With the wide application of intelligent collaborative algorithm and autonomous technology in the field of air,space and sea equipment,the multi-domain cluster distributed collaborative autonomous control technology has also been deeply studied,and significantly improved the degree of intelligent autonomy of unmanned equipment.Based on the development needs of distributed intelligent autonomous control technology of multi-domain cluster,this paper reviews the relevant references related to multi-domain cluster distributed intelligent autonomous control technology and the research status at home and abroad.The relevant strategies,key research directions and advanced methods of multi-domain cluster collaborative autonomous control technology are deeply analyzed.The relevant key technologies and methods are summarized,and the future development trend is discussed.This paper provides a reference for improving the collaborative autonomous control ability of unmanned cluster system.

Ceramics will undergo when operating under long-term high temperature and high stress conditions,which promotes the generation and propagation of cracks and eventually leads to failure.The evolution of creep damage is closely related to the microstructure of ceramics.Establishing a microscopic finite element model of ceramic materials is conducive to a more in-depth understanding of this relationship.For this purpose,a dynamics-based 3D crystal deposition model is proposed by taking Si₃N₄ ceramics as the research object.The sintering process of Si₃N₄ ceramics is simulated by the Monte Carlo Potts crystal growth model,striving to reproduce the dynamic growth process of Si₃N₄ ceramics as well as the microstructure characteristics,such as the size,shape and orientation distribution of crystals after crystallization,and the size,shape and distribution of pores.Based on the geometric boundary description generated by this simulation,a Python script is automatically generated to complete the finite element modeling in a FEA software.The statistical elastic constants of Si₃N₄ ceramics are verified using this finite element model.By comparing the calculated results with the experimental data,it is shown rhat the relative error is approximately 4.5%,which shows a good agreement.

The near-field blast wave characteristics(0.06m/kg^1/3<Z<1m/kg^1/3)of typical charge structures(sphere and cylinder)are investigated for supporting the protection of sympathetic detonation through near-field explosion experiment and numerical simulation.The load of near-field blast wave of cylindrical charge is experimentaly investigated,and a numerical caculation model of near-field explosion is established,The near-field blast wave structures and spatial distributions for peak parameters of spherical and cylindrical charges are analyzed.The results show that the near-field explosion loads are affected by the detonation products,and the reflected overpressure histories exhibit multi-peak and jagged form,which are due to the effects of multiple reflection waves and the complex flow of detonation products after the Mach region.The inverse of pressure and density gradient between detonation products and shock wave interface leads to the Rayleigh-Taylor instability effect.The generated interfacial microjets of detonation products promote the complexity of multiple reflection wave structure,resulting in large uncertainty of measured results of near-field reflected loads.The near-field incident overpressure curve shows a typical double-peak structure,which comes from the air shock wave and detonation products.Due to the structural effects of charge,the incident wave loads of cylindrical charge distribute non-uniformly along the axial and radial directions.The spatial distribution of incident parameters drastically varies when the azimuth angle is between 30°-60° because of the bridging wave effects.The modified predictive model can capture the incident peak overpressure and impulse in the range of 0.06m/kg^1/3<Z<1m/kg^1/3 for cylindrical charge(L/D=0.8)with center initiation under arbitrary azimuth angle,and the relative deviations among predicted results and numerical results of incident peak overpressure and impulse are less than 20%.

In order to improve the damping performances of suspension systems for tank and armored vehicle, a basic structure with"inerter-spring” quasi-zero stiffness is proposed. Dynamic simulation and parameter optimization of inerter continuous control and inerter on-off control are carried out with the parallel structure of inerter, spring and damper as suspension system. The results show that the vibration acceleration of vechile body is greatly reduced and the ride comfort is obviously improved with the quasi-zero stiffness control strategy. At the same time, the damping coefficient is reduced and the damping efficiency is improved. By analyzing the instantaneous power of each component in the process of suspension damping, it is found that the controllable inerter plays an role in energy compensation so that a part of the vibration energy can be transferred and converted dynamically and repeatedly between the spring and inerter, breaking through the traditional damping mechanism of spring buffer energy storage and damping heat generation energy consumption, and achieving better damping efficiency.

With the development of weapons and equipment towards diversification, versatility and systemization, modern warfare requires the increasingly high levels of command and decision-making in terms of overall planning, timeliness, and scientificity. The construction of task planning systems for major military powers is urgently needed and developed rapidly. In order to better promote the research of task planning systems, a comprehensive review is conducted on the tactical-level task planning methods. This paper reviews the development history of task planning systems and the methodological framework of tactical-level task planning, with a focus on summarizing the main implementation methods and future development directions of tactical-level task planning. In terms of the main implementation methods, the main methods involved in various aspects such as task description, task decomposition, task allocation and scheme evaluation are overviewed and analyzed. In terms of future development direction, the suggestions on standardization, universality, credibility, and other aspects are put forward.

When using infrared imaging to detect the scenes of flames generated by high-temperature combustion of objects and high-temperature fragments generated by object explosions,the rapid increase in scene temperature within the infrared imaging field of view leads to an increase in the dynamic range of infrared imaging,the image saturation,the loss of detail information,and the submergence of weak targets by high-temperature backgrounds.Therefore,it is urgent to develop an anti-fire interference high dynamic infrared imaging detection technology.This article briefly introduces the current development status of high dynamic infrared imaging technology with anti-fire interference capability.On this basis,the development trend of high dynamic infrared imaging detection technology with anti-fire interference capability is analyzed.

