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Development progress and technical breakthroughs of space mission design industrial software ATK 3.0
LUO Yazhong; YANG Zhen; WANG Hua; ZHOU Jianpingdoi:10.11887/j.issn.1001-2486.25040004 2025,47(4):1-9Abstract:Space mission design software spans the entire lifecycle of space missions and is regarded as the cornerstone of the aerospace industrial software system. Leveraging nearly three decades of technical expertise in the field of manned spaceflight, the research team from the National University of Defense Technology initiated the development of the independent industrial software ATK(aerospace tool kit) in 2020. By the end of 2024, the ATK 3.0 version was officially released, encompassing 5 major categories and 21 functional modules, including standard platform, visibility and coverage analysis, mission analysis, orbital design, and secondary development. The development of ATK has been deeply and continuously supported by China Manned Space Engineering exploring a collaborative research and development model characterized by "engineering-driven demand+centralized academic development". This software has had a significant impact in aerospace engineering, space security, and academic education, marking a solid first step toward replacing STK. The development history of ATK was reviewed, and the functional features was elaborated on. Focuses on analyzing its core technologies breakthroughs of ATK, such as large-scale software architecture design, computational kernel development, and orbital maneuver planning were selective analysed. While ATK faces challenges in enhancing its functionality and building its application ecosystem, its future development roadmap and strategic objectives were outlined.
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General orbital maneuver planning design for space mission design industrial software ATK
YANG Zhen; JIN Ke; GUO Xiang; WANG Hua; LUO Yazhongdoi:10.11887/j.issn.1001-2486.24120053 2025,47(4):10-22Abstract:Orbital maneuver planning is an important part of the design of complex space missions such as rendezvous and docking, lunar exploration, etc. However, the varying configuration requirements of different missions for orbit transfer positions, maneuver magnitudes, and targeting parameters pose significant challenges to the generalized modeling and solution of maneuver planning. Regarding this problem, a generalized orbital maneuver planning modeling method based on orbital segments was proposed, which abstracts the maneuver requirements of different scenarios into orbital segments, stopping conditions, and constraints, forming a building-block spacecraft mission description model. The orbital maneuver requirements were converted into a unified nonlinear programming problem, which was subsequently solved by employing three distinct methods: differential correction, sequential quadratic programming, and intelligent optimization algorithms. A software module ATK. Astromaster was developed as a core module for ATK(aerospace tool kit) software. Simulation results show that the proposed method can achieve general orbit maneuver modeling and solving in different scenarios.
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Mission planning and independent software design of spacecraft rendezvous and proximity operations
WANG Hua; HUO Chengyi; HE Junhua; YU Dateng; FANG Xuankundoi:10.11887/j.issn.1001-2486.24100030 2025,47(4):23-32Abstract:Aiming at the lack of universal software for spacecraft RPO (rendezvous and proximity operations) mission planning, the RPO planning model and software were studied. The concept of RPO element was proposed, and an element system, which consists of four categories (rendezvous, proximity, companion flight, and departure) was constructed. RPO missions can be formed by combining multiple elements. A mission planning model for RPO elements was established. Calculation formulas for the mission control segments, stop conditions, control parameters, and constraints were provided. Based on the ATK (aerospace tool kit), a RPO mission planning tool was designed and implemented. Simulations were conducted using examples of GEO rendezvous and sun synchronous fly around, and the results show that the established RPO elements and software can effectively design RPO missions.
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Intention recognition for forced motion of space non-cooperative targets based on BiGRU network
HUANG Hexiang; YANG Zhen; LI Jiasheng; LUO Yazhongdoi:10.11887/j.issn.1001-2486.24110006 2025,47(4):33-41Abstract:In order to solve the problem that it is difficult to identify the forced motion intention of non-cooperative targets, an intention recognition method based on BiGRU(bi-directional gated recurrent unit) network was proposed. The non-cooperative target was categorizes into five forced motion intentions: "forced round fly-around""forced drip-drop fly-around""fixed-point oscillating""line approach" and "hop approach", and the forced motion intention maneuver information dataset of the non-cooperative target was established. Based on the maneuver time series information of the non-cooperative target after entering the observation range of our spacecraft, the BiGRU network was utilized to train on the potential correlation between the time series data and the forced motion intention, so as to realize the intention recognition of the non-cooperative target. The simulation results demonstrate that the detection accuracy of the BiGRU network-based forced motion intention recognition method for non-cooperative targets achieve 98.35%. This method can improve the ability to identify the intentions of non-cooperative targets and provide a technical reference for the safety of our spacecraft in orbit.
