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

The quasi-static and dynamic material properties, including the strength relation and fracture criterion, from room temperature to 250 益are investigated using a universal testing machine, a torsion testing machine, a split Hopkinson tension bar and the Taylor impact test. The Johnson-Cook constitutive relation with a modification on the strain hardening term and the Johnson-Cook fracture model with a mod- ification on the temperature softening item were proposed to fit the test results. The material constants were calibrated by a combination of experimental tests and numerical simulations. It is concluded that the strain strengthening and temperature softening effect is obvious, while the strain rate hardening effect is not significant; the fracture strain increases with temperature and strain rate and decreases with stress tri- axiality.

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.

In order to ensure high dispersing velocity of the submunitions in the low overload dispersing environment, a new piston central dispersing mechanism was devised and working process of the dispersing mechanism was researched. The characters of this kind of mechanism were as follows: the trust force from the piston to the submunition was transmitted by the beveled sabot; the powder burned in the highpressure chamber and the generated powder gas did work in the lowpressure chamber; the initial trust peak was reduced, and so on. According to the working principle of the piston central dispersing mechanism, the force analysis of piston, sabot and submunitions were carried out, and the interior ballistics model of the new mechanism was established. It is proved by the simulation calculation that, this new piston central dispersing mechanism not only can supply a dispersing velocity more than 50m/s, but also can control the overload of submunitions under 1000g. The interior ballistics model can be used to guide the design of the new piston central dispersing mechanism.

Because the fixed parameters of the extended state observer(ESO) reduce the estimation precision of “total disturbance冶and control effect for the systems which the parameters of the controlled objects change largely and fast or there being serious and uncertain outside disturbance, an adaptive active disturbance rejection controller ( ADRC) based on BP neural network was proposed. The significance of introducing adaptive ESO as well as the structure of ESO was analyzed, then the adaptive ESO which parameters are adjusted online by means of BP neural network was applied to ADRC. Simulations show that the improved ADRC has higher estimation precision, smaller range of controlling quantity, high robustness and anti-interference performance compared with conventional ADRC.

The investigation on the dynamics process of launch of ammunition under different conditions is important for improving its performance during design and contributes to adapt the complex variable modern battlefield for the ammunition. For the purpose of improving the firing accuracy and flight stability of an armour-piercing fin-stabilized discarding sabot, the sabot dynamic discarding behavior after the projectile being ejected from the muzzle at non-zero angles of attack and sideslip is simulated by coupling the computational fluid dynamics and the six degree of freedom exterior ballistic code through the unstructured dynamic mesh technique and user defined function. The flow field characteristics and the trajectory parameters of all sabots are obtained. In addition, the aerodynamic coefficients of projectile are also obtained. The numerical results show that the asymmetric flow field of the sabots can be observed under the influence of the asymmetric inflow. This will lead to the nonuniform distribution of pressure on the sabot surfaces. The different trajectories of three sabots appear due to the unsynchronized and asymmetrical discarding of sabot. The increased aerodynamic interference between projectile and sabot reduces the firing accuracy and flight stability of projectile.

In order to cope with armored target with double explosive reactive armor, it is necessary to study the field of explosive reactive armor systematically. Based on the research on the flying plate motion law of the double explosive reactive armor, a theoretical model of applied field about double explosive re- active armor has been developed. Using the model, reaction time of double-layer explosive reactive ar- mor爷s applied field has been studied under the conditions of different arranged angles and wedge angles. The flash X-ray test is accomplished to verify the theoretical results. The results show that the arranged angle and wedge angle have a larger influence on explosion field, in the certain range, making reaction time of applied field improved about 1. 75 times. The calculation results have a good fit to the experiment results.