The dynamic and accurate tracking of the center-of-mass reference trajectory in complex terrain is crucial to ensure the stable execution of tasks for wheeled-legged hybrid platform. A dynamic locomotion control strategy is proposed to enhance the terrain adaptability and pose tracking capability of the platform. Taking into account terrain factors, a single rigid body dynamics model including wheel dynamics is established. The system dynamics model is then transformed into the standard form of state-space equations through an approximate simplification. Considering the coupled motion of the wheels and legs, a hybrid locomotion control method based on feedforward and feedback torques is introduced. The quadratic programming algorithm is used to solve the optimal ground reaction forces, and the Jacobian matrix is used to map these forces into the joints for feedforward torque generation. To address the external disturbances caused by the environment that may hinder the system's ability to perform optimization calculations in a short time frame, the joint torque feedback control is introduced to promptly correct the pose tracking errors. This enables the system to respond rapidly and accurately to the external disturbances, thus effectively improving its robustness and stability. Simulated results demonstrate that the proposed method significantly enhances the dynamic pose tracking accuracy of the platform in complex terrains, ensuring smooth platform operation. This method provides strong support for the engineering application of wheeled-legged hybrid platforms in complex terrains.

The magnetic gradient tensor system (MGTS) is the application basis for detecting the full tensor gradient field of magnetic target. Regional magnetic anomalies leads to a magnetic gradient tensor field, which MGTS uses as an information source to achieve the magnetic gradient tensor measurement through the differential calculation between vector magnetic sensors. Compared to the magnetic total field and vector field detection equipment, MGTS has high resolution, large information content, and strong anti-interference ability, which can obtain more potential physical property information of targets. The progress of target detection technology based on MGTSs worldwide is studied to provide theoretical reference and technical support for the modernization and informatization construction of magnetic detection equipment in China. The development process and stages of modern magnetic detection technology are elaborated, and then the two types of MGTSs based on superconducting technology and flux gate method, as well as their applications areintroduced and summarized. The calibration, compensation, noise reduction, magnetic target positioning and recognition technologies of MGTSs are reviewed. Finally, the design ideas for future high-precision magnetic gradient tensor detection instruments are prospected, and the current problems and development trends of various key technologies for magnetic gradient tensor detection are summarized.

For solving the problems of nitrogen escape and splash in the droplet transfer process of high-nitrogen steel additive manufacturing, the experiment of droplet transfer in an ultrasonic frequency pulsed gas metal arc (UFP-GMA) additive manufacturing is carried out, and the influences of different ultrasonic frequency pulsed current superposition modes and pulse current frequencies on the stability of high-nitrogen steel droplet transfer are studied, The process parameters that can realize the stable droplet transfer of high-nitrogen steel additives were obtained. The experimental results show that the of one-pulse-one-droplet transfer can be realized under the pulsed gas metal arc (P-GMA) process conditions, but the transition stability is poor and the splash is obvious. Superimposing the ultrasonic frequency pulse current at the base current stage of P-GMA or both at the base and peak current stages is not conducive to the droplet transfer, and the problems such as short circuit and droplet explosion are prone to occur. When the low-frequency (20 kHz) pulse current is applied during the peak stage, its effect on droplet transfer is minimal. However, the medium-frequency (40-60 kHz) pulse currents can be superimposed to inhibit the generation of large particle splash, leading to improved stability in droplet transfer, but many small splashes will be formed during the transition when the frequency exceeds 60 kHz.

Thermobaric explosive is an fuel-rich explosive that can inflict severe damage to facilities and personnel in confined spaces due to the long-term pressure generated by explosion and combustion, as well as high-temperature fireballs. Thermobaric explosive involves the propagation of detonation waves in the charge, the scattering of fuel particles in space, and the subsequent combustion process of fuel particles. The coupling process of multi-scale, multi-material, multi-factor and multi-physical field causes the thermostatic damages, which is a significant area of damage research. This paper primarily discusses the research advances in the theoretical underpinnings of formulation design, the impact of formulation's primary components on thermobaric explosive performance and the performance evaluation of thermobaric explosive. It highlights that the future developments in thermobaric explosives will focus on the high chemical potential metal fuels and energy release techniques.Models for simulating the performance of thermobaric explosives should also be highly regarded. In conclusion, the formulation design based on large-scale data from simulations and tests will be a mainstay for driving the development of thermobaric explosives.

Maritime manned/unmanned collaborative systems play a crucial role in enhancing naval operational effectiveness and represent a significant direction in the development of modern naval equipment. This paper focuses on the development of maritime manned/unmanned collaborative systems, reviews the current developing status and relevant foreign projects, clarifies the main characteristics of the systems, condenses and analyzes the scientific issues and key technologies involved, and ultimately provides a comprehensive survey on the development of maritime manned/unmanned collaborative systems. In the future, intelligence, modularity and sparsity will become the important directions for the development of maritime manned/unmanned collaborative systems. However, due to the contradictions between system autonomy and controllability, the development of intelligence and maritime constraints, and the features of manned/unmanned collaboration and existing collaborative frameworks, the system will also face challenges in scale, diversity, security, and intelligence-related aspects.

