The Upper Cretaceous of Tantou Basin in western Henan has yielded many vertebrate fossils,which are featured by several non-avian dinosaurs.Meanwhile,studies on their eggs were yet inadequate though many eggshells hav...The Upper Cretaceous of Tantou Basin in western Henan has yielded many vertebrate fossils,which are featured by several non-avian dinosaurs.Meanwhile,studies on their eggs were yet inadequate though many eggshells have been reported.The newly discovered material 41HⅤ0199 was excavated from the Upper Cretaceous Qiupa Formation in 2021.The block preserves eight complete eggs arranged in two partial rings that form a partial clutch,and there are some scattered eggshells preserved closely with the block,showing a concave-up to concave-down ratio of 54.5:45.5,which indicates that the scattered eggshells come from the clutch and the clutch had been partially broken before it was buried.Based on morphological and microstructural characteristics,the eggs and eggshells can be assigned to Macroolithus yaotunensis(Elongatoolithidae),an oospecies known to be related to oviraptorids,which leads Yulong mini to be its probable producer.Besides,some eggshells show microstructural signs indicating egg retention,which marks the second example of egg retention in the oofamily Elongatoolithidae.展开更多
Shaped charge has been widely used for penetrating concrete.However,due to the obvious difference between the propagation of shock waves and explosion products in water and air,the theory governing the formation of sh...Shaped charge has been widely used for penetrating concrete.However,due to the obvious difference between the propagation of shock waves and explosion products in water and air,the theory governing the formation of shaped charge jets in water as well as the underwater penetration effect of concrete need to be studied.In this paper,we introduced a modified forming theory of an underwater hemispherical shaped charge,and investigated the behavior of jet formation and concrete penetration in both air and water experimentally and numerically.The results show that the modified jet forming theory predicts the jet velocity of the hemispherical liner with an error of less than 10%.The underwater jets exhibit at least 3%faster and 11%longer than those in air.Concrete shows different failure modes after penetration in air and water.The depth of penetration deepens at least 18.75%after underwater penetration,accompanied by deeper crater with 65%smaller radius.Moreover,cracks throughout the entire target are formed,whereas cracks exist only near the penetration hole in air.This comprehensive study provides guidance for optimizing the structure of shaped charge and improves the understanding of the permeability effect of concrete in water.展开更多
Combat effectiveness of unmanned aerial vehicle(UAV)formations can be severely affected by the mission execution reliability.During the practical execution phase,there are inevitable risks where UAVs being destroyed o...Combat effectiveness of unmanned aerial vehicle(UAV)formations can be severely affected by the mission execution reliability.During the practical execution phase,there are inevitable risks where UAVs being destroyed or targets failed to be executed.To improve the mission reliability,a resilient mission planning framework integrates task pre-and re-assignment modules is developed in this paper.In the task pre-assignment phase,to guarantee the mission reliability,probability constraints regarding the minimum mission success rate are imposed to establish a multi-objective optimization model.And an improved genetic algorithm with the multi-population mechanism and specifically designed evolutionary operators is used for efficient solution.As in the task-reassignment phase,possible trigger events are first analyzed.A real-time contract net protocol-based algorithm is then proposed to address the corresponding emergency scenario.And the dual objective used in the former phase is adapted into a single objective to keep a consistent combat intention.Three cases of different scales demonstrate that the two modules cooperate well with each other.On the one hand,the pre-assignment module can generate high-reliability mission schedules as an elaborate mathematical model is introduced.On the other hand,the re-assignment module can efficiently respond to various emergencies and adjust the original schedule within a millisecond.The corresponding animation is accessible at bilibili.com/video/BV12t421w7EE for better illustration.展开更多
Offboard active decoys(OADs)can effectively jam monopulse radars.However,for missiles approaching from a particular direction and distance,the OAD should be placed at a specific location,posing high requirements for t...Offboard active decoys(OADs)can effectively jam monopulse radars.However,for missiles approaching from a particular direction and distance,the OAD should be placed at a specific location,posing high requirements for timing and deployment.To improve the response speed and jamming effect,a cluster of OADs based on an unmanned surface vehicle(USV)is proposed.The formation of the cluster determines the effectiveness of jamming.First,based on the mechanism of OAD jamming,critical conditions are identified,and a method for assessing the jamming effect is proposed.Then,for the optimization of the cluster formation,a mathematical model is built,and a multi-tribe adaptive particle swarm optimization algorithm based on mutation strategy and Metropolis criterion(3M-APSO)is designed.Finally,the formation optimization problem is solved and analyzed using the 3M-APSO algorithm under specific scenarios.The results show that the improved algorithm has a faster convergence rate and superior performance as compared to the standard Adaptive-PSO algorithm.Compared with a single OAD,the optimal formation of USV-OAD cluster effectively fills the blind area and maximizes the use of jamming resources.展开更多
