By collecting the environmental target constraints in the annual government work report of prefecture-level cities,this paper studies its impact on local enterprises’OFDI.The main conclusions are as follows:(1)Both d...By collecting the environmental target constraints in the annual government work report of prefecture-level cities,this paper studies its impact on local enterprises’OFDI.The main conclusions are as follows:(1)Both direct and indirect constraints have a significant positive impact on enterprises’OFDI,and the degree of direct constraints is stronger than that of indirect constraints.(2)Environmental target constraints of local governments will affect corporate OFDI behavior by affecting production costs,local economic development level and local openness,and(3)There are regional heterogeneity and investment type heterogeneity in the impact of environmental goal constraints on corporate OFDI.The suggestions are as follows:government departments can appropriately strengthen the constraint intensity of environmental targets and formulate specific restraint rules for industries with different levels of pollution,so as to effectively make use of the technology spillover effects brought about by OFDI to promote the upgrading of domestic industrial structure.When making OFDI,enterprises should clarify the investment motivation,strengthen corporate social responsibility,and make use of technology spillover effect to promote the upgrading and development of home country industry while being beneficial to their own development.展开更多
The accurate detection of cooperative targets plays a key and foundational role in unmanned aerial vehicle (UAV) landing autonomously. The standard method based on fixed threshold is too susceptible to both illuminati...The accurate detection of cooperative targets plays a key and foundational role in unmanned aerial vehicle (UAV) landing autonomously. The standard method based on fixed threshold is too susceptible to both illumination variations and interference. To overcome issues above, a robust detection algorithm with triple constraints for cooperative targets based on spectral residual (TCSR) is proposed. Firstly, by designing an asymmetric cooperative target, which comprises red background, green H and triangle target, the captured original image is converted into a Lab color space, whose saliency map is yielded by constructing the spectral residual. Then, the triple constraints are developed according to the prior knowledge of the cooperative target. Finally, the salient region in saliency map is considered as the cooperative target, and it meets the triple constraints. Experimental results in complex environments show that the proposed TCSR outperforms the standard methods in higher detection accuracy and lower false alarm rate.展开更多
A new guidance law, called biased retro proportional navigation(BRPN), is proposed. The guidance law is designed to intercept high-speed targets with angular constraint, which can be used for ballistic target intercep...A new guidance law, called biased retro proportional navigation(BRPN), is proposed. The guidance law is designed to intercept high-speed targets with angular constraint, which can be used for ballistic target interception. BRPN guidance law is defined, and the exact time-varying bias for a required impact angle is derived. Furthermore, the simulation results(trajectory, variation of navigation ratio, capture region, etc) are compared with those of biased proportional navigation(BPN), proportional navigation and retro-proportional navigation. The results show that,at the cost of a higher intercept time, BRPN demands lower terminal lateral acceleration and has larger capture region compared to BPN.展开更多
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.Th...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.展开更多
This paper presents a new nonholonomy criteria and reveals the physical interpretation of holonomoic and nonholonomic constraints acting on a free-flying space robot with or without interaction with a free Flying/Floa...This paper presents a new nonholonomy criteria and reveals the physical interpretation of holonomoic and nonholonomic constraints acting on a free-flying space robot with or without interaction with a free Flying/Floating target object. The analysis in this paper interprets the physical interpretation behind such constraints, and clarifies geometric and kinematic conditions that generate such constraints. Moreover, a new criterion of finding the holonomy/nonholonomy of constraints impose on a free-flying space robot with or without interaction with a floating object is presented as well. The proposed criteria are applicable in case of zero or non-zero initial momentum conditions. Such nonholonomy criteria are proposed by utilizing the concept of orthogonal projection matrices and singular value decomposition (SVD). Using this methodology will also enable us to verify online whether the constraints are violated in case of real-time applications and to take a correction action or switch the controllers. This criterion is still yet valid even the interaction with floating object is lost. Applications of the proposed criteria can be dedicated to in-orbit servicing robotic satellite to capture malfunctioned spacecrafts and satellites, docking space of NASA and Russian shuttles with International Space Station (ISA), building in-orbit stations, space rescue missions and asteroids dust sampling. Finally, simulation results are presented to demonstrate the effectiveness of the proposed criterion.展开更多
文摘By collecting the environmental target constraints in the annual government work report of prefecture-level cities,this paper studies its impact on local enterprises’OFDI.The main conclusions are as follows:(1)Both direct and indirect constraints have a significant positive impact on enterprises’OFDI,and the degree of direct constraints is stronger than that of indirect constraints.(2)Environmental target constraints of local governments will affect corporate OFDI behavior by affecting production costs,local economic development level and local openness,and(3)There are regional heterogeneity and investment type heterogeneity in the impact of environmental goal constraints on corporate OFDI.The suggestions are as follows:government departments can appropriately strengthen the constraint intensity of environmental targets and formulate specific restraint rules for industries with different levels of pollution,so as to effectively make use of the technology spillover effects brought about by OFDI to promote the upgrading of domestic industrial structure.When making OFDI,enterprises should clarify the investment motivation,strengthen corporate social responsibility,and make use of technology spillover effect to promote the upgrading and development of home country industry while being beneficial to their own development.