In order to enhance the maximum dispersal speed of fuel during the explosion of fuel-air explosive (FAE) devices and achieve a more uniform speed distribution, the paper investigates the influences of detonation methods on the radial maximum speed of fuel dispersal in FAE device. Numerical simulation techniques are employed to analyze the influences above while maintaining the overall structure of the existing device. Specifically, the ALE algorithm implemented in LS-DYNA software is utilized to numerically simulate the fuel dispersal in a frustum-shaped FAE device. The changes in radial dispersal speeds of nodes located at identical positions under the conditions of single point initiation, multi-point initiation and approximate line initiation, are compared. The results demonstrate that positioning the initiation point closer to the unit exerts a restraining effect on the dispersal motion of the fuel within that specific element. Additionally, for a certain point on the fuel, the adoption of the approximate line initiation method proves effective in achieving a more uniform dispersal of fuel cloud and mist. This finding serves as a foundational step towards the further refinement of numerical simulations concerning FAE explosive fuel dispersal.

The current radar jamming decision-making method based on reinforcement learning sets the exploration rate parameter according to a single factor and fixed law,which leads to the increase in the number of confrontation rounds required for algorithm convergence.A reinforcement learning-based radar jamming decision-making method with adaptive setting of exploration rate is proposed.Based on the Metropolis parameter adjustment criterion of simulated annealing method,an adaptive setting criterion of exploration rate is derived from the number of radar operating states recognized by jammers,the number of jamming successes,the change rate of algorithm convergence curve and the jammer’s cognition of radar in the process of countermeasures.According to the effectiveness of jamming action,a jamming action space clipping strategy is designed to reduce the dimension of jamming action space and further improve the convergence speed of the algorithm.In the simulation experiment,two different radar working state diagrams are designed and compared by using the Q-learning algorithm.The simulated results show that the proposed method can achieve the adaptive setting of exploration rate when the radar working state transition relationship changes.Compared with the exploration rate setting scheme based on simulated annealing method,single factor and fixed law,the number of confrontation rounds required for the convergence of the proposed method in the two state diagrams is reduced by 18%,26%,45% and 42%,44%,48%,respectively.At the same time,it can also obtain greater benefits and higher jamming success rate,which provides a new idea of exploration rate setting for multi-functional radar jamming decision-making based on reinforcement learning.

To address the issues of systemic inadequacies, lack of correlation, and insufficient consideration of complexity in the effectiveness evaluation of land-based intelligent unmanned combat systems, a graph convolutional network (GCN)-based effectiveness evaluationframework is proposed. The framework aims to leverage GCN technology to precisely evaluate the performance of intelligent unmanned combat systems. A comprehensive set of evaluation index systemis established according to the characteristics of land-based intelligent combat, and this system is mapped onto a graph network structure, enabling a highly abstract representation of the unmanned combat system in complex operational environments. The big data analytics and expert knowledge areused to preprocess and engineer the initial dataset for optimizing the quality of input data. The hierarchical structure of the evaluation index system and the interrelationships among its components are deeply explored by applying GCN's semi-supervised learning mode, thereby achieving a comprehensive evaluation of the effectiveness of land-based intelligent unmanned combat systems. This evaluation framework addresses numerous issues existingin the current evaluation of these systems, offering a dynamic, systematic, and comprehensive solution that demonstrates the application potential of GCN in the field of military technology.

The overload signal of penetrating projectile is of vital importance to reflect the physical process of penetration, which further helps to reveal the mechanism of penetration resistance and the structural response of projectile. It is also an important basis for designing the projectile-fuze system and achieving the precise target strikes.The overload signal is divided into four components: rigid body deceleration, structural response of projectile, response of connection structure and interference signals of sensors. The sources and characteristics of the four components are introduced, and the modeling and evaluation methods for the vibration and sensor-related signals of projectile-fuze system are discussed. For analyzing the components of overload signals, the low pass filtering, mechanical filtering, modal decomposition, wavelet transform, and blind source separation methods are discussed respectively. The accuracies, adaptabilities, real-time performances, and applicabilities of the methods above are also compared. The real-time requirements for overload signal processing, the signal reconstruction methods, the form of rigid body deceleration in complex penetration environments and the challenges brought by high-speed penetration scenario are discussed. Based on the current research status of overload signals processing of penetrating projectiles, the existing problems and possible future research directions are summarized.

To support the theoretical design of the hypersonic missile's terminal effect and meet the development demand of penetration mechanics theory of non-circular projectiles, the penetration mechanism of non-circular projectilesis a key scientific problem required to be solved. A comprehensive review is conducted on the penetration behavior, penetration mechanism, ballistic stability, and structural response of non-circular projectiles.It is a review and summary of the existing research work, aiming to establish a basic framework for researching the penetration problem of non-circular projectiles.Moreover, the new phenomena and mechanisms introduced by the structural changes of non-circular projectiles are highlighted. Three suggestions for the future research of the non-circular projectiles are put forward for the reference of relevant researchers.

