities and impact angles is modeled as a rigid assembly.The numerical model is validated by comparing the simulation results with experimental and numerical results from previous literature.This model is applied to analyze the effects of rock shape and impact angle on the dynamic interaction effects between falling rock and cushioned rock shed,including the impact force,transmitted bottom force,penetration depth,and plate deflection.The numerical results show that the variation in the falling rock’s shape has different effects on the falling rock with different impact angles.These findings could support rock shed design by revealing the limitations of the assumptions in the past research,which may result in unsafe rock sheds for some rockfall cases.

Closed-form guidance law for velocity maximization with impact angle constraint

Final velocity and impact angle are critical to missile guidance.Computationally efficient guidance law with compre-hensive consideration of the two performance merits is challeng-ing yet remains less addressed.Therefore,this paper seeks to solve a type of optimal control problem that maximizes final velocity subject to equality point constraint of impact angle con-straint.It is proved that the crude problem of maximizing final velocity is equivalent to minimizing a quadratic-form cost of cur-vature.The closed-form guidance law is henceforth derived using optimal control theory.The derived analytical guidance law coincides with the widely-used optimal guidance law with impact angle constraint(OGL-IAC)with a set of navigation parameters of two and six.On this basis,the optimal emission angle is determined to further increase the final velocity.The derived optimal value depends solely on the initial line-of-sight angle and impact angle constraint,and thus practical for real-world appli-cations.The proposed guidance law is validated by numerical simulation.The results show that the OGL-IAC is superior to the benchmark guidance laws both in terms of final velocity and missing distance.

Impact response and energy absorption of metallic buffer with entangled wire mesh damper

An innovative metallic buffer consisting of series-connected hat-shaped entangled wire mesh damper(EWMD)and parallel springs are proposed in this work to enhance the reliability of engineering equipment.The impact response and the energy dissipation mechanism of hat-shaped EWMD under different quasi-static compression deformations(2-7 mm)and impact heights(100-200 mm)are investigated using experimental and numerical methods.The results demonstrate distinct stages in the quasi-static mechanical characteristics of hat-shaped EWMD,including stiffness softening,negative stiffness,and stiffness hardening.The loss factor gradually increases with increasing compression deformation before entering the stiffness hardening stage.Under impact loads,the hat-shaped EWMD exhibits optimal impact energy absorption when it enters the negative stiffness stage(150 mm),resulting in the best impact isolation effect of metallic buffer.However,the impact energy absorption significantly decreases when hat-shaped EWMD enters the stiffness hardening stage.Interestingly,quasi-static compression analysis after experiencing different impact loads reveals the disappearance of the negative stiffness phenomenon.Moreover,with increasing impact loads,the stiffness hardening point progressively shifts to an earlier stage.

Blade Wrap Angle Impact on Centrifugal Pump Performance:Entropy Generation and Fluid-Structure Interaction Analysis

The centrifugal pump is a prevalent power equipment widely used in different engineering patterns,and the impeller blade wrap angle significantly impacts its performance.A numerical investigation was conducted to analyze the influence of the blade wrap angle on flow characteristics and energy distribution of a centrifugal pump evaluated as a low specific speed with a value of 69.This study investigates six impellermodels that possess varying blade wrap angles(95°,105°,115°,125°,135°,and 145°)that were created while maintaining the same volute and other geometrical characteristics.The investigation of energy loss was conducted to evaluate the values of total and entropy generation rates(TEG,EGR).The fluid-structure interaction was considered numerically using the software tools ANSYS Fluent and ANSYSWorkbench.The elastic structural dynamic equation was used to estimate the structural response,while the shear stress transport k–ωturbulence model was utilized for the fluid domain modeling.The findings suggest that the blade wrap angle has a significant influence on the efficiency of the pump.The impeller featuring a blade wrap angle of 145°exhibits higher efficiency,with a notable increase of 3.76%relative to the original model.Variations in the blade wrap angle impact the energy loss,shaft power,and pump head.The model with a 145°angle exhibited a maximum equivalent stress of 14.8MPa and a total deformation of 0.084 mm.The results provide valuable insights into the intricate flow mechanism of the centrifugal pump,particularly when considering various blade wrap angles.