To improve the accuracy and real-time performance of the the Received Signal Strength Indica- tion (RSSI)-based location system,an estimation algorithm based on adaptive scaled Unscented Kalman Filter (UKF) is proposed. By analyzing the RSSI location model, this new algorithm convents the loca- tion problem into estimation of nonlinear system model. It can estimate the target position and the RSSI channel attenuation parameter simultaneously by using the scaled symmetric sampling and the modified Sage-Husa noise statistic estimaters. The experimental and simulation results show that, compared with standard UKF, the proposed algorithm can effectively reduce the state estimation error, improve the filter stability and provide more better accuracy for target location.

Explicit finite software LS-DYNA and tracer point method are used to study the nice partition between useful jet and liner material. The useful jet is divided into four sections in terms of velocity distribution, such as high speed(vj 逸5 km/ s), sub-high speed(4 km/ s臆vj < 5 km/ s), medium speed(3 km/ s臆vj <4 km/ s) and low speed(2 km/ s臆vj <3 km/ s). The result indicates that the useful region of liner is a thin-wall cone with variable thickness along axial direction. The highest speed section of useful jet is nearby the top of liner, and its thickness is 0. 12 thickness of liner. The lowest speed section is in the lower part of liner, and its thickness is 0. 46 thickness of liner. The material in rang of about 0. 2 height from the bottom of liner can not generate useful jet. Liner material is stripped progressively from the inner side of liner in the process of jet forming. The thickness and mass ratios of useful region to liner are of exponential distribution along axial direction of liner. It can offer a reference the design of efficient shaped charge and composite liner.

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.

Traditional thermite has high enthalpy of reaction, but its slower energy releasing rate and lower energy transforming efficiency restrict its application fields. The appearance of super thermite, i. e. the metastable intermolecular composite(MIC), resolves this problem successfully. Compared with other preparation methods of MIC, the arrested reactive milling ( ARM) has many apparent advantages. Current progress in MIC prepared by ARM is reviewed. The kinds of MIC formulation up to now are summarized. The influence of processing parameters and ambient conditions on the structure and properties of MIC is analyzed systematically. The limitations of milling model and combustion model about MIC are pointed out. In addition, the future research direction and focus of MIC prepared by ARM are suggested.

Based on the 3-dimensional N-S equations, simulation of flow field over a high-speed spinning projectile was carried out to investigate the generated mechanism of Magnus effect. Spinning was implemented through sliding mesh method. The Magnus force and moment coefficients variation with angle of attack were presented. The computation results have a good agreement with the experimental date. The generated mechanism of Magnus effect were analyzed by the flow field structure. The results show that asymmetric distortion of circumferential surface pressure and shear stress distribution, boundary layer distortion, distortional eddy generated at high angle of attack are the fundamental reasons for Magnus effect. Boat-tail has a great influence on the Magnus force and moment.

The measuring precision of geomagnetic attitude detection system is affected by a variety of noise sources. Firstly, an extended Kalman filter model is established by using a simplified ballistic equation of the projectile's passive period, and then the adaptive filtering process is realized through adaptive estimation of the system noise, measurement noise and steering gear noise. Finally, the adaptive filtering method is simulated. The results show that the adaptive Kalman filter algorithm has strong feasibility, and applies to the geomagnetic attitude detection system.

An one-dimensional hydrodynamic simulation model of electronic unit pump fuel system is established using AMESIM software, and the experimental verification is made for the proposed model. The effects of length, inner diameter and roughness high pressure fuel pipe structure on oil supply pressure, injection pressure and fuel injection quantity of electronic unit pump fuel system are analyzed through numerical simulation. The simulated results show that the structural change in high pressure fuel pipe leads to high pressure volume, flow resistance，throttling loss and dissipation of system, which affect the performance of fuel system. Irregular change in system performance would appear if the high pressure fuel pipe is too long or its inner diameter is too small.

Zirconium gallate (Gal-Zr) zirconium/ copper gallate (Gal-ZrCu) were synthesized firstly by using gallic acid, zirconyl nitrate and copper nitrate as raw materials, and was characterized by elementary analysis, X-ray fluorescence diffraction ( XRF ), Fourier transform infrared ( FTIR ) spectroscopy and TG-DTG technique. The sample of propellants containing Gal-Zr and Gal-ZrCu were prepared by extrusion technology, and the effects of Gal-Zr and Gal-ZrCu on combustion properties of DB/ CMDB propellants were investigated. The results show that Gal-Zr and Gal-ZrCu are excellent and environmental-friendly catalysts, and they possess good catalytic effect on combustion of DB propellant. However, the results indicate that Gal-Zr or Gal-ZrCu is not ideal.