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LI Mingming; GUO Shuai; ZHU Yuehe; LIANG Yangang; DONG Min; XU Xiaoshengdoi:10.11887/j.issn.1001-2486.25010036 2025,47(4):42-51
Abstract:Due to the limitations of the number of satellites, scale and manoeuvrability, it is difficult for the existing earth observation constellations to respond quickly to emergency needs of a high degree of randomness. In order to meet the demand for rapid design of emergency earth observation constellations, an emergency earth observation constellation design method was proposed. Based on the secondary development and coverage analysis function of the ATK(aerospace tool kit),a one-dimensional data hierarchical clustering method was adopted to group ground targets, and then the differential evolution algorithm was appliedto optimize the restricted Walker subconstellation configuration for the target groups, and finally the restricted hybrid Walker earth observation constellation was generated . Simulation results demonstrate that the method can rapidly generate emergency constellations compared with conventional Walker constellations and violent optimisation results, and minimize satellite deployment quantity while ensuring the effective completion of the earth observation mission.
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LI Linhong; LIANG Yangang; LI Kebo; WANG Jiaxindoi:10.11887/j.issn.1001-2486.24120052 2025,47(4):52-63
Abstract:A non-coplanar flyby is recognized as an effective method for monitoring high-value target satellites in geosynchronous orbit. Taking the scenario of patrolling the geosynchronous belt with an elliptical orbit as an example, a method for solving the minimal orbital intersection distance between any two elliptic orbits was proposed, and it was proven that the optimal flyby point for the patrolling satellite is the ascending node. ATK(aerospace tool kit)was used to model the mission scenario, investigating the variations in the optimal flyby point position in J2 gravitational model. The variation law in terminal constraints (e.g., relative distance and sun phase angle at the flyby point) were studied under different local times and flyby directions. Aoptimal fuel transfer strategy satisfying the maximum transfer time and terminal constraints was proposed, and mission parameters for the mission under different gravitational model assumptions were solved by using the maneuver planning module in ATK. Mission parameters corresponding to different true anomaly angles in the two-body model were analyzed, the effectiveness of the strategy was validated, and a basis for planning multiple patrol sequences was provided.
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Dual-path neural network learning method for free-return orbit integrating dynamic characteristics
ZHU Binyu; LI Haiyang; YANG Zhen; HE Junhua; LU Lin; ZHANG Yuhangdoi:10.11887/j.issn.1001-2486.25030028 2025,47(4):64-75Abstract:The free-return orbit serves as the preferred orbital scheme for crewed spacecraft in earth-moon transfers, yet its design involves stringent constraints and significant initial-value dependency in existing algorithms. The earth-moon transfer trajectory planning for manned lunar exploration was addressed by proposing a dual-path neural network learning method to optimize free-return orbit initialization. A dynamic model of the free-return orbit was established to analyze the characteristics of the near-earth orbital solution space. Integrating the spatial partitioning characteristics of ascending and descending orbital phase in solution spaces, a dual-path neural network architecture designed via parameter-correlated transformation was proposed to ensure the completeness of orbital solutions. Utilizing ATK.Astromaster, the earth-moon free-return orbit planning under the dual-path network learning-based initialization method was implemented and validated through simulation. The results provide an effective reference for mitigating initial-value dependency in manned lunar mission orbit design.
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LI Dazi; LIU Zibo; BAO Yanyang; DONG Caibo; XU Xindoi:10.11887/j.issn.1001-2486.24120028 2025,47(4):76-90
Abstract:Successful application of reinforcement learning in decision support, combinatorial optimization, and intelligent control has driven its exploration in complex industrial scenarios. However, existing reinforcement learning methods face challenges in adapting to graph-structured data in non-Euclidean spaces. Graph neural networks have demonstrated exceptional performance in learning graph-structured data. By integrating graphs with reinforcement learning, graph-structured data was introduced into reinforcement learning tasks, enriching knowledge representation in reinforcement learning and offering a novel paradigm for addressing complex industrial process problems. The research progress of graph reinforcement learning algorithms in industrial domains was systematically reviewed, summarized graph reinforcement learning algorithms from the perspective of algorithm architecture and extracted three mainstream paradigms, explored their applications in production scheduling, industrial knowledge graph reasoning, industrial internet, power system and other fields, and analyzed current challenges alongside future development trends in this field.