This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the fe...This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.展开更多
Several therocephalian species,mainly represented by cranial material from the late Permian,have been reported from China in recent years.Here we describe a tiny new baurioid therocephalian,Jiucaiyuangnathus confusus ...Several therocephalian species,mainly represented by cranial material from the late Permian,have been reported from China in recent years.Here we describe a tiny new baurioid therocephalian,Jiucaiyuangnathus confusus gen.et sp.nov.,from the Jiucaiyuan Formation,Xinjiang,China.The new taxon is represented by a partial snout with occluded partial lower jaw and two postcranial skeletons.Although juvenile in stage,the new species is diagnosed by the following features:round pit in middle of lateral surface of maxilla;lacrimal contact nasal;fossa for dentary tooth on the posterior end of the premaxilla,lateral to the anterior choana;two small vertical triangular ridges extending dorsally and ventrally on the vomerine anterior portion,and bordering a thin vomerine foramen laterally;anterior projection of the lateral part of the frontal on the nasal;symphyseal region of the dentary projected anteriorly;5 upper premaxillary teeth,upper and lower canines absent,diastema between the last premaxillary upper incisor and first maxillary tooth present,no diastema separating anterior from posterior dentition in the mandible,10 maxillary teeth and 12 dentary teeth,posterior postcanine expands mesiodistally,having a main large cusps and tiny anterior and posterior accessory cusps in line;neural arches of the atlas fused by the neural spine,neural spine of the axis projected posteriorly,procoracoid foramen lies between procoracoid and scapula.Features of the dentition resembles those of the small baurioid Ericiolacerta parva from South Africa and Silphedosuchus orenburgensis from Russia.The specimens provide the rare opportunity to know in detail the postcranial skeleton of baurioids.展开更多
In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy...In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy is used to reconstruct the communication channel for the system that suffers from DoS attacks to prevent the discontinuous transmission information of the communication network from affecting MASs formation.Then,considering that the leader state is not available to each follower under DoS attacks,a fixed-time distributed observer without velocity information is constructed to estimate the tracking error between followers and the leader.Finally,adaptive radial basis function neural network(RBFNN) is used to approximate the unknown ensemble disturbances in the system,and the fixed-time time-varying formation scheme is designed with the constructed observer.The effectiveness of the proposed control algorithm is demonstrated by the numerical simulation.展开更多
The selective reduction of carbon dioxide(CO_(2))into high-value-added chemicals is one of the most effective means to solve the current energy and environmental problems,which could realize the utilization of CO_(2) ...The selective reduction of carbon dioxide(CO_(2))into high-value-added chemicals is one of the most effective means to solve the current energy and environmental problems,which could realize the utilization of CO_(2) and promote the balance of the carbon cycle.Formate is one of the most economical and practical products of all the electrochemical CO_(2) reduction products.Among the many metal-based electrocatalysts that can convert CO_(2) into formate,Sn-based catalysts have received a lot of attention because of their low-cost,non-toxic characteristics and high selectivity for formate.In this article,the most recent development of Sn-based electrocatalysts is comprehensively summarized by giving examples,which are mainly divided into monometallic Sn,alloyed Sn,Sn-based compounds and Sn composite catalysts.Finally,the current performance enhancement strategies and future directions of the field are summarized.展开更多