The cavity flow and ballistic characteristics of a supercavitating projectile with tail fin under the action of transverse flow when entering water are studied. The vertical water-entry process of the projectile under the transverse flow interference is numerically simulated by using the overlapping mesh technique and a 6DoF dynamic model, and the influence of transverse flow on the cavitation shape, hydrodynamic characteristics and trajectory characteristics of the projectile during water entry is analyzed. The results show that the effect of transverse flow restricts the radial development of cavitation bubble on the windward side, but promotes the expansion of cavitation bubble on the leeward side, shifting the overall cavitation shape along the flow direction. As a result, the wetted area of the windward shoulder and tail fin of projectile is increased, and the distribution of the pressure field near the wetted area is changed, making the amplitude frequency of the projectile’s tail fin beat much greater than that in the absence of transverse flow. The intensification of tail fin beat motion inside the cavitation bubble increases the lift/drag coefficient and accelerates the attenuation of the projectile velocity. Besides, the deflection of cavitation shape along the flow direction causes the swing amplitude of pitch angle on the leeward side to be greater than that on the windward side, thus resulting in a deviation of the ballistic trajectory. Therefore, the transverse flow significantly impacts the trajectory and attitude angle of projectile.

Recoilless launch can reduce recoil effectively,but it causes the reduction in low muzzle velocity.To resolve the conflict between muzzle velocity and recoil force,a reverse jet recoilless scheme based on combustible cartridge and electromagnetic induction ignition is proposed.Energy is transmitted to the ignition head through electromagnetic induction,which ignites the fast-burning propellant and combustible cartridge in the chamber to provide the launch energy.After reaching a certain level of pressure,the Laval nozzle is opened,and gas is sprayed backwards to balance the forward impulse of projectile.For high muzzle velocity recoilless launch,the loading density and chamber pressure are high,and the interior ballistics is prone to instability.To increase the stability of interior ballistics,a classic interior ballistic model during the shooting process is established,The performance of interior ballistics is analyzed and the stability of interior trajectory is studied through numerical simulation.The ballistic test research was conducted to verify the proposed scheme.The results show that the proposed scheme.can be used to reduce the recoil impulse to below 1.5N·s without reducing the muzzle velocity of projectile.The scheme can provide new ideas for the future development of light weapons.

The traditional detection methods have the disadvantages of inaccurate feature extraction and low detection efficiency when processing the complex and dynamic flight trajectory data with real-time change in data length. An proposed flight trajectory anomaly detection method using the gradient-based optimization of long short-term memory network and support vector data description model based on gradient training algorithm optimization (LSTM-GBSVDD)is proposed. The LSTM network is used to extract the key features of variable-length flight trajectories and convert them into a fixed-length sequence representation. A multidimensional hypersphere classifier is constructed using the SVDD algorithm, which is used to model the normal flight trajectories and identify the potentially abnormal flight trajectories. To further improve model performance, a gradient-based training algorithm (GB) is introduced to jointly train the parameters of LSTM and SVDD, which greatly improves the detection accuracy and computational efficiency. The simulated results show that the proposed flight trajectory anomaly detection method using the gradient-based optimization of long short-term memory network and support vector data description model based on gradient training algorithm optimization (LSTM-GBSVDD) has good effectiveness and superiority in dealing with complex and changeable flight trajectory anomaly detection tasks, and has good application prospects.

Personnel are a critical factor in warfare.The damage effects of three types of damage elements,namely,shock wave,thermal effect and fragments,against personnel,are assessed based on the anti-personnel criterion through numerical simulation,experiment and theoretical computation tools.A damage zone of shockwave overpressure against personnel is delineated,and the relationship between scaled blast distance and personnel damage level is established,resulting in the minimum scaled blast distance of damage to personnel being 8.155m/kg^1/3.The spatial distribution of explosion thermal effect is calculated,and the free-field non-fuel air explosive or thermobaric bombs are not suitable for separate assessment of thermal effect on the personnel killing effect is put forward.The generation process of fragments is numerically simulated to obtain the quality,quantity and velocity of fragments.The simulated results are compared with the theoretically calculated results to assess the damage effect of the specific kinetic energy of fragments to personnel.The conclusions can provide reference for the design of warhead and the protection of battlefield personnel.

Unexploded ordnance refers to ammunition that has been disarmed, detonated, ignited or otherwise prepared for use or has been used, and has not exploded due to fuze failure, functional failure, design defects or other reasons after igniting, throwing, launching or burying for various reasons. The research status of safety disposal technology of unexploded ordnance at home and abroad is described,the unexploded ordnance detection technologies, such as magnetic detection, sound-magnetic compound detection and optical detection, and the non-contact disposal and destruction technology principles, such as burning treatment, blasting destruction, cutting treatment, are analyzed, and the advantages and disadvantages of different detection and disposal technologies and their application scenarios are summarized. At last, it is pointed out that the detection and disposal technologies of underwater unexploded ordnance are the focus of the current national defense field, and also the research hotspot. The research on key technologies of safe disposal of unexploded ordnance can provide theoretical basis for unmanned, safe and environmentally friendly detection and disposal of unexploded ordnance in the future.

The control strategy of traditional tank bidirectional stabilizers is difficult to effectively deal with the coupling,nonlinearity and uncertainty in the new generation of all-electric bidirectional stabilizers,while the model-based nonlinear control can make full use of a priori information from the dynamic model of the system to enhance the control effect.Based on this,an electromechanical coupled dynamics model of an all-electric bidirectional stabilizer taking the actuator dynamics into account is established,and a nonlinear sliding mode control method based on neural network compensation is proposed.The sliding mode surface and the improved sliding mode robust control law based on hyperbolic tangent function are introduced to construct the nonlinear sliding mode control function,which can effectively eliminate the system oscillations and improve the system stability.Meanwhile,the multilayer neural network technique is deeply fused to accurately estimate the uncertainty in the system and make compensation for the feedforward,thereby avoiding high-gain feedback.It is rigorously demonstrated by the stability theory based on Lyapunov functions that the proposed control strategy can achieve the asymptotic stability performance of tank all-electric bidirectional stabilizer with continuous control inputs.A co-simulation environment and a semi-physical experimental platform are built.The superiority of the proposed control strategy is verified through a large number of comparative experiments.