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Review of diffusion models for inverse problems in image processing
WANG Zelong; WU Yuhang; LI Jian; YANG Xuandoi:10.11887/j.issn.1001-2486.24120027 2025,47(4):91-110Abstract:Diffusion models represent a novel type of generative artificial intelligence models. Compared to traditional networks such as generative adversative networks, variational autoencoders, and flow models, diffusion models are characterized by their robust training, high fidelity and diversity in generation, and strong mathematical interpretability, and so they are widely used in fields of computer vision, signal processing, multi-modal learning and so on. Diffusion models are capable of sufficiently learning and exploring the deep generative priors from the training images, providing a novel paradigm for solving inverse problems in image processing. In order to systematically sort out the development status of diffusion model, especially the latest progress in solving the inverse problem of image processing, the research of diffusion model for the inverse problem of image processing was reviewed. The basic principle and development status of diffusion model was expounded,the main technical route of using diffusion model to solve the inverse problem of image processing and some specific application results in this direction were emphatically introduced, and the future research directions were envisioned.
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Asymmetric Actor-Critic reinforcement learning for long-sequence autonomous manipulation
REN Junkai; QU Yuke; LUO Jiawei; NI Ziqi; LU Huimin; YE Yicongdoi:10.11887/j.issn.1001-2486.24120032 2025,47(4):111-122Abstract:Long-sequence autonomous manipulation capability becomes one of the bottlenecks hindering the practical application of intelligent robots. To address the diverse long-sequence operation skill requirements faced by robots in complex scenarios, an efficient and robust asymmetric Actor-Critic reinforcement learning method was proposed. This approach aims to solve the challenges of high learning difficulty and complex reward function design in long-sequence tasks. By integrating multiple Critic networks to collaboratively train a single Actor network, and introducing GAIL (generative adversarial imitation learning) to generate intrinsic rewards for the Critic network, the learning difficulty of long-sequence tasks was reduced. On this basis, a two-stage learning method was designed, utilizing imitation learning to provide high-quality pre-trained behavior policies for reinforcement learning, which not only improves learning efficiency but also enhances the generalization performance of the policy. Simulation results for long-sequence autonomous task execution in a chemical laboratory demonstrate that the proposed method significantly improves the learning efficiency of robot long-sequence skills and the robustness of behavior policies.
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Shapley value decomposition method in dynamic force deployment strategy planning
LUO Junren; ZHANG Wanpeng; SU Jiongming; LI Shengqiang; CHEN Jingdoi:10.11887/j.issn.1001-2486.2409002 2025,47(4):123-131Abstract:Aiming at the dynamic force deployment problem, a multi-agent reinforcement learning strategy planning method based on SVD (Shapley value decomposition)was proposed. The reward distribution among cooperative multi-agents was explained by SVD, and the reward distribution was analysed by SVD reinforcement learning method to solve Markov convex game strategy. Secondly, based on the scenario of naval and air cross-domain cooperative confrontation, the allocation of space domain combat resources in heterogeneous multi-entity cooperative confrontation was analysed, a dynamic force deployment strategy planning model was built, and the state space, action space and reward function of the problem were designed. Finally, based on typical application scenarios, simulation experiments were organized to verify the dynamic force deployment problem with the military chess deduction system. Results show that compared with the multi-class baseline algorithm, the proposed method has excellent performance in strategic planning of dynamic force deployment, and it is theoretically interpretable. The proposed method learns the strategy of "layer upon layer interception, zone confrontation, core cover, and hierarchical breaking".
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ZHU Pengming; YANG Jiaqi; LIU Peng; QIU Xuekai; DAI Wei; ZENG Zhiwen; LU Huimin; ZHOU Zongtandoi:10.11887/j.issn.1001-2486.25030008 2025,47(4):132-142
Abstract:To better investigate the complex collective behaviors in distributed collaborative robots, a multi-robot dynamic visualization research platform based on three-wheeled omnidirectional mobile robot was designed. The purpose of the platform is to provide an intuitive and flexible experimental environment for promoting the testing and development of multi-robot algorithms. The platform is composed of self-developed, low-cost, small, omnidirectional wheeled mobile robots and visual multi-touch screens that support gesture recognition and shape detection of objects, enabling the configuration of various dynamic rendering scenarios. With this platform, researchers are able to focus on the design and optimization of algorithms in multi-robot systems without being limited to specific scenarios or task settings. The robots motion performance was tested, and multi-robot algorithms were successfully tested in multiple task scenarios, initially validating the platforms effectiveness and flexibility.