Military missions in hostile environments are often costly and unpredictable,with squadrons sometimes facing isolation and resource scarcity.In such scenarios,critical components in vehicles,drones,and energy generato...Military missions in hostile environments are often costly and unpredictable,with squadrons sometimes facing isolation and resource scarcity.In such scenarios,critical components in vehicles,drones,and energy generators may require structural reinforcement or repair due to damage.This paper proposes a portable,on-site production method for molds under challenging conditions,where material supply is limited.The method utilizes large format additive manufacturing(LFAM)with recycled composite materials,sourced from end-of-life components and waste,as feedstock.The study investigates the microstructural effects of recycling through shredding techniques,using microscopic imaging.Three potential defense-sector applications are explored,specifically in the aerospace,automotive,and energy industries.Additionally,the influence of key printing parameters,particularly nonparallel plane deposition at a 45-degree angle,on the mechanical behavior of ABS reinforced with 20%glass fiber(GF)is examined.The results demonstrate the feasibility of this manufacturing approach,highlighting reductions in waste material and production times compared to traditional methods.Shorter layer times were found to reduce thermal gradients between layers,thereby improving layer adhesion.While 45-degree deposition enhanced Young's modulus,it slightly reduced interlayer adhesion quality.Furthermore,recycling-induced fiber length reduction led to material degradation,aligning with findings from previous studies.Challenges encountered during implementation included weak part adherence to the print bed and local excess material deposition.Overall,the proposed methodology offers a cost-effective alternative to traditional CNC machining for mold production,demonstrating its potential for on-demand manufacturing in resource-constrained environments.展开更多
To improve the damage efficiency of compact terminal sensitive projectile with EFP warhead,it is vital to understand how the embedded structure(ES)affects the EFP forming performance.In this paper,the corresponding nu...To improve the damage efficiency of compact terminal sensitive projectile with EFP warhead,it is vital to understand how the embedded structure(ES)affects the EFP forming performance.In this paper,the corresponding numerical investigation is focused on,in which the fluid-structure interaction(FSI)method and the experimental verification are used.Based on the obtained quantitative relations between the forming performance and a(the ratio of height to maximum radius of ES),an optimal design is further provided.The results indicate that:when the embedded structural length and width range 0.1e0.3D and 0.1e0.2D(D:diameter of EFP warhead)at a fixed volume,respectively,EFP forming velocity nearly keeps as a constant,1760 m/s;the height of ES has a dramatical effect on the propagating range of detonation wave,resulting in significant influence on the aerodynamic shape and length-to-diameter ratio of EFP;under the given constraints,the EFP length-diameter ratio can reach the optimal value2.76,when the height of ES is 0.22D.展开更多
Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the proto...Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols.展开更多
This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant forma...This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results.展开更多
WTA （weapon-target allocation） of air defense operation is a very complicated problem and current models focus on static and restricted WTA problem mostly. Based on the dynamic characteristics of air defense operati...WTA （weapon-target allocation） of air defense operation is a very complicated problem and current models focus on static and restricted WTA problem mostly. Based on the dynamic characteristics of air defense operational command and decision of warships＇ formation, a dynamic WTA model is established. Simulation results show that switch fire and repetition fire of anti-air weapon system affect the result of the air defense operation remarkably and the dynamic model is more satisfying than static ones. Related results are gained based on the analysis of the simulation results and the results are accordant with the intuitionistic tactical judgment. The model is some reference for the research of air defense C^3I system of warships＇ formation.展开更多
To ensure multiple unmanned aerial vehicles （UAVs）reach stable formation quickly, a cooperative guidance law basedon the back-stepping-like approach is designed in this paper.Adopting the guidance mechanism of virtu...To ensure multiple unmanned aerial vehicles （UAVs）reach stable formation quickly, a cooperative guidance law basedon the back-stepping-like approach is designed in this paper.Adopting the guidance mechanism of virtue leader vehicle, thedynamic equation of tracking errors for each UAV is built. Thecommunication interactive relationships are described based ongraph theory, and the guidance law for formation reaching is ob-tained by the back-stepping-like approach. The formation stabilityis analyzed by constructing an appropriate Lyapunov function. Thesimulation results have shown that this guidance and control lawcan make each UAV converge to the trajectory of the virtue leaderultimately, and has the quicker rate of convergence and lowertracking error.展开更多