Operational command decision-making is the core content of joint combat activities and the key to the success of joint combat action. The paper aims to fundamentally solve the problem about “weak command and decision-making ability of combined formation” from the perspective of cognitive psychology. Based on the systematic analysis of formation operational command decision-making, the bounded rationality decision-making is scientifically mapped from the perspective of dual-process theory. A function model of bounded rationality decision-making is constructed, the types of bounded rationality decision-making are divided, and the cognitive deviation of bounded rationality decision-making is identified. An intelligent hybrid decision-making framework is proposed for warship formation operational command. The strategy of enhancing the bounded rationality decision-making ability of formation operational command is formed. The results show that the research framework is scientific, effective and intelligent, and can greatly improve the commander’s operational decision-making ability. It provides strong theoretical and technical support for the development of the next generation auxiliary decision support system.

Explosive smoke bombs are of great significance in countering the infrared-guided weapons and protecting the high-value military targets. At present, most of the smoke simulation models do not take into account the vector information of explosion and the near-ground particle diffusion effect, and the authenticity of the explosion smoke simulation is low in the near-ground scene where the wall effect and the air turbulence phenomenon are significant. For the poor simulation accuracy of explosive smoke bomb in near-earth scene, a simulation method of explosive smoke bomb structure model in near-ground scene is proposed. This method uses the particle position information to replace the life cycle of the particle model. Based on the Gaussian puff model, a near-ground smoke explosion model considering the explosion flying direction of bomb and the wall effect is constructed to improve the simulation accuracy of near-ground smoke bomb explosion scene. The structural similarity (SSIM) analysis is used on the simulated image. After the best parameter selection experiment, the SSIM value reaches 0.944 3 and the standard deviation is ±0.000 5. The SSIM value of the proposed model is 0.011 2, 0.132 9 and 0.006 3higher than those of the particle system-Gaussian smoke model, ellipsoid explosion model and explosive smoke bomb model，respectively.The experimental results shows that the proposed model has clear direction information in smoke simulation, stronger ability to express the details of smoke turbulence and wall effect, and higher accuracy in the simulation of near-ground smoke bomb explosion scene.

With the progress of information technology,the human-computer interaction modes of armored vehicles have been constantly updated.In order to explore the mission performance of occupant in new multimodal interaction and guide the design of multimodal operation and warning modes of future armored vehicles,a human-computer interaction experimental system which integrates multimodal interaction and adjusts the environmental load is established.Based on this system,20 adult males were recruited to conduct an ergonomics experiment involving operation (input) mode,warning (output) mode and environmental load level. The simulated target hitting experiments under different experimental conditions are performed in a virtual experimental platform,and the mission performances of occupants are analyzed.The experimental results show that the reaction time of occupant under mechanical input is the shortest and the operation error rate is the highest compared with those under touch input or voice input.The mission completion time of occupant under mechanical input and touch input is much shorter than that under voice input.Compared to the single modal visual (V) warning,the visual+tactile (V+T) dual-modal warning superimposed with tactile warning is used to significantly shorten the reaction time of occupant,while the visual+auditory (V+A) dual-modal warning superimposed with auditory warning has no significant difference.V+T or V+A dual-modal warning can significantly shorten the mission completion time of occupant.For the influence of environmental load,the mission performance of crew under low environmental load is significantly higher than that under high environmental load.As the environmental load increases,superimposing A warning in V+T warning will cause warning redundancy.The research can provide a practical basis for the design of multi-modal human-computer interaction in the armored vehicle cabin.

To address the precise attitude control of a serial wheel-legged robot,a motion control framework with offset-free model predictive control as the core is proposed.Firstly,a concentrated center-of-mass dynamics model is established,which considers the mass distribution of body,legs,and wheels.Based on the concept of active disturbance rejection control,the unmodeled characteristics of the model are treated as disturbances,and an extended state observer is established to estimate and compensate for the unmodeled characteristics.Furthermore,the joint control is introduced to solve the problem that the wheels are easy to roll and cause leg abduction during attitude adjustment,and an additional wheel control strategy is designed to assist in constraining the leg state.The hardware experiments are conducted on the serial wheel-legged robot.The results show that the proposed motion control framework can accurately track the desired attitude signal,effectively suppress the terrain disturbances and external force disturbances,and ensure the driving stability and disturbance resistance capability of the robot.