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Convolutional neural network mixed-precision quantization method considering layer sensitivity
LIU Haijun; ZHANG Chenxi; WANG Xiyu; CHEN Changlin; CHEN Jun; LI Zhiweidoi:10.11887/j.issn.1001-2486.25010015 2025,47(4):143-150Abstract:To address the problem of how to faithfully map neural networks to resource-constrained embedded devices, a mixed-precision quantization method for convolutional neural networks based on layer sensitivity analysis was proposed. The sensitivity of convolutional layer parameters was measured by calculating the average trace of the Hessian matrix, providing a basis for bit-width allocation. A layer-wise ascending-descending approach was employed for bit-width allocation, ultimately achieving mixed-precision quantization of the network model. Experimental results demonstrate that compared to the fixed-precision quantization methods DoReFa and LSQ+, the proposed mixed-precision quantization method improves recognition accuracy by 10.2% and 1.7%, respectively, at an average bit-width of 3 bit. When compared to other mixed-precision quantization methods, the proposed approach achieves over 1% higher recognition accuracy. Additionally, noise-injected training effectively enhances the robustness of the mixed-precision quantization method, improving recognition accuracy by 16% under a noise standard deviation of 0.5.
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ZHU Yiming; MA Zhengdoi:10.11887/j.issn.1001-2486.24120030 2025,47(4):151-157
Abstract:Deep image clustering was employed to analyze the cluster structure of unlabeled image data through deep learning techniques. However, due to the absence of class labels that provide definitive information, uncertain clustering predictions may be yielded by unsupervised deep image clustering, introducing noise information that was found detrimental to performance enhancement and application development. Therefore, a clustering prediction optimization method based on alternating normalization and category-wise uniform prior was proposed to correct low confidence predictions and improve deep image clustering performance. At the same time, the method had a low degree of coupling with the model structure and training process, enabling cross-model optimization for deep image clustering frameworks. Experimental results on multiple datasets reveal that the effective clustering prediction optimization is achieved for various deep image clustering models through the approach.
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Lightweight photovoltaic module defect detection with YOLOv8-DM
YANG Wei; ZHANG Changsheng; LIU Huidoi:10.11887/j.issn.1001-2486.24120025 2025,47(4):158-169Abstract:Given the challenges posed by photovoltaic component damage detection and the high demands placed on human and computational resources by existing detection technologies, an improved lightweight model named YOLOv8-DM was proposed on the basis of the YOLOv8n.The integration ofelectroluminescence imaging with object detection methods was implemented to achieve photovoltaic defect detection. Innovative components were introduced, including a dynamic scale feature pyramid network and an inverted residual multiscale attention mechanism, along with a Ghost module enhanced by dynamic convolution. These modifications were specifically designed to address the deficiencies observed in the YOLOv8n model regarding feature representation and multiscale object recognition, which enhanced fine-grained detection capabilities and reduced computational complexity. When evaluated on the augmented PVEL-AD dataset, the model demonstrated an improvement of 3% in recall rate and 3.3% in mAP50 compared to the baseline model, with a 34% reduction in parameter count and a 20% decrease in computational demand. The optimized architecture was validated to effectively meet the practical requirements for high-accuracy photovoltaic defect detection with lower computational costs.
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Combinatorial enumeration and time-interval contrastive learning for sequential recommendation
ZHANG Wenxuan; SUN Fuzhen; WANG Aofei; ZHANG Zhiwei; WANG Shaoqingdoi:10.11887/j.issn.1001-2486.20250416 2025,47(4):170-179Abstract:To address the problem of inadequate self-supervised signal quality in contrastive learning models for sequential recommendation tasks, a combinatorial enumeration and time-interval contrastive learning for sequential recommendation model was proposed. The model generated enhanced sequences which preserved temporal information through time-interval perturbation-based data augmentation. A combinatorial enumeration strategy was introduced to integrate user behavior and time-interval information, constructing multi-view augmented sequence pairs. The model employed a multi-head attention mechanism to encode user behavior sequences and optimized self-supervised signals through multi-task joint training, which improved model performance. The proposed model is well-suited for scenarios with high data sparsity and uneven interaction behaviors, effectively addressing challenges in self-supervised signal modeling. Experimental results on three real-world datasets demonstrate that the model outperforms the current state-of-the-art contrastive learning models in terms of HR (hit ratio) and NDCG (normalized discounted cumulative gain).
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HUANG Chengyan; ZHA Xiaoyun; DING Qunyan; HU Weidoi:10.11887/j.issn.1001-2486.24120026 2025,47(4):180-188
Abstract:To enhance the ability of large language models to generate legal documents for the power grid sector under few-shot conditions, a few-shot legal document generation method based on LLM(large language models) was proposed, integrating data augmentation and rule guidance techniques. The proposed method addressed key challenges in power grid legal document generation, such as data scarcity, high domain specificity, and the complexity of legal practice. Experimental results show that the method achieves excellent performance in generating power grid legal defense documents, significantly improving the quality and professionalism of the generated texts.