Three experiments of static state storage method, low-temperature and constant-pressure storage method and low-temperature and constant-pressure storage method were carried out to investigate which method was best in ...Three experiments of static state storage method, low-temperature and constant-pressure storage method and low-temperature and constant-pressure storage method were carried out to investigate which method was best in gas hydrate. The relationships of hydrate rate, capacity and liquid temperature versus time were derived and three results were contrasted. The experimental results show lowtemperature and constant-pressure method is better than the other two methods because it's operation period is shorter and storage capacity is larger than the other two. Low-temperature and constant-pressure method is the best method. So new method will be new research objective.展开更多
Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanne...Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles(multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.展开更多
The formation of the manned aerial vehicle/unmanned aerial vehicle(MAV/UAV) task coalition is considered. To reduce the scale of the problem, the formation progress is divided into three phases. For the task clusterin...The formation of the manned aerial vehicle/unmanned aerial vehicle(MAV/UAV) task coalition is considered. To reduce the scale of the problem, the formation progress is divided into three phases. For the task clustering phase, the geographical position of tasks is taken into consideration and a cluster method is proposed. For the UAV allocation phase, the UAV requirement for both constrained and unconstrained resources is introduced, and a multi-objective optimal algorithm is proposed to solve the allocation problem. For the MAV allocation phase, the optimal model is firstly constructed and it is decomposed according to the ideal of greed to reduce the time complexity of the algorithm. Based on the above phases, the MAV/UAV task coalition formation method is proposed and the effectiveness and practicability are demonstrated by simulation examples.展开更多
Based on a Hill equation and a nonlinear equation describing the desired and real dynamics of relative motion separately, a predictive controller is brought forward, which makes the real state track the desired ones t...Based on a Hill equation and a nonlinear equation describing the desired and real dynamics of relative motion separately, a predictive controller is brought forward, which makes the real state track the desired ones to keep satellite formation. The stability and robustness of the controller are analyzed. Finally, comparing the simulation results of the proposed controller with that of the traditional, proportional-differential controller shows that the former one is capable of keeping the satellite formation more favorably, considering the disturbances such as the J2 perturbations.展开更多
Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which...Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.展开更多
文摘The Upper Cretaceous of Tantou Basin in western Henan has yielded many vertebrate fossils,which are featured by several non-avian dinosaurs.Meanwhile,studies on their eggs were yet inadequate though many eggshells have been reported.The newly discovered material 41HⅤ0199 was excavated from the Upper Cretaceous Qiupa Formation in 2021.The block preserves eight complete eggs arranged in two partial rings that form a partial clutch,and there are some scattered eggshells preserved closely with the block,showing a concave-up to concave-down ratio of 54.5:45.5,which indicates that the scattered eggshells come from the clutch and the clutch had been partially broken before it was buried.Based on morphological and microstructural characteristics,the eggs and eggshells can be assigned to Macroolithus yaotunensis(Elongatoolithidae),an oospecies known to be related to oviraptorids,which leads Yulong mini to be its probable producer.Besides,some eggshells show microstructural signs indicating egg retention,which marks the second example of egg retention in the oofamily Elongatoolithidae.
基金supported by the National Science Foundation of China(Grant Nos.12372361,12102427,12372335 and 12102202)the Fundamental Research Funds for the Central Universities(Grant No.30923010908)Postgraduate Research&Practice Innovation Program of Jiangsu Province(Grant No.KYCX23_0520).
文摘Shaped charge has been widely used for penetrating concrete.However,due to the obvious difference between the propagation of shock waves and explosion products in water and air,the theory governing the formation of shaped charge jets in water as well as the underwater penetration effect of concrete need to be studied.In this paper,we introduced a modified forming theory of an underwater hemispherical shaped charge,and investigated the behavior of jet formation and concrete penetration in both air and water experimentally and numerically.The results show that the modified jet forming theory predicts the jet velocity of the hemispherical liner with an error of less than 10%.The underwater jets exhibit at least 3%faster and 11%longer than those in air.Concrete shows different failure modes after penetration in air and water.The depth of penetration deepens at least 18.75%after underwater penetration,accompanied by deeper crater with 65%smaller radius.Moreover,cracks throughout the entire target are formed,whereas cracks exist only near the penetration hole in air.This comprehensive study provides guidance for optimizing the structure of shaped charge and improves the understanding of the permeability effect of concrete in water.
