Unmanned ground vehicles (UGVs), which are of great strategic significance for developing high maneuvering unmanned ground combat systems, have become a research hotspot of defense technology. The development and current progress of UGVs for military application are reviewed. The fundamental components and development characteristics of military UGVs are stated and analyzed. The key technologies of military UGVs are also summarized in the areas of sensing and perception, motion planning and path tracking. In addition, the future research direction and focus of military UGVs are suggested.

2-(3-nitro-1,2,4-oxadiazole)imino-5-nitro-hexahydro-1,3,5-triazine (NONHT) and 2-(3-nitro-1,2,4-oxadiazole)imino -5-nitroso-hexahydro-1,3,5-triazine (NONsHT) were prepared by using nitration of the Mannich condensation product of NOG, tertbutylamine and formaldehyde. All of the compounds were characterized with IR, -1-H NMR, -13-C NMR, ESI-MS and elemental analysis. The thermal behaviors of NONHT and NONsHT were studied by using multiple heating differential scanning calorimeter (DSC). Their thermal decomposition kinetic parameters and thermodynamic parameters were calculated by using Kissinger, Ozawa and other methods. The results show that the thermal stability of NONHT is better than that of NONsHT. Their much higher decomposition temperatures than NNHT indicate that the introduction of 3-nitro-1,2,4-oxadiazole ring can improve the thermal stability significantly.

Intelligent vehicle, which has great advantages in enhancing the driving safety and diminishing road accidents, has become an emerging research focus worldwide. The development and research current status of lateral control for intelligent vehicles at home and abroad are reviewed. The research process and modeling of vehicle lateral dynamics and tire dynamics, the theory and methods of lateral control, and the automatic steering actuator design are discussed and summarized. Several research issues and development trends of lateral control of intelligent vehicles are presented, in which the modeling of vehicle lateral dynamics and the lateral controller design concerning the nonlinearity, uncertainties and time-varying characteristics, particularly in high speed lateral control, and the integrated design combining sensing, perception and decision-making systems with vehicle system dynamics will be research focuses in the future. Key

In order to improve the survival ability of armored vehicles in the war, the protecting technology has been attached importance and developed completely by the world military powers. The paper presented the research state and protecting level of modern armor, and enumerated protecting furnishment of advanced armored vehicles, and summarized the research state and level of key protecting technologyarmor material. After introducing situation of armor protecting technology, taking the research content of U.S. and U.K., the development trend to the modern armor technologysynthesis protection system were analyzed.

Three factors leading to the lower shooting accuracy for a tank moving at a high speed are analyzed based on the linear vibration of its chassis. The efects of the factors on the shooting accuracy are studied from the real test data. The research result shows that the lateral shooting deviation caused by the linear vibration of chassis is too small to reduce the shooting accuracy significantly. Although the linear vibration of chassis has some impact on the imaging quality of sighting telescope, it basically does not affect the sighting effect. Since the linear vibration of crew seat is larger and its ride comfort is poor, it is hard for the crew in the tank to precisely manipulate the sighting telescope, and then the sighting effect would be affected. Therefore, the influence of the linear vibration of tank chassis on the shooting accuracy is mainly through its impact on the ride comfort, and the ride comfort is an important reason of affecting on-the-move shooting accuracy.

A coordinate system for wave-driven underwater vehicle is defined based on multi-body system dynamics theory. The kinematics analysis of the whole system is performed by choosing the appropriate generalized coordinates, while the velocities and acceleration are deduced, and the expressions of partial velocities and partial angular velocities are deduced based on Kane’s method according to the dynamic analysis of the whole system. The generalized inertial force and generalized active force of the whole system are calculated. A multi-body system dynamics model of wave-driven underwater vehicle is established by taking the calculated results into the Kane’s equations. The force analysis of the proposed model focuses on the wave force and the additional mass force of multi-body system besides inertia force, inertia moment, gravity, buoyancy and hydrodynamic forces. The wave-driven underwater vehicle is simulated. The simulated results show that the proposed modeling method is valid.