Impact of the Inlet Flow Angle and Outlet Placement on the Indoor Air Quality

This study aims to optimize the influence of the inlet inclination angle on the Indoor Air Quality(IAQ),heat,and temperature distribution in mixed convection within a two-dimensional square cavityfilled with an air-CO_(2)mixture.The air-CO_(2)mixture enters the cavity through two inlet openings positioned at the top wall,which is set at the ambient temperature(TC).Three values of the Reynolds numbers,ranging from 1000 to 2000,are considered,while the Prandtl number is kept constant(Pr=0.71).The temperature distribution and streamlines are shown for Rayleigh number(Ra)equal to 104,three inlet inclination anglesϕ(0,π/6 andπ/4)and three CO_(2)concentrations values(1500,2500,3500 ppm)applied at both hot vertical walls(maintained at a constant temperature TH).Afinite volume method is used under the assumption of two-dimensional laminarflow to solve the NavierStokes and energy equations.The results indicate that inlet inclination angle has an impact on the indoor air quality(IAQ),which,in turn,affects the heat transfer distribution and thermal comfort within the cavity.

Cost of Medical Treatment for Primary Open-Angle Glaucoma in Relation to Patients’ Income and Its Impact on the Prognosis of the Disease, in Bouaké University Hospital

Introduction: Medical treatment for POAG is continuous and lifelong treatment. The aim of this study was to evaluate the relationship between the cost of this treatment and patients’ income and the impact of this relationship on treatment compliance. Materials and Methods: Prospective cross-sectional study with a descriptive aim covering sociodemographic data, average incomes, and direct and indirect costs of treatment of 57 patients followed for POAG during the period from January 1, 2012, to December 31, 2016 (5 years). Results: The patients were aged 25 to 77 years (mean = 54.4 years) with a male predominance (sex ratio = 1.5). Retirees were the most represented (26.32%), followed by workers in the informal sector (14.04%) and housewives (12.28%). Patients who had an annual income less than or equal to 900,000 CFA francs (€1370.83) per year represented 56.14% and those who did not have health coverage represented 57.89%. The treatment was monotherapy (64.91%), dual therapy (31.58%) or triple therapy (3.05%) and the average ratio of “annual cost of treatment to annual income” was 0.56 with for maximum 2.23 and 0.02 as minimum. Patients who considered the cost of treatment unbearable for their income represented 78.95%. Conclusion: Prevention of blindness due to glaucoma requires early detection but also the establishment of health coverage mechanisms to improve compliance with medical treatment. In addition, consideration should be given to the development of glaucoma surgery in our country, the indication of which could be the first intention in certain patients, considering for those patients, the geographical and financial accessibility of medical treatment. .

Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control

Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities（LMIs）,based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.

An impact angle constraint integral sliding mode guidance law for maneuvering targets interception

An integral sliding mode guidance law(ISMGL)combined with the advantages of the integral sliding mode control(SMC)method is designed to address maneuvering target interception problems with impact angle constraints.The relative motion equation of the missile and the target considering the impact angle constraint is established in the longitudinal plane,and an integral sliding mode surface is constructed.The proposed guidance law resolves the existence of a steady-state error problem in the traditional SMC.Such a guidance law ensures that the missile hits the target with an ideal impact angle in finite time and the missile is kept highly robust throughout the interception process.By adopting the dynamic surface control method,the ISMGL is designed considering the impact angle constraints and the autopilot dynamic characteristics.According to the Lyapunov stability theorem,all states of the closed-loop system are finally proven to be uniformly bounded.Simulation results are compared with the general sliding mode guidance law and the trajectory shaping guidance law,and the findings verify the effectiveness and superiority of the ISMGL.

Impact angle control over composite guidance law based on feedback linearization and finite time control

The impact angle control over guidance(IACG) law against stationary targets is proposed by using feedback linearization control(FLC) and finite time control(FTC). First, this paper transforms the kinematics equation of guidance systems into the feedbackable linearization model, in which the guidance law is obtained without considering the impact angle via FLC. For the purpose of the line of sight(LOS) angle and its rate converging to the desired values, the second-order LOS angle is considered as a double-integral system. Then, this paper utilizes FTC to design a controller which can guarantee the states of the double-integral system converging to the desired values. Numerical simulation illustrates the performance of the IACG, in contrast to the existing guidance law.