基金supported by the National Key Research and Development Plan(Grant No.2021YFB3302501)the National Natural Science Foundation of China(Grant Nos.12102077,12161076,U2241263).
文摘Combat effectiveness of unmanned aerial vehicle(UAV)formations can be severely affected by the mission execution reliability.During the practical execution phase,there are inevitable risks where UAVs being destroyed or targets failed to be executed.To improve the mission reliability,a resilient mission planning framework integrates task pre-and re-assignment modules is developed in this paper.In the task pre-assignment phase,to guarantee the mission reliability,probability constraints regarding the minimum mission success rate are imposed to establish a multi-objective optimization model.And an improved genetic algorithm with the multi-population mechanism and specifically designed evolutionary operators is used for efficient solution.As in the task-reassignment phase,possible trigger events are first analyzed.A real-time contract net protocol-based algorithm is then proposed to address the corresponding emergency scenario.And the dual objective used in the former phase is adapted into a single objective to keep a consistent combat intention.Three cases of different scales demonstrate that the two modules cooperate well with each other.On the one hand,the pre-assignment module can generate high-reliability mission schedules as an elaborate mathematical model is introduced.On the other hand,the re-assignment module can efficiently respond to various emergencies and adjust the original schedule within a millisecond.The corresponding animation is accessible at bilibili.com/video/BV12t421w7EE for better illustration.
基金the National Natural Science Foundation of China(Grant No.62101579).
文摘Offboard active decoys(OADs)can effectively jam monopulse radars.However,for missiles approaching from a particular direction and distance,the OAD should be placed at a specific location,posing high requirements for timing and deployment.To improve the response speed and jamming effect,a cluster of OADs based on an unmanned surface vehicle(USV)is proposed.The formation of the cluster determines the effectiveness of jamming.First,based on the mechanism of OAD jamming,critical conditions are identified,and a method for assessing the jamming effect is proposed.Then,for the optimization of the cluster formation,a mathematical model is built,and a multi-tribe adaptive particle swarm optimization algorithm based on mutation strategy and Metropolis criterion(3M-APSO)is designed.Finally,the formation optimization problem is solved and analyzed using the 3M-APSO algorithm under specific scenarios.The results show that the improved algorithm has a faster convergence rate and superior performance as compared to the standard Adaptive-PSO algorithm.Compared with a single OAD,the optimal formation of USV-OAD cluster effectively fills the blind area and maximizes the use of jamming resources.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312 and 61803348in part by the National Major Scientific Instruments Development Project under Grant No.61927807+3 种基金in part by the Program for the Innovative Talents of Higher Education Institutions of ShanxiShanxi Province Science Foundation for Excellent Youthsin part by the Shanxi"1331 Project"Key Subjects Construction(1331KSC)in part by Graduate Innovation Project of Shanxi Province under Grant No.2021Y617。
文摘This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.
文摘Several therocephalian species,mainly represented by cranial material from the late Permian,have been reported from China in recent years.Here we describe a tiny new baurioid therocephalian,Jiucaiyuangnathus confusus gen.et sp.nov.,from the Jiucaiyuan Formation,Xinjiang,China.The new taxon is represented by a partial snout with occluded partial lower jaw and two postcranial skeletons.Although juvenile in stage,the new species is diagnosed by the following features:round pit in middle of lateral surface of maxilla;lacrimal contact nasal;fossa for dentary tooth on the posterior end of the premaxilla,lateral to the anterior choana;two small vertical triangular ridges extending dorsally and ventrally on the vomerine anterior portion,and bordering a thin vomerine foramen laterally;anterior projection of the lateral part of the frontal on the nasal;symphyseal region of the dentary projected anteriorly;5 upper premaxillary teeth,upper and lower canines absent,diastema between the last premaxillary upper incisor and first maxillary tooth present,no diastema separating anterior from posterior dentition in the mandible,10 maxillary teeth and 12 dentary teeth,posterior postcanine expands mesiodistally,having a main large cusps and tiny anterior and posterior accessory cusps in line;neural arches of the atlas fused by the neural spine,neural spine of the axis projected posteriorly,procoracoid foramen lies between procoracoid and scapula.Features of the dentition resembles those of the small baurioid Ericiolacerta parva from South Africa and Silphedosuchus orenburgensis from Russia.The specimens provide the rare opportunity to know in detail the postcranial skeleton of baurioids.
