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This paper presents an adaptive path planner for unmanned aerial vehicles (UAVs) to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming (BLP) and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles (SAMs) are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances. 相似文献
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N.I. Ismail A.H. Zulkifli M.Z. Abdullah M. Hisyam Basri Norazharuddin Shah Abdullah 《中国航空学报》2013,26(5):1093-1105
Abstract Implementing the morphing technique on a micro air vehicle (MAV) wing is a very chal- lenging task, due to the MAWs wing size limitation and the complex morphing mechanism. As a result, understanding aerodynamic characteristics and flow configurations, subject to wing structure deformation of a morphing wing MAV has remained obstructed. Thus, this paper presents the investigation of structural deformation, aerodynamics performance and flow formation on a pro- posed twist morphing MAV wing design named perimeter reinforced (PR)-compliant wing. The numerical simulation of two-way fluid structure interaction (FSI) investigation consist of a quasi- static aeroelastic structural analysis coupled with 3D incompressible Reynolds-averaged Navier- Stokes and shear-stress-transport (RANS-SST) solver utilized throughout this study. Verification of numerical method on a rigid rectangular wing achieves a good correlation with available exper- imental results. A comparative aeroelastic study between PR-compliant to PR and rigid wing per- formance is organized to elucidate the morphing wing performances. Structural deformation results show that PR-compliant wing is able to alter the wing's geometric twist characteristic, which has directly influenced both the overall aerodynamic performance and flow structure behavior. Despite the superior lift performance result, PR-compliant wing also suffers from massive drag penalty, which has consequently affected the wing efficiency in general. Based on vortices investigation, the results reveal the connection between these aerodynamic performances with vortices formation on PR-comoliant wing. 相似文献
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BOM的产品层次结构自动生成算法 总被引:10,自引:0,他引:10
以数据库技术为基础,本文提出了一种自动生成BOM表的产品装配层次的递归算法。算法简洁、稳定、可靠。 相似文献
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The OPAL monochromatic opacity tables are used to evaluate the impact of a non-standard chemical composition on solar models. A calibrated solar model with consistent diffusion including the effect of radiative forces and ionization on drift velocities is presented. It is shown that surface abundances are predicted to change slightly more than in traditional solar models where these refinements are not included. All elements included in the model settle at similar rates which is reflected in the relative variation in surface abundances ranging from 7.5% for calcium to 8.8% for argon. The structural difference between the consistent model and the traditional model is small, with a maximum effect of 0.3% for the isothermal sound speed at the base of the convection zone. The settling of CNO is only marginally affected. Opacity profiles have also been calculated with varying abundances for volatile elements, for which the abundances are poorly known, and other selected elements. It is shown that if one allows a 10% variation of these elements individually one can expect a peak Rosseland mean opacity variation of 3% for oxygen, a little less 2% for Si and Ne, and around 1% for Mg and S in the radiative zone. Other light metals and volatile elements have no significant impact on the opacity. This revised version was published online in June 2006 with corrections to the Cover Date. 相似文献
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The boron 2500 spectral region has been observed with the Goddard High Resolution Spectrograph (GHRS) of the Hubble Space Telescope (HST) in a new set of metal-poor stars and analyzed by spectrum synthesis technique, adopting the most recent model atmospheres. By taking into account the Li and Be abundances available from the literature for this same set of objects, the resulting patterns of their light elements abundances cannot be easily justified with the currently known stellar structure scenarios. The finding of real differences in the B content between stars with very similar stellar characteristics suggest that also production effects, rather than depletion and/or mixing only, should be taken into account as a possible and valuable explanation. 相似文献
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An analysis of the data from the Wind and IMP-8 spacecraft revealed that a slow solar wind, flowing in the heliospheric plasma sheet, represents a set of magnetic tubes with plasma of increased density (N > 10cm-3 at the Earth's orbit). They have a fine structure at several spatial scales (fractality), from 2°-3°(at the Earth's orbit, it is equivalent to 3.6-5.4h, or (5.4-8.0)×106km) to the minimum about 0.025°, i.e. the angular size of the nested tubes is changed nearly by two orders of magnitude. The magnetic tubes at each observed spatial scale are diamagnetic, i.e. their surface sustains a flow of diamagnetic (or drift) current that decreases the magnetic field within the tube itself and increases it outside the tube. Furthermore, the value of β= 8π[N(Te + Tp)]/B2 within the tube exceeds the value of βoutside the tube. In many cases total pressure P = N(Te + Tp) + B2/8πis almost constant within and outside the tubes at any one of the aforementioned scales. 相似文献