Extended optimal guidance law with impact angle and acceleration constriants

The extended optima straints of miss distance and Schwartz inequality. To reduce guidance law with terminal conmpact angle is derived by the terminal acceleration and eliminate gravity disturbance absolutely, the object function, which designs the weight of control command to be the power function of time-to-go＇s reciprocal, is given. And the gravity is considered when building the state equation. Based on the parsing express of the guidance command change with varying time and adjoint system analysis method, the command characteristics and the non-dimensional miss distance of the guidance law are analyzed, a design principle of guidance order coefficients is discussed. Finally, based on the requirement of engineering, the method to calculate the guidance condition and maximal required acceleration of the guidance law is given. The simulation demonstrates that not only the guidance law can satisfy the terminal position and impact angle constraints, but also the terminal acceleration can be converged toward zero, which will support a good situation for the terminal angle of attacking control.

Three-dimensional impact angle constrained distributed cooperative guidance law for anti-ship missiles

This paper investigates the problem of distributed cooperative guidance law design for multiple anti-ship missiles in the three-dimensional(3-D)space hitting simultaneously the same target with considering the desired terminal impact angle constraint.To address this issue,the problem formulation including 3-D nonlinear mathematical model description,and communication topology are built firstly.Then the consensus variable is constructed using the available information and can reach consensus under the proposed acceleration command along the line-of-sight(LOS)which satisfies the impact time constraint.However,the normal accelerations are designed to guarantee the convergence of the LOS angular rate.Furthermore,consider the terminal impact angle constraints,a nonsingular terminal sliding mode(NTSM)control is introduced,and a finite time convergent control law of normal acceleration is proposed.The convergence of the proposed guidance law is proved by using the second Lyapunov stability method,and numerical simulations are also conducted to verify its effectiveness.The results indicate that the proposed cooperative guidance law can regulate the impact time error and impact angle error in finite time if the connecting time of the communication topology is longer than the required convergent time.

Adaptive weighting impact angle optimal guidance law considering seeker's FOV angle constraints

In this paper, a new adaptive optimal guidance law with impact angle and seeker’s field-of-view(FOV) angle constraints is proposed. To this end, the generalized optimal guidance law is derived first. A changeable impact angle weighting(IAW) coefficient is introduced and used to modify the guidance law to make it adaptive for all guidance constraints. After integrating the closed-form solution of the guidance command with linearized engagement kinematics, the analytic predictive models of impact angle and FOV angle are built, and the available range of IAW corresponding to constraints is certain. Next, a calculation scheme is presented to acquire the real-time value of IAW during the entire guidance process. When applying the proposed guidance law, the IAW will keep small to avoid a trajectory climbing up to limit FOV angle at an initial time but will increase with the closing target to improve impact position and angle accuracy, thereby ensuring that the guidance law can juggle orders of guidance accuracy and constraints control.

Three-dimensional cooperative guidance law for multiple missiles with impact angle constraint

This paper proposes a cooperative guidance law for attacking a ground target with the impact angle constraint based on the motion camouflage strategy in the line-of-sight(LOS)frame.A dynamic model with the impact angle constraint is established according to the relative motion between multiple missiles and the target.The process of cooperative guidance law design is divided into two stages.Firstly,based on the undirected graph theory,a new finite-time consensus protocol on the LOS direction is derived to guarantee relative distances reach consensus.And the value of acceleration command is positive,which is beneficial for engineering realization.Secondly,the acceleration command on the normal direction of the LOS is designed based on motion camouflage and finite-time convergence,which can ensure the missiles reach the target with the desired angle and satisfy the motion camouflage state.The finitetime stability analysis is proved by the Lyapunov theory.Numerical simulations for stationary and maneuver targets have demonstrated the effectiveness of the cooperative guidance law proposed.

Fuzzy sliding mode control guidance law with terminal impact angle and acceleration constraints

In this paper, a novel fuzzy sliding mode control（FSMC） guidance law with terminal constraints of miss distance, impact angle and acceleration is presented for a constant speed missile against the stationary or slowly moving target. The proposed guidance law combines the sliding mode control algorithm with a fuzzy logic control scheme for the lag-free system and the first-order lag system. Through using Lyapunov stability theory, we prove the sliding surface converges to zero in finite time. Furthermore, considering the uncertain information and system disturbances, the guidance gains are on-line optimized by fuzzy logic technique. Numerical simulations are performed to demonstrate the performance of the FSMC guidance law and the results illustrate the validity and effectiveness of the proposed guidance law.