文摘In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy is used to reconstruct the communication channel for the system that suffers from DoS attacks to prevent the discontinuous transmission information of the communication network from affecting MASs formation.Then,considering that the leader state is not available to each follower under DoS attacks,a fixed-time distributed observer without velocity information is constructed to estimate the tracking error between followers and the leader.Finally,adaptive radial basis function neural network(RBFNN) is used to approximate the unknown ensemble disturbances in the system,and the fixed-time time-varying formation scheme is designed with the constructed observer.The effectiveness of the proposed control algorithm is demonstrated by the numerical simulation.
基金Project(52204378)supported by the National Natural Science Foundation of China。
文摘The selective reduction of carbon dioxide(CO_(2))into high-value-added chemicals is one of the most effective means to solve the current energy and environmental problems,which could realize the utilization of CO_(2) and promote the balance of the carbon cycle.Formate is one of the most economical and practical products of all the electrochemical CO_(2) reduction products.Among the many metal-based electrocatalysts that can convert CO_(2) into formate,Sn-based catalysts have received a lot of attention because of their low-cost,non-toxic characteristics and high selectivity for formate.In this article,the most recent development of Sn-based electrocatalysts is comprehensively summarized by giving examples,which are mainly divided into monometallic Sn,alloyed Sn,Sn-based compounds and Sn composite catalysts.Finally,the current performance enhancement strategies and future directions of the field are summarized.
基金Generalitat Valenciana(GVA)and Spanish Ministry of Science and Innovation(Grant Nos.TED2021-130879 B-C21,CIACIF/2021/286,PID2023-151110OB-I00,and CIPROM/2022/3)to provide funds for conducting experiments and software licensessupported by the National Research Foundation,Prime Minister's Office,Singapore under its Campus for Research Excellence and Technological Enterprise(CREATE)programme。
文摘Military missions in hostile environments are often costly and unpredictable,with squadrons sometimes facing isolation and resource scarcity.In such scenarios,critical components in vehicles,drones,and energy generators may require structural reinforcement or repair due to damage.This paper proposes a portable,on-site production method for molds under challenging conditions,where material supply is limited.The method utilizes large format additive manufacturing(LFAM)with recycled composite materials,sourced from end-of-life components and waste,as feedstock.The study investigates the microstructural effects of recycling through shredding techniques,using microscopic imaging.Three potential defense-sector applications are explored,specifically in the aerospace,automotive,and energy industries.Additionally,the influence of key printing parameters,particularly nonparallel plane deposition at a 45-degree angle,on the mechanical behavior of ABS reinforced with 20%glass fiber(GF)is examined.The results demonstrate the feasibility of this manufacturing approach,highlighting reductions in waste material and production times compared to traditional methods.Shorter layer times were found to reduce thermal gradients between layers,thereby improving layer adhesion.While 45-degree deposition enhanced Young's modulus,it slightly reduced interlayer adhesion quality.Furthermore,recycling-induced fiber length reduction led to material degradation,aligning with findings from previous studies.Challenges encountered during implementation included weak part adherence to the print bed and local excess material deposition.Overall,the proposed methodology offers a cost-effective alternative to traditional CNC machining for mold production,demonstrating its potential for on-demand manufacturing in resource-constrained environments.
基金funded by the National Natural Science Foundation of China under No. 11102088Fundamental Research Funds for the Central Universities under No. 30915118821funded by the Specialized Research Fund for the Doctoral Program of Higher Education of China under No. 20133219110019
文摘To improve the damage efficiency of compact terminal sensitive projectile with EFP warhead,it is vital to understand how the embedded structure(ES)affects the EFP forming performance.In this paper,the corresponding numerical investigation is focused on,in which the fluid-structure interaction(FSI)method and the experimental verification are used.Based on the obtained quantitative relations between the forming performance and a(the ratio of height to maximum radius of ES),an optimal design is further provided.The results indicate that:when the embedded structural length and width range 0.1e0.3D and 0.1e0.2D(D:diameter of EFP warhead)at a fixed volume,respectively,EFP forming velocity nearly keeps as a constant,1760 m/s;the height of ES has a dramatical effect on the propagating range of detonation wave,resulting in significant influence on the aerodynamic shape and length-to-diameter ratio of EFP;under the given constraints,the EFP length-diameter ratio can reach the optimal value2.76,when the height of ES is 0.22D.