A platform-sling model is established to study the dynamic response of airdrop platform. An uniform equivalent point Newton-Rapshon iteration method is presented. In order to study the unsteady fluid behavior, the time domain is discretized, and an ALE base finite volume method is used to solve the NS equations. The aero-force is obtained and imposed on the platform. The equivalent point method is validated through commercial software RECURDYN. The results show that the equivalent point method can well represent the slack-taut cases of the sling system. It can also be found that the laminar flow model is used to describe the acting force of fluid on plate well at low Reynolds number. Finally, the comparisons are made between the steady and unsteady FSI models. The time history of unsteady fluid force displays severe oscillation while the steady fluid force varies evenly.

This work focuses on the influence of rotating speed on local lubrication and friction charac- teristicsof wet clutch. A thermal mixed lubrication model in plane contacts is developed, and the pin-on-disc tests are conducted on universal material tester (UMT). Local pressure distribution, load sharing ratio, contact area ratio, local temperature rise and friction coefficient are analyzed. The results show that, as the rotating speed rises, hydrodynamic pressure grows significantly, while real contact area of friction pair reduces obviously. The main normal load is supported by hydrodynamic film. The friction coefficient is mainly affected by the change of asperity contact area, and has rough congruent relationship with the real contact area ratio. Key

In order to solve the problems of that the camouflage evaluation index is too single and the evaluated results is lack of objectivity, a new comprehensive evaluation method which uses many camouflage evaluation indexes and is based on gray clustering theory is presented. At first, according to the purpose and object of evaluation, this method selects brightness contrast, color features, texture features, edge shape and spot size as the indexes of evaluation system;Secondly, the entropy method is presented in order to solve the weight of each index under the same background; At last, the camouflage effect is comprehensively evaluated by use of grey clustering decision evaluation algorithm. The different camouflage design schemes are experimentally evaluated in the same background. The result shows that the method is an objective and reliable comprehensive camouflage evaluation technology.

Ultrasonic measurement of burning rate is an advanced technique. For application of ultrasonic measurement in solid rocket motor test, some typical materials used in solid rocket motor (SRM) are measured by ultrasonic technique, and their ultrasonic signal signatures were obtained. The real-time thickness variation of solid propellant at ordinary pressure is measured by an ultrasonic transducer mounted on the outside of the motor shell. A data processing method is proposed to manipulate the echo wave for real-time measurement of burning rate. The proposed method was successfully used in a hot fire test in which the propellant burns at ordinary pressure. The variation in thickness of propellant and its burning rate at ordinary pressure was obtained. The influence of temperature distribution near burning surface on burning rate test is analyzed. The results show that for motor with metal shell, a window must be made on the metal shell to let enough ultrasonic wave energy penetrate the interface between shell and isolator, and for composite shell motor the probe can be mounted outside the shell directly. The influence of temperature variation near burning face caused by combustion on measurement is negligible. The proposed data processing method can be used effectively to obtain the variation of grain thickness.

The shock initiation experiments on the PBXC03 explosives in two different formulations, namely, the medium and the coarse one, are performed to obtained in-situ manganin piezoresistive pres- sure gauge data at various shock pressure. The loading technique of explosive plane-wave lens and the at- tenuation technique produced by both air-gap and Al-gap are used in the one-dimensional Lagrangian ex- perimental system. The Numerical simulation on the shock initiation of the two kinds of PBXC03 explo- sives are performed by using the two-dimensional hydrodynamics software DYNA2D. The computational propagation trajectory and pressure growth process of the shock front agree well with the experimental da- ta, and the computational run-distance-to-detonation points show good agreement with previously pub- lished Pop-plot data, which confirms that the mesoscopic reaction rate model used in this paper is reason- able.