基金supported by the National Natural Science Foundation of China(61135001)the Scientific Research Program of Shaanxi Provincial Department of Education(16JK1499)+2 种基金the Doctoral Fund of Xi’an University of Science and Technology(2015QDJ007)the Cultivation of Xi’an University of Science and Technology(2014015)the Ministry of Education Key Laboratory of Information Fusion Technology(LIFT2015-G-1)
文摘The accurate detection of cooperative targets plays a key and foundational role in unmanned aerial vehicle (UAV) landing autonomously. The standard method based on fixed threshold is too susceptible to both illumination variations and interference. To overcome issues above, a robust detection algorithm with triple constraints for cooperative targets based on spectral residual (TCSR) is proposed. Firstly, by designing an asymmetric cooperative target, which comprises red background, green H and triangle target, the captured original image is converted into a Lab color space, whose saliency map is yielded by constructing the spectral residual. Then, the triple constraints are developed according to the prior knowledge of the cooperative target. Finally, the salient region in saliency map is considered as the cooperative target, and it meets the triple constraints. Experimental results in complex environments show that the proposed TCSR outperforms the standard methods in higher detection accuracy and lower false alarm rate.
文摘A new guidance law, called biased retro proportional navigation(BRPN), is proposed. The guidance law is designed to intercept high-speed targets with angular constraint, which can be used for ballistic target interception. BRPN guidance law is defined, and the exact time-varying bias for a required impact angle is derived. Furthermore, the simulation results(trajectory, variation of navigation ratio, capture region, etc) are compared with those of biased proportional navigation(BPN), proportional navigation and retro-proportional navigation. The results show that,at the cost of a higher intercept time, BRPN demands lower terminal lateral acceleration and has larger capture region compared to BPN.
基金supported by the Joint Equipment Fund of the Ministry of Education(6141A02022340)
文摘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.
文摘This paper presents a new nonholonomy criteria and reveals the physical interpretation of holonomoic and nonholonomic constraints acting on a free-flying space robot with or without interaction with a free Flying/Floating target object. The analysis in this paper interprets the physical interpretation behind such constraints, and clarifies geometric and kinematic conditions that generate such constraints. Moreover, a new criterion of finding the holonomy/nonholonomy of constraints impose on a free-flying space robot with or without interaction with a floating object is presented as well. The proposed criteria are applicable in case of zero or non-zero initial momentum conditions. Such nonholonomy criteria are proposed by utilizing the concept of orthogonal projection matrices and singular value decomposition (SVD). Using this methodology will also enable us to verify online whether the constraints are violated in case of real-time applications and to take a correction action or switch the controllers. This criterion is still yet valid even the interaction with floating object is lost. Applications of the proposed criteria can be dedicated to in-orbit servicing robotic satellite to capture malfunctioned spacecrafts and satellites, docking space of NASA and Russian shuttles with International Space Station (ISA), building in-orbit stations, space rescue missions and asteroids dust sampling. Finally, simulation results are presented to demonstrate the effectiveness of the proposed criterion.