Bottom protection，which is of great significance for improving the survivability of military vehicles and providing effective protection for crew，has become one of the research hotspots of the military vehicles. The research on bottom protection technique of military vehicles, the analysis of protection capability and optimization of structure based on numerical simulation, the evaluation of bottom protection capability, the bottom protection strategies and their applications, the technical measures and protection capability of typical vehicles are reviewed. The technical measures which include V-shape bottom hull, tabulate bottom floor made of new type material, interior structure of vehicle and crew restraintsystems are expatiated. The application and researchstatus of numerical simulation technology which is used to analyze the protection capability of military vehicle and optimize the bottom structure of vehicle are discussed. The research status of the effects of explosion shock on vehicle and its crew and the test evaluation of the bottom protection abilities of vehicle are analyzed. Simple local protection, locally added protection kits, special protection body with protection kits, and integrated protection solution are summed up. The bottom protection measures and capability of typical vehicles are analyzed. In addition，the future research direction andpriorities of bottom protection , and how to develop the protection capability of military vehicles are suggested.

Breakwater is one of important parts which affect the performance of amphibious vehicle on water. A hydrodynamics model of displacement amphibious vehicle is established to research the influence of breakwater on its hydrodynamics. The hydrodynamics performance of displacement amphibious vehicle is simulated in terms of different shapes and sizes of breakwaters and their positions relative to vehicle body. The effect of breakwater on navigation resistance, lift force and longitudinal pitching moment is analyzed. The research results show that segmented breakwater is better engineering structure in shape, which has the advantages of arc-shaped and flat-plate breakwaters; the increase in width has small influence on resistance and lift force, but the longitudinal pitching moment increases a lot; with the increase in distance between breakwater and vehicle body, the resistance increases, the lift force decreases, and the longitudinal pitching moment increases greatly; with the increase in angle between breakwater and underbody plane, the resistance and lift force have a little change, but the longitudinal pitching moment increases significantly.

For establishing the high reliability load spectrum for transmission shaft of military tracked vehicle on the typical road, the torque and relevant vehicle data similar to that in real service conditions was collected through vehicle experiments, and the confidence level of load data samples was calculated based on the criteria of least testing times. A load spectrum compiling procedure is designed based on 2-D kernel density estimation on account of the irregular 2-D distribution of amplitude and mean values in test load data. In the load spectrum compiling procedure, two times of rain-flow counting are adopted: the first rain-flow counting result is used to deduce the extrema of amplitude and mean values, and the secondrain-flow counting result is used to extrapolate the kernel density. This compiling procedure can not only obtain better fitting of amplitude and mean distribution, but also achieve the reasonable extrapolation of the experimental rain-flow matrix. Goodman equation and the equivalent damage conversion method are used to derive 8-level program block load spectrum from 2-D load spectrum, and a loading method for the combination of torque and rotational speed is presented. 0.8 times of eighth amplitude are chosen as the value of small load from the perspective of fatigue damage, and total cycles are decreased by 99.33% while total damage is decreased only by 0.29%, which can accelerate the fatigue loading test. Key

Trajectory tracking control of unmanned tracked vehicle is challenged by complex system uncertainties and external disturbances. A kinematic model based on the instantaneous steering center is developed by studying the interaction between track and ground. Considering the fact that the reference path is a series of discrete waypoints, an adaptive reference path fitting method, which utilizes the third-order Bezier curve, is presented for path smoothing while providing road curvature information. Taking the unavoidable system uncertainty and external disturbance into account, a model predictive control based trajectory tracking controller with feedback correction is designed to systematically handle the modeling errors, environmental constraints, and actuator saturations. Real vehicle tests demonstrate that the proposed control scheme can be used effectively to restrain the effects of system uncertainties and external disturbances, while achieves the satisfying trajectory tracking performance of unmanned tracked vehicle. Key

The influence of different operating condition and battery position on the wind cooling heat dissipation performance of electric vehicle running on highway is researched. The results show that the thermal power of battery increases with the decrease in environmental temperature and increases with increase in the charge and discharge rates; the heat dissipation performance of natural wind cooling of power cabin in electric vehicle is improved with the increase in vehicle speed and the environmental temperature and the decrease in charge and discharge rates; the heat dissipation performance of natural wind cooling of power cabin in electric vehicle is improved and then decreased with the increase in distance between battery and power cabin, and the distance of 230 mm meets the best heat dissipation performance.