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KONG Detong; LI Naipeng; LI Xinyu; LIU Chao; ZHANG Leping; HUANG Yuhaodoi:10.11887/j.issn.1001-2486.24100018 2025,47(4):189-196
Abstract:Gear faults manifest in the frequency spectrum as multi-order modulation sideband clusters phenomenon center on the meshing frequency and its higher-order harmonics, spaced by the gear rotation frequency. In order to automatically focus the fault side frequency components, a method of fault side frequency cluster extraction with penalty regression was proposed. Adaptive sparse group lasso regression self-data-driven strategy was used to determine the penalty coefficient size and update the spectrum weight online to find the fault sideband clusters. Based on the sideband weight coefficients obtained from sparse group lasso regression, a new index called the sparse group lasso sidebands indicator was proposed for the health monitoring of gear transmission systems, enabling the early fault warning and location of gear transmission systems. Results analysis show that the proposed method can provide more accurate gear early fault detection and fault location.
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Integrated assignment of satellite-station/inter-satellite links for the BDS
WANG Nan; SUN Leyuan; NIU Yifeng; HUANG Wendedoi:10.11887/j.issn.1001-2486.24010031 2025,47(4):197-205Abstract:In order to solve the problem of lacking of time and space references of the autonomous navigation satellite constellation relying on inter-satellite links, the BeiDou satellite navigation system has introduced ground anchor stations which jointly constitute an integrated satellite-station network with the space satellites. With the constraints of inter-satellite link system, visibility and load quantity, the integrated assignment model of satellite-station/inter-satellite links was established. The shortest information transfer link assignment algorithm based on network layers, and the multi-objective optimization algorithm of ranging link PDOP(position dilution of precision)and network connectivity based on the simulated annealing algorithm were proposed. According to the simulation results, the reference information from the anchor station can be distributed to satellites with the fewest link hops. The PDOP of satellite ranging links is less than 1.4 and close to the lower limitation. The connectivity of the integrated network is better than 3. It is demonstrated that the integrated assignment algorithm can satisfy the requirements of fast information distribution from the anchor station to satellites, ranging for space reference maintenance and network robustness.
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Effect of mechanical properties and temperature on impact ignition of PTFE/Al reactive material
ZHOU Jingyuan; LEI Siyang; RAN Xianwen; TANG Wenhuidoi:10.11887/j.issn.1001-2486.25010013 2025,47(4):206-214Abstract:To investigate the mechanical properties of PTFE/Al (polytetrafluoroethylene/aluminum) reactive materials and temperature effects on their impact ignition behavior, eight PTFE/Al reactive material specimens were fabricated through controlled sintering conditions. Stress-strain curves of eight samples at varying temperatures were obtained by using a universal testing machine, while impact ignition thresholds of eight samples under corresponding temperatures were determined through drop-weight experiments. Experimental results demonstrated that sintering duration significantly influenced the elastic modulus of PTFE/Al composites, with elevated temperatures inducing material softening. At high-temperature conditions, specimens sintered for 40 min exhibited enhanced yield strength and demonstrated higher reactivity under drop-weight loading. Further analysis revealed a linear negative correlation between material strength and impact ignition thresholds under isothermal conditions, with the slope of this linear relationship exhibiting exponential decay as temperature increased. The findings of this study provide a significant theoretical foundation for the performance optimization and engineering applications of PTFE/Al reactive materials.
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Partial-CLEAN integration algorithm for aeroacoustics source region
ZHAO Jiashan; FAN Zhenglei; ZHANG Junlongdoi:10.11887/j.issn.1001-2486.24120021 2025,47(4):215-226Abstract:Source region integration algorithm is a kind of data processing method to extract noise characteristics of each component in wind tunnel test model. To solve the interference problem of integration results caused by sound source sidelobe outside the target integration, a partial-CLEAN integration algorithm was proposed. This algorithm divided the model region into target and non-target regions, and used the CLEAN algorithm to find the strongest sound source positions at each frequency point in the non-target region. It iteratively removed interference from non-target region sound sources on the target region, thereby achieving more accurate integral results. Through simulation and wind tunnel test data analysis, the algorithm can effectively separate mutually interfering noise sources, especially sound sources of 3 kHz and below, extract more accurate target sound sources, and provide a new tool for aerodynamic noise analysis.