In order to explore the interaction between nitrocellulose (NC) and nitroglycerine (NG) of composite modified doublebase (CMDB) propellants, the radius of gyration of NC molecules and radial distribution function for different atoms of NC and NC/NG blends were calculated by using molecular dynamics simulation(MD). It was found that the radius of gyration of NC molecules was independent on the temperature, while the number of NG molecules increased greatly with temperature. Besides, according to the radial distribution function of the models, it was revealed that the Hbond could be formed between NG and NC molecules instead of Hbond in the individual NC molecule, which could decrease the interaction force inside NC molecules, thus increase the radius of gyration of NC.

The armor steel is a kind of protective alloy material which is used in a variety of combat equipment. The welding is a main joining method of armor steel structure. On the base of crack category, characteristics and formation causes of armor steel, the welding materials and welding processes of armor steel, and the measures taken to improve the properties of welded joint were introduced. Those include austenite welding electrode, ferrite and austenite/ferrite dual phase welding electrodes, the processes of arc welding, CO2 gas protection welding and thermit welding of armor steel crack repairing, and the measures taken to improve the properties of the welded joint of heat treatment after welding, ultrasonic impact, toe grinding and tungsten arc welding. The improving measures and development direction of armor steel welding were put forward by analyzing the armor steel welding processes.

The mechanical vibration theory is introduced into theoretical analysis and calculation of penetration process, and a simplified dynamic model of penetration warhead-fuze system is proposed with the purpose of revealing the dynamic response mechanism of circuit module of fuze in penetration process. On the basis of analysis of loading transfer relation, a dynamic differential equation is established based on multi-DOFs spring-mass-damper system, and the dynamic parameters, such as natural frequency and damping ratio, are determined by the harmonic response analysis. Then the dynamic characteristics under different penetration conditions are predicted by numerical integration method, and the reason why the predicted dynamic characteristics differ greatly from the calculated result of the traditional empirical formula is analyzed from the amplitude-frequency response.The credibility of the proposed model was verified through artillery test, and the overload signal in penetration process was collected. The calculated value of overload signal is in agreement well with measured result. The result shows that the proposed model is more suitable to predict the dynamic characteristics of warhead or fuze in penetration process. It is shown that penetration warhead exhibits obvious vibration amplificatory characteristics and periodic oscillation characteristics in considering the axial vibration effect, and the dynamic characteristics of warhead are the most important factor affecting the dynamic characteristics of circuit module in fuze.Key

For the better stability of electromechanical braking of tracked vehicles equipped with hybrid electromechanical transmission(EMT) under all road conditions， a parallel electromechanical braking force distribution strategy with variable proportion coefficient based on motor saturation was proposed. This strategy effectively deals with the constraints of road adhesion conditions， driver intention， slip rate， and battery state of charge， and significantly reduces track slip and motor braking force saturation. Firstly， the dynamic model of the EMT was established， and the electromechanical braking characteristics and dynamic constraint boundary were analyzed. Secondly， the expected dynamic braking force distribution based on motor braking saturation was proposed. In addition， the slip rate controller was designed to calculate the total braking force and coordinate electromechanical braking force distribution to meet the braking stability target in all working conditions. Then， the extended state observer was applied to accurately estimate the time-varying road adhesion coefficient， and the control parameters were optimized based on genetic algorithm. Finally， hardware-in-the-loop simulation was applied to simulate the high-speed emergency braking. The results showed that the electromechanical braking control strategy for all road conditions considers the braking energy recovery efficiency and the safe operation of the motor， and effectively reduces the pressure of the hydraulic brake and improves the brake life and safety in the braking process.