An energy management system based on off-road condition prediction is designed for the energy management of hybrid tracked vehicle in off-road environment. The vehicle speed and attitude are measured by using the vehicular sensor, and the off-road condition is classified based on support vector machine. A speed prediction model based on Markov chain is established using historical driving speed and acceleration for different off-road conditions. A model predictive control strategy based on off-road condition prediction is designed for energy management of hybrid electric tracked vehicle. The simulated results show that the proposed energy management system can be used to achieve the control objectives and improve the performance of hybrid electric tracked vehicles in off-road environment. Key

The core task of tank overall design is to get the best overall performance, minimum size and minimum weight without increasing the technical difficulty of parts. Relationship among the three main performances and the general dimensions of main battle tank (MBT) is analyzed by decomposing the specifications of firepower, mobility and protection. An optimization model is established for MBT's firepower, mobility and protection performance based on physical dimension. Restraining the height of tank is the key to coordinate the firepower, mobility and protection performance of tank. Approaches to restrain the height, width and length of tank are proposed.Key

A target detection method based on hierarchical multi-scale convolution feature extraction is proposed for the image detection of tank and armored targets. The idea of transfer learning is used to mo-difyand fine-tune the structure and parameters of VGG-16 network according to the target detection task, and the region proposal network and the detection sub-network are combined to realize the accurate detection of targets. For the region proposal network, the multi-scale proposals are extracted from the convolution feature maps of different resolutions to enhance the detection capability of small targets. For the object detection sub-network, the feature maps with high-resolution convolution are used to extract the targets, and an upsampling layer is added to enhance the resolution of the feature maps. With the help of multi-scale training and hard negative sample mining, the proposed method achieves the excellent results in the tank and armored target data set, and its detection accuracyand speed are better than the those of current mainstream detection methods. Key

A multi-algorithm-based power flow control strategy is established for a kind of power source of series hybrid drive system,in which the disparate control objectives are realized by using different algorithms. The wavelet transform is used to separate the highand low frequency components of the load demand power. The frequency values are distributed to the super capacitor and the power sources with low output cutoff frequency to realize the matching of load frequency characteristic and power source output characteristic. The fuzzy controller is used to realize the optimal control of battery state of charge. A secondaryallocation strategy is designed to control optimally the instantaneous efficiency of system when the low frequency component of optimal load demand power is allocated between battery and engine-generatorset. The simulation analysis and vehicle test results show that the proposed power flow control algorithm can be used for the multiobjective optimization control of multi-power source system, and it is suitable for power flow control of armored vehicle hybrid power system.Key

A coordinated hierarchy control strategy of driving torque is proposed for the distributed electric drive tracked vehicle. The coordination control system structure is developed，which is divided into motion control layer, control allocation layer and anti-slip layer. The vehicle is considered to be an unequal over-actuated system. A master-slave multi-motor control allocation law isestablished. The quadratic programming method is used to design the torque optimization distribution law of in-wheel motors, and the weighted least square (WLS) method is used to solve torque distribution ,which could improve adhesion margin and decrease friction loss between motor wheels and track. The anti-slip control law developed by LADRC is used to enhance the adhesive force by restricting the slip of drive wheel. Co-simulation of Matlab and RecurDyn shows that the control allocation could realize torque optimization distribution, and LADRC anti-slip controller could regulate the slip speed in steady margin, which could improve the stability and efficiency of force transfer. Key

The corrosion status of amphibious vehicles is comprehensively introduced for the usage of amphibious vehicle in marine environment. The integrated corrosion control theories and anti-corrosion design principles of amphibious vehicles are proposed according to corrosion problems and laws. This paper highlights Al-Zn-In-Mg-Ga-Mn sacrificial anode materials for amphibious vehicle, abrasion resistant ceramic coating, composite anticorrosion coating technology, potential matching technology of dissimilar metals, polymer sealing anti-corrosion technology, and special corrosion protection technology. The whole process of system-wide corrosion control ideas is set up, and a technological procedure of prevention, control and governance is developed. The supporting technology for corrosion control and maintenance support is established, and the theoretical system of corrosion control is improved from the top-level.

With the booming development of the modern vehicle industry, the safety problem caused by heat generation of battery pack is more and more obvious, an effective heat transfer system needs to be developed. Based on analyzing the average heat generation rate of a battery pack, a heat transfer simplified model of battery pack is established using a lumped-parameter method. This model is used to analyze the following parameters of an actual battery pack: time interval, fluid temperature, battery pack average temperature, transient heat transfer power, and total heat. The calculated results can be used to evaluate whether the heat transfer system is effective, or make the heat transfer system reasonable by choosing the optimum heat transfer parameters. The results also indicate that the strategy of applying fluid with constant temperature in the heat transfer system is not the best.