基金supported by the National Natural Science Foundation of China (6093400361074065)+1 种基金the National Basic Research Program of China (973 Program) (2010CB731800)the Key Project for Natural Science Research of Hebei Education Department (ZD200908)
文摘Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols.
基金supported by the Natural Science Foundation of China(61101004 61803014)
文摘This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results.
文摘WTA （weapon-target allocation） of air defense operation is a very complicated problem and current models focus on static and restricted WTA problem mostly. Based on the dynamic characteristics of air defense operational command and decision of warships＇ formation, a dynamic WTA model is established. Simulation results show that switch fire and repetition fire of anti-air weapon system affect the result of the air defense operation remarkably and the dynamic model is more satisfying than static ones. Related results are gained based on the analysis of the simulation results and the results are accordant with the intuitionistic tactical judgment. The model is some reference for the research of air defense C^3I system of warships＇ formation.
文摘To ensure multiple unmanned aerial vehicles （UAVs）reach stable formation quickly, a cooperative guidance law basedon the back-stepping-like approach is designed in this paper.Adopting the guidance mechanism of virtue leader vehicle, thedynamic equation of tracking errors for each UAV is built. Thecommunication interactive relationships are described based ongraph theory, and the guidance law for formation reaching is ob-tained by the back-stepping-like approach. The formation stabilityis analyzed by constructing an appropriate Lyapunov function. Thesimulation results have shown that this guidance and control lawcan make each UAV converge to the trajectory of the virtue leaderultimately, and has the quicker rate of convergence and lowertracking error.
基金supported by the National Natural Science Foundation of China(No.50176051)the State Key Development Program for Basic Research of China(No.2000026306).
文摘Three experiments of static state storage method, low-temperature and constant-pressure storage method and low-temperature and constant-pressure storage method were carried out to investigate which method was best in gas hydrate. The relationships of hydrate rate, capacity and liquid temperature versus time were derived and three results were contrasted. The experimental results show lowtemperature and constant-pressure method is better than the other two methods because it's operation period is shorter and storage capacity is larger than the other two. Low-temperature and constant-pressure method is the best method. So new method will be new research objective.
基金Project(61473229)supported by the National Natural Science Foundation of ChinaProjects(310832163403,310832161012)supported by the Special Fund for Basic Scientific Research of Central Colleges,Chang'an University,ChinaProject(CXY1512-3)supported by the Xi'an Science and Technology Plan,China
文摘Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles(multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.
基金supported by the National Natural Science Foundation of China(61573017 61703425)the Aeronautical Science Fund(20175796014)
文摘The formation of the manned aerial vehicle/unmanned aerial vehicle(MAV/UAV) task coalition is considered. To reduce the scale of the problem, the formation progress is divided into three phases. For the task clustering phase, the geographical position of tasks is taken into consideration and a cluster method is proposed. For the UAV allocation phase, the UAV requirement for both constrained and unconstrained resources is introduced, and a multi-objective optimal algorithm is proposed to solve the allocation problem. For the MAV allocation phase, the optimal model is firstly constructed and it is decomposed according to the ideal of greed to reduce the time complexity of the algorithm. Based on the above phases, the MAV/UAV task coalition formation method is proposed and the effectiveness and practicability are demonstrated by simulation examples.
文摘Based on a Hill equation and a nonlinear equation describing the desired and real dynamics of relative motion separately, a predictive controller is brought forward, which makes the real state track the desired ones to keep satellite formation. The stability and robustness of the controller are analyzed. Finally, comparing the simulation results of the proposed controller with that of the traditional, proportional-differential controller shows that the former one is capable of keeping the satellite formation more favorably, considering the disturbances such as the J2 perturbations.
基金Project(NS2013091)supported by the Basis Research Fund of Nanjing University of Aeronautics and Astronautics,China
文摘Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.