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Improve NSGA-Ⅲ algorithm for optimizing equipment utilization
SONG Weixing; WU Gaiyin; MENG Lingzhoudoi:10.11887/j.issn.1001-2486.24100034 2025,47(4):227-238Abstract:Considering the practical needs of equipment utilization, equipment preparedness, and the efficiency of equipment maintenance, the relationship between equipment utilization and maintenance was analyzed. A multi-objective optimization model aimed at maximizing equipment presence rate, equipment motor-hour reserve compliance rate, equipment availability rate, and minimizing equipment maintenance costs was established, with the constraint of balancing the revenue and expenditure of motor hours. Given the high-dimensional and large-scale difference characteristics of the established models objectives, an improved NSGA-Ⅲ algorithm was designed, which proposed the crossover and mutation evolutionary operations based on DNA, to enhance the evolutionary efficiency of the population. An adaptive normalization method was improved to enhance the population diversity and algorithm convergence speed. Taking the annual equipment utilization optimization as an example, comparative experiments were conducted, which verified the feasibility and efficiency of the proposed model and algorithm. By analyzing the trend of objective function values for a large number of equipment utilization plans and the detailed indicators of plans that achieve extreme values for single objectives, different preference-based equipment utilization optimization plans were proposed.
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Typical Structure Dynamic Modeling and Fault Response Analysis of Helicopter Transmission System
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Combinatorial Optimization Methods for Emergency Material Scheduling Considering Disruption Risk
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Reinforcement learning method via meta-learning the exploring latent variable
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Group false-target jamming method with stable position against linear frequency modulation radars
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Research on online anti-interference strategy for radar frequency agility based on Thompson Sampling
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Vertical damping of the superconducting electrodynamic suspension system and its improving method
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Advance on calculation methods of fluid-solid coupled heat transfer with regenerative cooling system
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Deep clustering algorithm with fusion selective clustering ensemble
The Priority Publication Column showcases the articles that have been determined to be accepted by this journal after peer review, and the editing and proofreading process has not been completed before the formal publication.
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The "Online First" column showcases articles that have been accepted by this journal, undergone preliminary editing and proofreading, and are published first online on CNKI .
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Development progress and technical breakthroughs of space mission design industrial software ATK 3.0
LUO Yazhong; YANG Zhen; WANG Hua; ZHOU JianpingLUO Yazhong; YANG Zhen; WANG Hua; ZHOU Jianping.Development progress and technical breakthroughs of space mission design industrial software ATK 3.0[J].国防科技大学学报,2025,47(4):1-9AbstractSpace mission design software spans the entire lifecycle of space missions and is regarded as the cornerstone of the aerospace industrial software system. Leveraging nearly three decades of technical expertise in the field of manned spaceflight, the research team from the National University of Defense Technology initiated the development of the independent industrial software ATK(aerospace tool kit) in 2020. By the end of 2024, the ATK 3.0 version was officially released, encompassing 5 major categories and 21 functional modules, including standard platform, visibility and coverage analysis, mission analysis, orbital design, and secondary development. The development of ATK has been deeply and continuously supported by China Manned Space Engineering exploring a collaborative research and development model characterized by "engineering-driven demand+centralized academic development". This software has had a significant impact in aerospace engineering, space security, and academic education, marking a solid first step toward replacing STK. The development history of ATK was reviewed, and the functional features was elaborated on. Focuses on analyzing its core technologies breakthroughs of ATK, such as large-scale software architecture design, computational kernel development, and orbital maneuver planning were selective analysed. While ATK faces challenges in enhancing its functionality and building its application ecosystem, its future development roadmap and strategic objectives were outlined.
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LI Dazi; LIU Zibo; BAO Yanyang; DONG Caibo; XU XinLI Dazi; LIU Zibo; BAO Yanyang; DONG Caibo; XU Xin.Research review of graph reinforcement learning algorithms and their applications in the industrial field[J].国防科技大学学报,2025,47(4):76-90
AbstractSuccessful application of reinforcement learning in decision support, combinatorial optimization, and intelligent control has driven its exploration in complex industrial scenarios. However, existing reinforcement learning methods face challenges in adapting to graph-structured data in non-Euclidean spaces. Graph neural networks have demonstrated exceptional performance in learning graph-structured data. By integrating graphs with reinforcement learning, graph-structured data was introduced into reinforcement learning tasks, enriching knowledge representation in reinforcement learning and offering a novel paradigm for addressing complex industrial process problems. The research progress of graph reinforcement learning algorithms in industrial domains was systematically reviewed, summarized graph reinforcement learning algorithms from the perspective of algorithm architecture and extracted three mainstream paradigms, explored their applications in production scheduling, industrial knowledge graph reasoning, industrial internet, power system and other fields, and analyzed current challenges alongside future development trends in this field.