The navigating pose of underwater vehicle is difficult to be controlled because there exist cou- pling between pitching, yawing, rolling and uncertain disturbance caused by varying ocean current, so traditional control technology cannot obtain controlling objective. For solving the difficulty existed in un- derwater vehicle爷s pose decoupling controlling, the subsystem status equation of pose controller of under- water vehicle adopting variable structure control is constructed through constructing state equation of un- derwater vehicle pose moving subsystems. Theory analysis and simulation show that the designed control- ler makes pose angle track course angle of trajectory steadily and has good robustness for uncertain dis- turbance caused by varying ocean current, and achieves decoupling controlling between underwater vehi- cle pose moving subsystems.

The effective cognitive model is a key technology to study the information processing work state of armored vehicle crew and enhances the combat effectiveness of man-machine system. In view of the basic trend of transforming the physical operating task to information processing task，the operatal units are systematically analyzed，the cognitive elements are extracted based on multi-resource theory(MRT), a cognitive model is established based on task-network，and the objective-subjective verification process for crew's cognitive model is proposed. The model is verified through example, with an aim to solve the problem of cognitive modeling. The results indicate that the proposed model could be used to describe the whole cognitive process of crew's information processing task, and predict the reaction times of operatal units accurately. It has high prediction accuracy and reusability preferable. It is an effective and feasible approach for crew's cognitive modeling. Key

The driving cycle of tracked vehicle is so complex, and the drive motor with wide speed range runs under nonlinear, uncertain and strong coupling load. How to control the motor speed to improve the stability of steering has become a research hot point. An electric differential control strategy is put forward. And the LADRC control algorithm is used in speed control of PMSM system, and LESO is used to estimate and compensate the unknown disturbance, thus rejecting the disturbance and improving the dynamic performance of system. The collaborative model of Matlab and RecurDyn softwares and test bench are built. The simulation and experimental results show that the speed control strategy with LADRC can be used to achieve rapid response without overshoot, strong disturbance rejection and good parameter adaptability, which improve the vehicle stability.

A recursive terminal sliding-mode controller (RTSMC) with nonlinear disturbance observer (NDO) is proposed for the longitudinal dynamics model of generic hypersonic flight vehicle in the presence of external disturbances, unknown dead-zone nonlinearity and system uncertainties. RTSMC employs a recursive procedure which contains a set of terminal manifolds to make system tracking error converge to zero in a finite time. The dead-zone nonlinearity of the actuator is simplified as unknown input disturbance. For the compound disturbance generated by the external disturbances and system uncertainties, a novel NDO is developed, which can reduce the conservatism of RTSMC and eliminate the influence of dead-zone nonlinearity on system. The stability of the proposed control strategy is proved by means of Lyapunov theory. Several numerical examples are provided to compare and verify the proposed method.

An integrated control method based on direct yaw moment control (DYC) is designed to improve the steering stability of multi-wheel independent electric drive vehicle, which includes the upper coordinated controller and the lower controller. The lower controller is optimized by designing a distribution with pre-distribution, driving skid-resistance control and compensation. The optimized torques of the system and the driving wheels keep the performing error of yaw moment minimal. The double lane change experiments of a prototype vehicle on low friction road and high friction road show that the integrated controller can improve the steering stability significantly and follow the desired tracks. Key

Modular units of thermoelectric material have many advantages in waste heat recovery. A ther- mal-electric-structural FEM model is established to analyze the configuration characteristics of thermoelec- tric modules around the exhaust pipe on the base of experiment validation. Firstly, the heat flux plots show that there is a big hot streak on the wall of the exhaust gas pipe in contact with the thermoelectric module,the optimal arrangement gap of 6. 6mm between the thermoelectric modules can be determined from the contour of the big hot streak. Secondly, the internal resistance of thermoelectric module can be precisely obtained according to the principle of the maximum output power, and the internal resistance value can provide a basis for the optimization of the module matrix. Finally, the FEM model can be used to check the heat stress of the weak structure of the thermoelectric module, and the check result can pro- vide the basis for reliable arrangement of thermoelectric modules.