Amphibious aircraft inevitably suffers from the hydrodynamic impact of waves and other complex sea conditions during taxiing on the water surface, and in serious cases, the fuselage structure may be deformed and destroyed, which threatens the safety of airframe and aircrew. The structured arbitrary Lagrange-Euler (S-ALE) method is used to investigate the hydrodynamic response of amphibious aircraft during taxiing on a wavy water surface by taking a domestic large-scale amphibious aircraft as the research object. A coupled fluid-structure simulation method based on S-ALE and penalty function contact algorithm is established, and a numerical wave pool is generated and simulated by using the physically imitated push-plate wave-making mode and the mass-damped wave dissipation method, and the hydrodynamic characteristics and wave resistance of the aircraft during taxiing on calm and wavy surfaces are investigated, respectively. The results show that the S-ALE method can effectively simulate the dynamic response of amphibious aircraft taxiing on water surface; the attitude angle of aircraft taxiing at a steady speed of 19.4m/s under a wave height of 1.2m is 7°, and the corresponding resonance wavelength is two or three times of the fuselage length. When the ratio of the airplane fuselage to the wavelength is 1, the vertical overload becomes bigger and bigger under the environment of 1.8m wave height, and will gradually converges under the wave height of 1.2 m. While the changes of the wave height have no obvious effect on the pitch and heave of the aircraft.

Time series matching technology is widely used in vehicle handling consistency evaluation.An evaluation method of vehicle throttle control action consistency based on segmented dynamic time warping (DTW) is proposed for the motion consistency evaluation of a coach vehicle in the process of cooperative driving.On the basis of the inconsistent number of sample data points in the cooperative control test of coach vehicle and the slope constraint of dynamic bending path, the traditional DTW rectangular search area is transformed into a parallelogram search area to reduce the area of the search area by changing the slope of search path, thus greatly reduce the calculation amount.Four groups of typical throttle action curves are selected to carry out 50 rounds of iterative experiments for verification, and the DTW distance matrix between the action curves of real vehicles A and B is calculated by segmented DTW method.A minimum deviation leveling method is used to combine the cluster objects for the actions of vehicles A and B, so as to complete the consistency evaluation of throttle action data.The experimental results show that the average matching accuracy of the improved DTW algorithm in each throttle action can reach 89.2%, which is about 3.2% higher than that of the single DTW algorithm, and the average matching time is about 92.45s, which is about 12.6% lower, thus verifying the feasibility and superiority of the segmented DTW algorithm in the consistency evaluation of throttle action.

With the widespread application of composite cylindrical shells in engineering fields such as missile launch and submarines, the random vibration caused by random loads has gradually become an important consideration for their dynamic design optimization. The first-order shear shell theory and Hamilton’s principle are used to construct the motion control equations of the shell, and the boundary conditions are applied by artificial virtual springs. The pseudo-excitation method and the reverberation-ray matrix method are used to separate the non-homogeneous excitation equations in the generalized solution vector, and the unified matrix column formula under base acceleration and random load excitation is derived to complete the stochastic dynamic analytical modeling and solution of composite cylindrical shells. The calculated stationary/non-stationary random response results are compared with finite element simulations to prove the effectiveness of the proposed analytical model. On this basis, a series of engineering examples for power spectrum are developed to reveal the influences of shell thickness-to-diameter ratio, orthogonal anisotropy ratio and number of plies on the random vibration response of cylindrical shell.

The surface absorptivity of optical elements is the main factor causing the abnormal temperature rise under continuous laser irradiation. Research has found that the surface absorptivity of optical elements is influenced by multiple factors and exhibits nonlinear variations. Therefore, a concept of equivalent surface absorptivity is proposed to characterize the comprehensive absorption performance of optical elements for laser. Firstly, a finite element model of the optical element irradiated by Gaussian continuous laser is established to simulate the temperature rise process of optical elements under laser irradiation, and a laser irradiation effect experimental system is established. The surface absorptivity, surface morphology and temperature rise process of surface center point of optical elements are measured, tested and analyzed, and the correctness of the prtoposed model is verified by the experimental results. Based on the experimental results, the model parameters are adjusted to obtain the equivalent surface absorptivity of the optical element for laser. The research show that the simulated error of equivalent surface absorptivity is smaller and its simulated precision is higher compared with the measured surface absorptivity, The research results provide reference for the state monitoring of optical element and the pollution prevention and control.

To study the killing effect of typical 7.62 mm sniper bullet on live targets at different distances, a numerical computational model is constructed using adaptive smoothed particle hydrodynamics (ASPH) method to obtain the sizes of temporary cavities caused by the bullets on ballistic gelatin at different distances and validated with the corresponding experimental results. The severity of damage that a sniper bullet may cause when it hits the human chest at 200 m, 400 m and 800 m is obtained based on the self-developed human vulnerability assessment software. The results show that the ASPH method is suitable for solving large penetration deformation problems with a balance between computational accuracy and efficiency, the bullet with a larger angle of attack rolls earlier in the gelatin at the same penetration velocity and is subjected to greater acceleration forces, and the target thickness also has an important influence on the motion and killing effect of bullet. The size of instantaneous cavity caused by 7.62 mm sniper bullet is 1.14 and 1.44 times larger than those at 400 m and 800 m, respectively, at 2° angle of attack. The peak acceleration of the initial phase of penetration of 7.62 mm sniper bullet at 200 m is 1.63 and 3.8 times higher than those at 400 m and 800 m, respectively, at 2° angle of attack. When the upper right side of humman xiphoid process is hitted at 200 m, 400 m and 800 m,the MAIS injury scores are 6 (fatal), 5 (critical injury), and 4 (severe), and the NISS scores are 75, 57, and 48, respectively, and the probability of death decreases from 96.8% to 60.3% with the increase of hitting distance.

