Experimental analysis of the slip sinkage effect based on real vehicle test

To improve the semi-empirical model, the slip sinkage effect is analyzed based on the real vehicle test. A dynamic testing system is used to gain the dynamic responses of wheel-soil interactions, The Gauss-Newton algorithm is adopted to estimate the undetermined parameters involved in the slip sinkage models. Wong＇s original model is compared with three typical slip sinkage models on the prediction performance of a drawbar pull. The maximum error rate, root mean squared error and correlation coefficient are utilized to evaluate the performance. The results indicate that the slip sinkage models outperform Wong＇s model and greatly improve the prediction accuracy. Lyasko＇s model is confirmed as an outstanding one for its comprehensive performance. Hence, the existence of the slip sinkage effect is validated. Lyasko＇s model is selected as an optimal one for the practical evaluation of military vehicle trafficability.

Highway Concrete Guardrail Lifting Scheme and Safety Performance Verification

In order to achieve the old fence of reuse, improve the safety performance of guardrail, barrier structure does not meet the requirements, make full use of the old concrete guardrail on the basis of heightening, through computer simulation experiment were analyzed, and optimization design, through the real car collision test, make the concrete guardrail after heightening structure satisfies the requirement of the safety performance of current specification. The results show that the protective performance of the two guardrail schemes meets the requirements of the current guardrail evaluation standards through the computer simulation experiment. Through the optimized design of scheme 1, the actual car crash test proves that the enhanced structure of Minhua TYPE II concrete guardrail can meet the requirements of safety performance evaluation. The research results provide an important basis for the transformation of the guardrail and the revision of the current design of expressway in China.

Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control

This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.