The path tracking problem for intelligent vehicle with delayed control inputs is studied. The cramping angle is expressed as a series structure model with pure lag and first-order inertial delay, and a steering control delay model is established using Matlab/Simulink. The collected steering control data of an actual vehicle is analyzed for parameter identification of the proposed delay model.The equivalent delay performance in simulation environment based on V-REP and ROS is implemented. The model predictive control (MPC)-based path tracking controllers without or with considering delay controlare designed based on Frenet coordinates, and the kinematic and dynamics models, which can also be used for marching vehicle formation. A curvature-variant reference paths collected at 5, 10 and 20 m/s are set in V-REP simulation environment. Three curvature-variant reference paths are presented. For the MPC path tracking controller without delay modeling, the average tracking error is less than 0.22 m for a vehicle platform without control delay. The MPC controllers with and without delay modeling are tested to compare their tracking performances for the vehicle system with long control delay. Simulated results indicate that the average and maximum tracking errors of MPC controller with delay modeling are 83.7% and 74.4% less than those of MPC controller without delay modeling when they are used on a vehicle with delayed control inputs. The kinematics-based MPC controller performs better at low speed, whereas the dynamics-based MPC controller performs better at high speed. Only dynamics-based MPC controller with delay modeling completed the whole test safely at 20 m/s on the vehicle with delayed control. Key

Steering dynamic model of double motor coupling drive transmission for tracked vehicle has the features of MIMO, parameter-uncertainty and nonlinearity. The steering system is transformed into a forward speed control subsystem and a steering speed control subsystem by dynamic decoupling control algorithm.For the forward speed control subsystem, a robustness sliding mode control algorithm is proposed to converge the speed errors based on the desired speed and the current speed. For the steering speed control subsystem, a steering speed control algorithm is designed based on the fuzzy adaptive sliding-mode algorithm to ensure the tracking control of the reference steering speed. The steering tracking control is verified by real-time simulation system.The results show that the proposed control algorithm is effective.

It is found in experiments that the rub-impact between friction plate and steel plate is easy to appear in the high-speed no-load wet clutch, which results in the sharp increase in drag torque. The high-speed drag torque has significant negative influence on the efficiency and reliability of transmissions. So it is necessary to establish a reliable rub-impact model of friction pair to explore the change law of high-speed drag torque. The fluid stiffness and damping are derived to obtain the fluid forces by small perturbation method. The elastic deformations and energy loss in the process of rub-impact between friction plate and steel plate are analyzed to establish the rubbing function of friction pairs. On this basis, the fluid force, rub-impact force, friction, and coupling motion between the friction plate and steel plate in three degrees of freedom are taken into consideration to establish a fluid-solid coupling rub-impact dynamic model for multi-plate wet clutch, which is solved by fourth-order Runge-Kutta method. Then the bifurcation and chaos characteristics of non-linear motion of friction pairs are analyzed. The research results indicate that, when the friction pair does not contact, the friction/steel plates move stably and show periodic movement rule; when the friction pair impacts, the friction/steel plates lose stability and show chaotic motion under the action of axial rub-impact force; and with the increase in the flow rate of lubricating oil, the critical rub-impact speed of friction pair climbs, but the rub-impact frequencyalso grows, resulting in the increase in the drag torque.Key

The vertical ammunition cabin possesses the functions of ammunition storage, recognition and automatic selection. The ammunition vertically placed in the cabin is circularly dragged along the optimum ammunition trajectory by the drive chain. In order to analyze the dynamic properties of drive chain and the stability of ammunition, all links of drive chain and the double-row rollers of ammunition rack are simplified as spring-damper elements. The full dynamics models of drive chain and the stability model of ammunition are established by use of multi-body dynamics and kineto-elastodynamics methods. A numerical simulation of the full dynamics models is performed by adopting Matlab software. The stability modelof ammunition is solved. Simulated results show that the velocity and acceleration of drive chain fluctuate within a small range. The dynamic response and drastic characteristic of centrifugal forces are dominated by the shape feature of the trajectory. The normal stability of ammunition is influenced by the drastic characteristic. The tangential stability is determined by the inertia forces of ammunition and the dynamic parameters of drive chain. The analysis shows that the ammunition has high normal and tangential stability. The tangential accelerations of chain and the normal accelerations of ammunition rack are measured. It can be found that the measured data are consistent with the simulated results. Key