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Review of diffusion models for inverse problems in image processing
WANG Zelong; WU Yuhang; LI Jian; YANG XuanWANG Zelong; WU Yuhang; LI Jian; YANG Xuan.Review of diffusion models for inverse problems in image processing[J].国防科技大学学报,2025,47(4):91-110AbstractDiffusion models represent a novel type of generative artificial intelligence models. Compared to traditional networks such as generative adversative networks, variational autoencoders, and flow models, diffusion models are characterized by their robust training, high fidelity and diversity in generation, and strong mathematical interpretability, and so they are widely used in fields of computer vision, signal processing, multi-modal learning and so on. Diffusion models are capable of sufficiently learning and exploring the deep generative priors from the training images, providing a novel paradigm for solving inverse problems in image processing. In order to systematically sort out the development status of diffusion model, especially the latest progress in solving the inverse problem of image processing, the research of diffusion model for the inverse problem of image processing was reviewed. The basic principle and development status of diffusion model was expounded,the main technical route of using diffusion model to solve the inverse problem of image processing and some specific application results in this direction were emphatically introduced, and the future research directions were envisioned.
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Review of green shop scheduling problem
GAO Liang; YU Fei; LU ChaoGAO Liang; YU Fei; LU Chao.Review of green shop scheduling problem[J].国防科技大学学报,2025,47(2):1-23AbstractWith the vigorous development of the manufacturing industry, the problems such as environmental pollution an resource shortage have gradually become prominent, seriously affecting the sustainable development of society. Therefore, the transformation of manufacturing energy saving and carbon reduction is an inevitable requirement for global green and lowcarbon development. As one of the most important parts of the manufacturing systems, production scheduling can realize efficient and green operation of the manufacturing systems through the reasonable allocation of resources. Under the context of green manufacturing, the research of green shop scheduling problem has become a hot spot in the field of production scheduling. Therefore, a systematic review of the existing research since 2018 from the aspects of the green parallel machine scheduling problem, the green flow shop scheduling problem, the green job shop scheduling problem, the green flexible job shop scheduling problem, and the green distributed shop scheduling problem was conducted, the shortcomings of the existing research was summed up, and the direction of future research was pointed out.
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Progress and development trend of composite solid propellant constitutive model research
XU Yihang; LI Daokui; ZHOU ShimingXU Yihang; LI Daokui; ZHOU Shiming.Progress and development trend of composite solid propellant constitutive model research[J].国防科技大学学报,2025,47(1):1-22AbstractAs an important energy source of solid rocket motors, the mechanical properties of composite solid propellants have always been the focus of attention in the engineering field. The macroscopic constitutive model and the fine-scale mechanical model in the characterisation of propellant mechanical properties was focused on. The development of the two types of models was systematically sorted out. The differences between the models were clarified. The applicable conditions of various models were pointed out. The difficulties and challenges of macro and fine mechanical models in the characterisation of propellant mechanical properties at the present stage were analysed. The proposal of mechanical models represented by cross-scale mechanical models will help to solve the problem of propellant mechanical property characterisation. The key in the future modelling of propellant mechanical characterization is the experimental research under complex conditions, focusing on the development of high precision and high performance multiscale numerical computation methods, as well as the integration of data-driven technology represented by artificial intelligence technology into model innovation.
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Review and prospect of emitter manufacturing technology for ionic liquid electrospray thruster
LI Xiaokang; GUO Dawei; WU Jianjun; YANG Yuntian; CHE BixuanLI Xiaokang; GUO Dawei; WU Jianjun; YANG Yuntian; CHE Bixuan.Review and prospect of emitter manufacturing technology for ionic liquid electrospray thruster[J].国防科技大学学报,2025,47(1):67-82AbstractILET(ionic liquid electrospray thruster), one of the electrostatic micro-thrusters, has recently become a hot topic for researchers. The emitter is the core component that significantly affects the thruster performance, so its manufacturing is considered as one of the key technologies for the ILET development. Combined with the operating principle and the development history of ILET, the characteristics of propellant transport and manufacturing requirements for all three types of emitters, namely capillary, externally-fed and porous emitters, were analyzed. Based on this, the typical manufacturing materials and related manufacturing technologies were reviewed, while the advantages and disadvantages of different manufacturing technologies such as ion etching were summarized and remarked. For the proven manufacturing method of ultrafast laser ablation based on porous material, the development suggestions including emitter design, novel material fabrication, and study on laser-matter interaction mechanism were given.