The multi-missile aiming points optimization algorithm has the low computation efficiency,weak stability and insufficient optimization capability for the area targets with complex shapes.An efficient aiming point optimization algorithm (EAPOA) based on the damage probability matrix library (DPML) of circular error probable(CEP)and the improved simulated annealing mechanism is proposed.An optimization model of multi-missile aiming points is developed,which takes into account the impacts of the direct damage,the indirect damage,and the combined damage of multi-missiles on the Target damage effect except for target shape irregularity and missile damage capacity.The proposed DPML method can improve the optimization efficiency and robustness of damage probability estimation algorithm.In addition,a candidate aiming point set-based optimization framework is designed,and a heuristic optimization method based on a global searching and improved simulated annealing that is helpful for escaping from local minima is developed.The performance of the proposed algorithm is verified by using six complex area target test cases.The results show that the proposed EAPOA has stronger optimization ability compared with the genetic algorithm with enhanced elite retention strategy,and the average optimization time is only 1/5-1/3,which has obvious advantages in optimization income and computational efficiency.

Pressure field caused by ship sailing is an important information in the ocean battlefield. When a ship sails against waves, the pressure fluctuation caused by ship-wave interaction becomes the background interference of ship’s own hydrodynamic pressure field, which affects the accurate prediction and identification of ship target. Therefore, a fast algorithm for the target characterization of pressure field caused by ship sailing against regular waves in the shallow water is studied. The theoretical and numerical methods of pressure field suitable for regular waves environment and full speed of ship are established by using the wave source term method and moving pressure term method on the basis of shallow-water wave theory. Meanwhile, a fast and efficient numerical algorithm is developed, and an algorithmic program is compiled, which can simulate the regular waves in shallow water, the ship hydrodynamic pressure field in static water, and the temporal and spatial variation characteristics of pressure caused by ship sailing against waves. Based on the validation study, the characteristics of pressure field caused before and after a ship encounters with waves as well as the distribution characteristics of pressure at subcritical or supercritical speed are compared and analyzed, and the influence of waves interference on the temporal and spatial variation characteristics of pressure is revealed, which provides the theoretical basis and technical support for the prediction and identification of ship target under the disturbance of waves environment.

The water-exit process of supercaviting projectile often has an angle of attack due to launch perturbation, cross-current, wave, etc., which affects the trajectory of projectile and interferes with the successful water-exit of projectile. A numerical model for the water-exit process of supercaviting projectile with angle of attack is established based on the volume-of-fluid multiphase flow model and the moving computational domain method, and the water-exit processes of projectile at with different angles of attack and velocities are simulated. The calculated results show that a small angle of attack of the projectile has little effect on the cavity morphology in the water movement stage, and the shoulder and tail of projectile are wet with the increase in the angle of attack. A secondary cavity produced by the shoulder wetting may be rewrapped in the tail, and leads to the longer and obvious asymmetric radial distribution of cavity on the inflow side. The cavity has a tendency to expand after the projectile penetrates the water surface. The surface pressure of projectile is high at the beginning of the movement, and the high pressure region decreases rapidly as a cavity is generated, and the local high pressure occurs in the subsequent movement due to local wetting, cavity closure near the water surface, and splash collision with the water surface. The local high pressure occurs mostly on the inflow side, resulting in a higher pressure on that side than on the backflow side. The lateral forces and yaw moments appearing on the projectile cause the trajectory and attitude of the projectile to change and the angle of attack to decrease. The larger the initial angle of attack is, the more obvious its effect on the angle of attack, yaw angle change and trajectory of projectile is. When the projectile is at an angle of attack of 5° and the velocity continues to increase, the effect of velocity on the cavity morphology, the motion trajectory and yaw angle of projectile is weakened.

Global navigation satellite system(GNSS)users are often located far away from satellites,making them vulnerable to intentional interference and deception.Ensuring the provision of high-precision navigation positioning,speed measurement,and timing information to GNSS users becomes a primary task in navigation warfare.To enhance the anti-jamming capability of user-ends and promote the development and maturity of their anti-jamming technologies,there is an urgent need for doing research on user-end anti-jamming performance evaluation.The existing studies have mostly focused on single-type indices or specific application scenario when researching user-end anti-jamming algorithms and analyzing their performance,resulting in insufficient research on related evaluation.Therefore,this study sets up typical application scenarios,such as single-antenna anti-jamming,array antenna anti-jamming,inertial navigation-assisted anti-jamming,and unmanned aerial vehicles(UAV)anti-jamming,and establishes a user-end anti-jamming performance evaluation index system based on multi-application scenario.Furthermore,the method including availability(A),dependability(D)and capability(C)is introduced to improve the limitations of existing models,and a sub-item performance evaluation method for user-end anti-jamming is proposed.Finally,based on fuzzy comprehensive assessment approach and improved combination weighting method that enhances the existing weighted product models,a comprehensive capability assessment method for user-end anti-jamming is proposed.The experimental results show that compared with the existing models,the proposed method is used to realize the serial connection of multiple models in the application scenario,reduce the tracking threshold of receiver to less than 45° and the dynamic measurement error rate to less than 1,and increase the array gain to no more than 36 dB,thereby improving the accuracy of the performance evaluation of the measured equipment and its ability to resist jamming threats.It can effectively assist the upgrade and performance optimization of the equipment in multiple application scenarios.