The distribution of dust concentration in battlefield plays an important role in the study of anti-dust interference of laser fuze. Based on the computational fluid dynamics method, the RNG k-ε model and the discrete phase model are used to simulate the distribution rule of dust raised during tank moving. The dust distribution graphics and the changes of mean concentration with time on different cross sections in the computational domain are analyzed, and the influence rule of moving speeds of tank on the concentration distribution of raised dust is obtained. The results show that the dust concentration near tank tail changes more rapidly, while the dynamic range of dust concentration far away from the rear area of tank is larger. The influence of gravity on dust diffusion can be neglected, and the area of dust distribution is larger when the tank moves faster. Besides, the dust concentration decays exponentially in vertical direction. Key

A radiator air side CFD model and an optimization model of radiator core shape based on CFD are established for reducing the airflow pressure drop and the volume of vehicle engine radiator core to save the cooling fan power and the vehicle engine compartment space. Under the preconditionof satisfying the requirement of heat dissipating capacity, the shape of a plate-fin radiator core is optimized based on genetic algorithm by taking the air side pressure drop and the volume of its core as the target functions. The heat dissipation performance of the optimized radiator was verified. The optimized results show that the proposed optimization model is feasible. The primary and secondary sequences of the variables affecting the optimization targets are found by using an orthogonal experimental design method. And the height of radiator core has the most significant influence on the air side pressure drop and the volume of radiator core when the air flow rate is constant. Key

Rational intelligent and information design of armored vehicles is of great significance to reduce the mental workload and improve the effectiveness of armored vehicle occupants. In order to investigate the influences of intelligent design and complexity of information processing modality on occupant mental workload, and based on a new armored vehicle simulation platform, 20 subjects were selected to carry out a comprehensive experiment on the influencing factors of occupant mental workload according to the typical operational task of armored vehicle commander. The test results show that the NASA-TLX rating scale score, alpha band absolute power and task false operation rate under the condition of high-intelligent task are lower than those under the condition of low-intelligent task, and the saccade average peak speed under the condition of high-intelligent task is higher than that under the condition of low-intelligent task; in the audio-visual dual modalities task, higher NASA-TLX rating scale score, theta band absolute power and average pupil diameter are observed compared with the single visual modality task. The occupant mental workload under the condition of high-intelligent design is significantly lower than that under the condition of low-intelligent design, and the automation operation and intelligent human-computer interaction mode can effectively reduce the occupant workload of occupant under the high demand for information. The occupant mental workload under the condition of audio-visual dual modalities task is significantly increased compared with the single visual modality task, while the use of dual audio-visual modalities information processing mode is conducive to ensure a better performance under multi-task demands. In addition, the different physiological measurement indices have distinguished sensitivity and diagnostic ability to the influencing factors of mental workload.

In view of the steering theory and independently controlled torque of sixwheel independent electric drive skidsteering vehicle, a motion control algorithm is proposed based on the problems of driving force optimum allocation and control stability. The driving control algorithm consists of three parts: a speed controller, a steering controller and a tire force optimum distribution controller. The speed controller and steering controller are designed to determine the generalized longitudinal force and yawing moment required to achieve vehicle steering. The tire force optimization distribution controller determines how much torque should be generated at each wheel based on the vertical load of tire. The simulation results show that the tire having the bigger vertical load has the more driving torque on it. Compared with the equal distribution method, the optimum distribution method shows that the tire load rate is decreased by 979%.

A suitable simplified shifting control method is designed for using automated mechanical transmission(AMT) to realize the shifting of bilateral electric drive tracked vehicle. AMT is a clutchless two-speed planetary gearbox. Gear shifting is electric and driven by wire. During synchronizing phase, the speed of input shaft is roughly synchronized using traction motor; during gear engaging phase, the accurate speed matching is supposed to be ensured by the synchronizer. Two gearboxes are used for vehicle shifting. Their shifting processes start simultaneously and last independently. Upshifting and downshifting are tested for many times when driving forwardly on soft soil land. Test results show that shifting is executed successfully and efficiently; the synchronizers hardly lock to cause wear; upshifting needs longer time than downshifting as vehicle speed remains unchanged; upshifting and downshifting times both tend to be longer as vehicle speed becomes higher; two gearboxes accomplish shifting almost simultaneously; while shifting, the environment mainly causes vehicle speed reduction, and hardly causes the speed difference of vehicle track.