In order to overcome the deterioration of engine performance at plateau, several forms of supercharged programs were discussed. A new project called composite adjustable supercharged program(CASP) was proposed, and the relevant simulation was carried out. A V-type supercharged diesel engine with 8 cylinders was adopted to establish the numerical models. Two plateau strategies and CASP were compared. The results demonstrate that CASP is effective to enhance the performance of engine at low speed dramatically. The rated power of CASP at plateau can recover to 89.7% of the plain level, and the maximal torque is decreased by 3.7%, while the speed adaptive coefficient rises up to 1.56.  After all, CASP is an effective project to recover the power of diesel engine at plateau.

In order to resolve the cooperative search problem of multiple unmanned air vehicles (UAV) in a uncertain environment, this paper presents a basic framework for it first, and then gives the search environment and UAV models. Based on them, a cooperative search path decision for UAV to satisfy the maximum turn radius restriction and communication delay is proposed. According to prior knowledge, the environment can be divided as unknown regions, known regions and prohibited areas, and an award function can be designed for a team of UAVs to search the unknown regions and avoid the known regions. By using an avoidance decision, UAV can get rid of the prohibited area ultimately. Finally, these ideas are simulated and compared with the uncooperative search patterns. The simulation results demonstrate the efficiency of the proposed cooperative approach.

Based on the recent researches of the author and his collaborators on penetration acceleration test, the paper summarizes and reviews the researches both in China and abroad on high g acceleration field test during projectile penetration into hard target with high velocity for over the last decade，especially the on-board test application in acceleration test. The paper also summarizes correlative technology on penetration acceleration test, including the anti-high shock capability and calibration of accelerometer, and the anti-proshock ability of battery. At last, based on the existing research works and potential national defense demands, the development trends and problems worth of consideration in the field are demonstrated.

In order to investigate the parameters of shock wave in air blast, the ground reflected overpressures of TNT, HL0（RDX 95%+Wax 5%）and HL15（RDX 80%+Wax 5%+Al 15%） at different locations were tested. Test resultes show that the peak overpressures of HL15 are maximal at 3 m, 4 m and 5 m from the center of explosion compared with TNT and HL0. The peak overpressures of three explosives get closer to each other at 7 m, 9 m and 12 m from the center of explosion with the increase in distance. Power exponential formulas are used to fit the relationship between peak overpressure and scaled distance. The fitting results show that the magnitude order of peak overpressures is HL0≥HL15>TNT for R≤ 2.6 m; the magnitude order of peak overpressures is HL15> HL0 >TNT for 2.6 m

Tungsten, with high chemical stability and high temperature characteristics, is widely used in modern industry and military field. However, the resources of tungsten are non-renewable, the price be- comes more and more expensive and its processing is difficult. With various kinds of surface engineering technology, coating tungsten and its alloy on matrix material surface,can give the matrix materials excel- lent physical and chemical properties, not only broaden its application scope, but also save tungsten re- sources. This paper summarized the main coating technical means of tungsten and its alloy at home and abroad, the characters and research status of these technologies are introduced,the development direction of the coating is also prospected.

Digitized modeling method of riding road of vehicle is researched for improving the accuracy of vehicle virtual test results. Dual-track real profilometer is used to measure the periodic medium wave and long wave roads. The credibility and veracity of measuring method are verified by comparing actual measuring data with wave curves which are built based on the design parameters of road outline. Then two kinds of random roads, i.e., residue road and gravel road, are measured by using a dual-track real profilometer, and the actual road roughness data is obtained. Power spectral density (PSD) of actual measuring data is estimated by Welch algorithm based on modified periodogram method, and the rank of measuring random road is assessed according to GB/T 7031—2005 national standard. The 3D random road models are built by means of harmony superposition method, of which PSD is consistent with actually measured data, and its credibility is verified consequently.

A miniature embedded and holistic and anti-high-overload structure of micro inertial measurement unit in which micro-electromechanical systems(MEMS) based inertial sensor is used is proposed for the environment features of small installing volume and high-g launching overload of the guided ammunition. Based on the analysis of design principle and requirements MEMS inertial measurement unit(MEMS-IMU) structure, the structure of MEMS-IMU is designed and manufactured, and its actual MEMS-IMU is built. The volume and weight of MEMS-IMU are reduced by making reasonably use of its installing space, and its anti-high overload performance is evidently improved by using one-off embedded design and process technique, and the special filling material and techniques. The results of the finite element model analysis show that this structure has the good dynamic performance, and the results of the land and gunshot experiments also show that it can meet the requirements of the guided ammunition in volume and anti-high overload.