美国教师评估与退出机制的构建及其启示:基于对IMPACT教师评估系统的剖析

为探索我国教师评估与退出机制的建立与运行,采用文本分析方法对美国华盛顿哥伦比亚特区IMPACT评估系统操作指南进行分析,总结IMPACT评估系统的运行体系与特点,为我国教师评估与退出机制提供借鉴。IMPACT评估系统通过覆盖全体的评估对象、专业多元的评估责任主体、丰富具体的评估内容、清晰透明的评估流程以及奖罚分明的评估结果对华盛顿特区公立学校系统教师进行评估,整个系统呈现出评估内容专业化、评估过程公正化、评估结果差异化和评估系统动态化等特点。综观IMPACT评估系统的设计与运行,我国在构建教师评估与退出机制时,应注意在体系建设上强调政府提供制度支持;在评估内容与标准上关注教师能力;在评估责任主体上要兼顾多方利益群体;在系统设计上要因地制宜;最后在系统实施过程中更要注重宽严适度。

Guidance Law Design Under Impact Angle Constraint Based on Nussbaum-type Gain Technique

Aiming at the guidance problem under impact angle constraint for homing missile against ground targets,a new adaptive robust nonlinear terminal guidance law was proposed in this paper.According to nonlinear kinetic relationship between the missile and target in vertical plane,a mathematic model was formulated while the motion of target and the system structure perturbation were regarded as limited disturbances.Based on the ideas of zeroing the rate of line-of-sight(LOS)angle and the impact angular tracking error,a nonlinear control strategy was contrived to obtain adaptive robust guidance law by adopting Nussbaum-type gain technique under a desired impact angle.The stability of guidance system in finite time is strictly proven by using Lyapunov stability theory.Finally,the numerical simulation verifies the effectiveness of the proposed scheme.

Trajectory shaping guidance law with terminal impact angle constraint

In order to strike hard targets underground or warships and tanks with expected impact angle by missiles or guided bombs, trajectory shaping guidance law with terminal position and impact angle constraints is derived based on linear quadratic optimal control theory. The required accelera- tion expressed by impact angle and heading error is obtained in lag-free guidance system in order to find the optimal relationship of those angles in terminal phase. The adjoint systems of miss distance and impact angle error of first-order guidance system are established based on statistical linearization adjoint method （SLAM） in order to study the impact performances of the guidance law. Simulation results show that the miss distance and impact angle error of trajectory shaping guidance law are both according with the impact position and angle constraint and the required acceleration at impact can be decreased by an optimal relationship of impact angle and heading error.

Impact of Impeller Stagger Angles on Pressure Fluctuation for a Double-Suction Centrifugal Pump

Pressure fluctuation may cause high amplitude of vibration of double-suction centrifugal pumps, but the impact of impeller stagger angles is still not well understood. In this paper, pressure fluctuation experiments are carried out for five impeller configurations with different stagger angles by using the same test rig system. Results show that the stagger angles exert negligible effects on the characteristics of head and efficiency. The distributions of pressure fluctuations are relatively uniform along the suction chamber wall, and the maximum pressure fluctuation amplitude is reached near the suction inlet tongue region. The pressure fluctuation characteristics are affected largely by impeller rotation, whose dominant frequencies include impeller rotation frequency and its harmonic frequencies, and half blade passage frequency. The stagger angle exerts a small effect on the pressure fluctuations in the suction chamber while a great effect on the pressure fluctuation in volute casing, especially on the aspect of decreasing the amplitude on blade passage frequency. Among the tested cases, the distribution of pressure fluctuations in the volute becomes more uniform than the other impeller configurations and the level of pressure fluctuation may be reduced by up to 50% when the impeller stagger angle is close to 24° or 360°.The impeller structure pattern needs to be taken into consideration during the design period, and the halfway staggered impeller is strongly recommended.

Optimal Guidance Law to Maximize Terminal Velocity for Missiles with Impact Angle Constraint

In this paper,an optimal guidance law for missiles with impact angle and miss distance constraints is proposed to achieve the maximal terminal velocity. The normal acceleration command that includes the timevarying coefficients is introduced to satisfy the desired impact angle as well as zero miss distance according to the geometric relation and relative motion parameters between missile and target. The problem is formulated as an optimal control problem by defining the angle of velocity error and flight-path angle as state variables and maximizing a performance index of the terminal velocity. The analytical form of the proposed guidance law is obtained as the solution of the optimal control problem combining optimal control theory and numerical value computation method. Nonlinear simulations of various situations demonstrate the performance and feasibility of the proposed optimal guidance law.