In-bore real-time fuze setting via primer is needed to increase the ammunition first round hitting probability of current large or middle caliber gun. The energy isolation system is designed for isolating the setting energy from the primer firing circuit and the firing energy from the setting circuit by establishing the boundary conditions of the isolation system and giving a set of functions that meets the boundary conditions. An energy isolation system for a specific kind of firing energy is designed by setting the parameter values of the functions. The isolation system has been experimentally proved to successfully isolate the firing energy and the setting energy. The firing energy loss on isolation system is very small. Key

Trade-off analysis is a key link of quantitative requirement determination of reliability/maintainability/supportability/testability (RMST) in the process of armored vehicle demonstration, but an effectivemethod is absent. A method to balance RMST of armored vehicle based on system effectiveness is proposed. Based on the operation and management conditions of armored vehicle, an armored vehicle system effectiveness model is set up, which is made up of three parts, including operational readiness, battle dependability and capability. Two kinds of methods are proposed for the trade-off analysis of RMST, which are trade-off analysis methods based on comparison and sensitivity, respectively. This providesan effective method to determine RMST quantitative requirement of armored vehicle, and improvesystem effectiveness.

A method of evaluating the mental workload of armored vehicle crew based on task-network model is proposed based on multiple resource theory (MRT), and a crew's task-network model based on information executive channel is built in terms of information processing method under consideration of armored vehicle crew's operation characteristics. An example of target discovering and firing task of an armored vehicle gunner is analyzed and evaluated. The results indicate that the proposed method could describe the change of crew's mental workload during the whole task. The time nodes and reasons of abnormal mental workload could be found out effectively using the proposed method and the mental workload of crew could be quantitatively evaluated.

The motion control method mainly based on kinematics equations cannot accurately describe the relationship between the driving joint torque and the vehicle body trajectory and attitude because of the many degrees of freedom of motion and complex posture adjustment of articulated suspension vehicle. A general dynamic optimal control framework suitable for the overall posture adjustment of the leg-wheeled robot vehicle is established based on the centroidal dynamics model and the quadratic programming method. In the controller, the wheel-ground reaction force is directly controlled by using the quadraticprogramming method based on dynamic model and the inverse kinematics control. The above control method is used to simulate the posture adjustment of roll, pitch and composite attitude of articulated suspension vehicle and its application on bumpy road. The results show that the dynamic optimal control method of dynamic posture adjustment can meet the requirements of the real-time performance and control precision. Key

In order to detect the risky driving status of heavy duty vehicle, the double-layer hidden Markov model（HMM）is used for the rollover warning system of heavy duty vehicle, which can identify the driving status dynamically. The data is collected during the typical driving conditions, and the T-G test method is used to delete the abnormal data. The driving limit value of vehicle status is set based on K-means algorithm. Then finally Baum-Welch algorithm is used to optimize the proposed double-layer HMM, and the optimized HMM is used to identify the driving status in real-time. The identification results show that the proposed model can identify the driving status under every single driving condition as well as under the multiple driving conditions accurately and effectively. At the same time this model has a good real-time capacity.

The control parameters can not be provided for the model-based control algorithm, which leads to the undesirable control performances of the system since the depth motion model parameters regarding the unmanned semi-submersible vehicles (USVs ) BQ-01 are unknown. For this purpose, a multi-identification model-based dynamic sliding mode control algorithmis presented for the investigation of system's control problem on the desired depth. In the proposed algorithm, the average-fitting-error method is used to reduce the excessive redundant model parameters, and thusthe optimum model parameters is provided for the control algorithm by switching methods. And the state feedback method is used to bring about the chattering exponential decay of sliding mode controller so as to reduce the settling time. The experimental results of lake trials demonstrates that the proposed algorithm could offer the best model parameters for sliding mode control, and the dynamic sliding mode control with multi-identification models is capable of ensuring BQ-01 system to achieve the ideal control performance. Key

A robust adaptive control approach based on cubic Hermite spline interpolation (CHSI) and neural network is proposed for the path tracking of underactuated unmanned surface vehicles (USVs). A smooth nonlinear desired path is obtained by using CHSI method to fit the way-point, which solves the problem of swing and twist of USV caused by traditional linear path. Based on the Serret-Frenet frame, an adaptive line-of-sight (ALOS) guidance law is setablishedto improve the rate of convergence and reduce the oscillation. Considering the influence of model uncertainties of USV and environmental distur- bance,a concise robust adaptive neural network controller was developed. The proposed control strategy can effectively improve the accuracy and quality of path tracking control, and has the advantages of less learning parameters and computing load. The convergence of the system is proven through stability analysis, and the effectiveness of the proposed control scheme is verified by using the simulation examples. Key