Dynamic mechanics parameters of composite fragile projectile and aviation organic glass areobtained by split Hopkinson press bar (SHPB) experiment. The reasonable material constitutive modelsare chosen to model the fragile projectile and organic glass based on LS-DYNA software. The simulationof the fragmentation process of fragile projectile penetrating target is carried out with smoothed particle hydrodynamics(SPH) method. The influence rule of projectile frangibility and damage performance is researched by analyzing the falling speed and impacting angle of projectile, and the relevant results aresummarized by comparing the fragile and damage performances. Simulation result shows that the perform-ances of fragmentation and penetration increase as the incident velocity increases, and at the same velocity, the performances of fragmentation and penetration under normal penetrating are superior to obliquepenetrating. Numerical simulation and analysis of results offer a theoretical reference for the study offragile projectile.

The attenuation rule of shock wave in the materials is studied. A polyvinylidene fluoride (PVDF) film pressure sensor is used to obtain the attenuation data of shock wave driven by plane-wave lens-driven explosives in PMMA material. The plane-wave lens-driven explosive with high and low detonation velocities is numerically modeled, and the calculation termination due to the reversal of largely deformed explosive grid overflowing the metal cylinder is dealt with. Comparative analysis of simulated and experimental results shows that the shock wave traveling through 50 mm thick PMMA is attenuated from 7.4 GPa to 4.02 GPa. The research provide the experimental data for the attenuation of shock wave in PMMA, and the matters needing attention to the installation of PVDF film pressure sensor are presented.

The ultrasonic vibration cutting processing of electroplated diamond wire saw for hard and brittle materials was researched. The experimental result shows that the cutting method features high removing rate, high surface quality and small crushes compared to non-ultrasonic vibration process. Tms is a new and effective method in cutting hard and brittle materials.

The multiphase detonation model of plasma jet ignition is calculated by the two-dimensional viscous CE/SE method. The influence of viscosity on the detonation flow field under the condition of the plasma jet is analyzed through N-S equation and Euler equation. The influences of differentignition temperatures and time of the jet and initial droplet radius on the process of deflagration-to-detonation transition (DDT) are analyzed. The calculated results show that the viscosity has a very small effect on the propagation of detonation wave, while has some effects on the detonation parameters. DDT distance can be significantly shortened by improving the initial jet ignition temperature and time. When the plasma jet has fully ignites explosive mixture, a continual increase in jet time has little effect on the decrease in the distance of DDT. When the droplet radius is less than 50 μm，the peak pressure of detonation wave increases with the increase in droplet radius. When the droplet radius is more than 50 μm, the peak pressure of detonation wave decreases with the increase in droplet radius.

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 research on penetration and perforation into reinforced concrete targets can provide the necessary support for effective damage effect of earth penetrating weapons and effective protection capabilityof reinforced concrete structures. The advances in this field are reviewed from the aspects of experimental research, empirical and semi-empirical formula, theoretical modeling and numerical simulation. The typical experimental phenomena of the contrast experiments of plain and reinforced concrete targets and the non-normal penetration experiments of reinforced concrete targets are summarized, the empirical and semi-empirical formulas for calculating penetration depths, residual velocities, etc. are collected, the main research achievements on penetration and perforation into reinforced concrete targets, which include cavity expansion theories, equivalent layered methods, approaches considering the direct impact of reinforcements, etc. are concluded, and the numerical simulations on penetration and perforation into reinforced concrete targets using different numerical methods, modeling approaches, material modelsare summed up. The research status is evaluated, the experiments and theoretical models are discussed and analyzed, and the potential research directions are also predicted.Key