Due to the characteristics of hypersonic glide vehicles (HGVs) being unpowered and uncontrollable in axial overload,a significant positional error of HGV often exists at the transition between the gliding phase and the terminal phase,thereby substantially impacting the precision of coordinated strikes during the terminal phase.To address this issue,a formation control method for HGVs is proposed,which considers the capability of adjusting the position in launch direction.Fixed-time consensus controllers are devised for the second-order multi-agent system,serving as the foundation for an underactuated formation control framework.The underactuated control characteristics of HGV formation is analyzed.An adjustment strategy for HGV position in launch direction is formulated,and an analytical relationship between launch-direction position adjustments and additional lateral velocity is established.After enabling the capability for launch-direction adjustment,a three-dimensional artificial potential field is established,and a collision avoidance control strategy for HGV formation is proposed.Theoretical analysis and numerical simulations demonstrate that the proposed method can support the formation and maintenance of a group of HGVs in scenarios such as dispersion,contraction,collective steering,and high and low flying of formation.

The high-power diesel generator set for vehicles is the power supply unit of heavy-duty series hybrid electric vehicles.Due to the coupling effect of the torque impact of multi-cylinder diesel engine crankshaft and the electromagnetic torque pulsation of generator,the system torsional vibration phenomenon is prominent,and the dynamic quality is poor.A dynamic model of engine-generator set considering the electromechanical coupling effect is established,and the influence of electromechanical coupling effect on the inherent characteristics of the system is analyzed.The law of variation of torsional vibration characteristics with the parameters,such as electromagnetic stiffness,rotor eccentricity and torsional damper stiffness,is revealed.The dynamic response characteristics of the system under the combined excitation of engine and motor are analyzed,and the order of the main response is clarified.A torsional vibration control overall framework based on dual loop decoupling is proposed to solve the problem of excessive low-frequency torsional vibration response.An independent modal space optimal controller for the start stop process and an adaptive filtering compensating controller for steady-state operating conditions are designed for the suppression of engine main harmonic disturbances,and are verified through simulation.The results show that the proposed torsional vibration active control algorithm can achieve the suppression of main harmonic torsional vibration in the full speed domain of the engine.

The traditional loop closure detection algorithm relies on the accuracy of odometer and the external global positioning information,which consumes too much computing resources,and the existing lightweight loop closure detection algorithm has poor translation invariance and difficulty in adapting to the sparse environmental characteristics in off-road road environment.In order to improve the positioning capability of unmanned platform in the condition of satellite rejection for a long time and a large range of tasks,a lightweight loop closure detection algorithm using light detection and ranging (LiDAR) point clouds to describe the ground feature is proposed.It is different from extracting the point cloud features from single or multi-frame point clouds by deep learning.And a global descriptor is constructed.The fast LiDAR point clouds ground feature description approach is used to achieve the fast feature extraction of single frame point cloud and the globally consistent position feature description,and the multi-frame LiDAR point clouds ground features are aggregated into the sub-map loop closure detection descriptors.A lightweight global descriptor is constructed by odometer pose between adjacent frames,and the global descriptors are matched and the loop closure detection is realized without prior position information.The proposed algorithm is verified by using the mechanical and solid-state LiDAR in off-road environment.Compared with the existing lightweight loop closure detection algorithms,the proposed algorithm has the advantages of high recall rate,good real-time performance and less resource consumption in the off-road environment.

To verify the feasibility of equipping electric field sensors on fast motion platforms to detect ship targets, this manuscript analyzes the mechanism of background electric field generation on fast motion platforms, builds a high-speed motion platform electric field detection system based on surface speedboats, and conducts real boat sea measurement experiments. The background electric field of speedboats at different positions, engine operating conditions, and sailing speeds is measured, and the measurement results are analyzed. By analyzing the experimental data at sea, it is found that the background electric field comes from: 1) the motion induced electric field of the speedboat platform, 2) the corrosion and electromagnetic radiation of the speedboat itself. The background electric field has high energy in the frequency band below 1Hz (static electric field), so the ship’s electrostatic field is not suitable as a detection signal source. When the speed is below 20 knots, the background electric field spectral density of the speedboat detection platform in the 1-30Hz frequency band is about 0.4μV/$\sqrt{\mathrm{Hz}}$, so the ship’s shaft frequency electric field can be used as the target signal source. To verify the feasibility of electric field detection on the speedboat platform, electric field targets of 100A·m were detected at different speeds of 5~15kn, with a detection distance of 1500m. Therefore, it is practical to use a fast motion platform equipped with electric field sensors to detect the ship’s electric field.

Powdered fuel has broad application prospect prospects as fuels or additives in detonation propulsion systems due to their high energy density and excellent stability. Based on the classification of fuel types for gas-solid two-phase detonation and the application of powder detonation propulsion technology, the theoretical research progress on the detonation initiation and propagation characteristics of powdered fuel in oxidizer gas and gas fuel/oxidizer gas at domentically and internationally is reviewed. The theoretical and engineering aspects of heterogeneous detonation and hybrid detonation are summarized, highlighting the key factors affecting the initiation and propagation characteristics of gas-solid two-phase detonations, as well as important conclusions. Furthermore, the two-phase detonation engines are reviewed from the perspectives of application prospects, propulsion performance, difficulties and challenges, etc. Based on the summary of the numerical and experimental research status of powder detonation engines, the future research work that needs to be carried out is prospected.