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Review of key technologies for autonomous homing of parafoil systems
SUN Qinglin; YANG Jinshan; SUN Hao; CHEN ZengqiangSUN Qinglin; YANG Jinshan; SUN Hao; CHEN Zengqiang.Review of key technologies for autonomous homing of parafoil systems[J].国防科技大学学报,2024,46(4):1-15AbstractIn order to explore the key technologies of parafoil systems, including modeling, trajectory planning, and trajectory tracking control, to support their autonomous homing in wide application prospects in large-scale equipment airdrop replenishment, carrier rocket booster recovery, and natural disaster rescue applications. Through research on the development of parafoil systems both domestically and internationally, a comparative analysis and summary of the basic principles, commonly used methods, and cutting-edge technologies of the three key technologies were conducted, with a focus on the flexible modeling technology of parafoil systems in complex environments, trajectory planning technology in obstacle spaces, and trajectory tracking technology based on intelligent control strategies. A summary and outlook were made on the future development trends of key technologies for autonomous homing of parafoil systems, which can help researchers gain a comprehensive understanding of the research progress and development trends in autonomous homing of parafoil systems, and provide inspiration and reference value for further research in this area.
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Survey on dynamics and control problem research in spacecraft orbital pursuit-evasion game
ZHU Yanwei; ZHANG Chengming; YANG Fuyunxiang; YANG LepingZHU Yanwei; ZHANG Chengming; YANG Fuyunxiang; YANG Leping.Survey on dynamics and control problem research in spacecraft orbital pursuit-evasion game[J].国防科技大学学报,2024,46(3):1-11AbstractWith the rapid development of spacecraft rendezvous and proximity operation technology, the problem of orbital pursuit-evasion has gradually become a research hotspot in the aerospace field. From the perspective of dynamics and control, the research status of spacecraft orbital pursuit-evasion was reviewed. General form of the orbital pursuit-evasion problem model based on quantitative differential games was given, and various types of orbital pursuit-evasion problems were systematically sorted out. For the solution of pursuit and escape strategies, the advantages and disadvantages of various methods were analyzed for closed-loop strategy and open-loop strategy. Focusing on the combination of artificial intelligence algorithm and orbital pursuit and escape problem, the research status of orbital pursuit and escape strategy based on deep neural network and reinforcement learning was expounded. Regarding future prospects, development directions has been proposed, including the pursuit-evasion game situation analysis, the multi-spacecraft game control, the game dynamics and control under three-body problem.
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Analysis of the current research on the flying-wing aircraft
CHEN Qingyang; XIN Hongbo; WANG Peng; ZHU Bingjie; WANG Yujie; LU YafeiCHEN Qingyang; XIN Hongbo; WANG Peng; ZHU Bingjie; WANG Yujie; LU Yafei.Analysis of the current research on the flying-wing aircraft[J].国防科技大学学报,2024,46(3):39-58AbstractThe development trajectory of the flying-wing aircraft was sorted out, encompassing the early evolutionary history to the current state of research, along with contemplation and forecasts regarding future directions. Meanwhile, several key control challenges associated with flying-wing aircraft were discussed, including attitude control in a wide-speed domain under nonlinear conditions, high-precision autonomous take off and landing control under multiple effect coupling, robust control issues with approximate aerodynamic models and under strong disturbances, as well as control allocation problems arising from multi-surface redundancy. Moreover, the discussion on flow control issues that were currently a focal point in flying-wing aircraft research were discussed in depth. The following research trend of active flow control technology was expounded.
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Current status and trends of drag-free technology for space-based gravitational wave detection
ZHANG Jinxiu; TAO Wenjian; LIAN Xiaobin; WANG Jihe; MENG Yunhe; LIU YuanZHANG Jinxiu; TAO Wenjian; LIAN Xiaobin; WANG Jihe; MENG Yunhe; LIU Yuan.Current status and trends of drag-free technology for space-based gravitational wave detection[J].国防科技大学学报,2024,46(2):1-17AbstractThe drag-free control of the spacecraft is one of the key technologies to realize the ultra-static and ultra-stable operation of science platform for gravitational wave space detection. At present, the dynamics and control of the spacecraft system have been studied deeply by various research institutions at domestic and overseas, and different detection tasks have been proposed according to the requirements of different detection frequency bands. The design and control of spacecraft formation were introduced and analyzed in detail according to the exploration mission, and the principles and theoretical methods of drag-free and attitude control, high-precision inertial sensors and actuators involved were deeply dissected. The overall situation of demonstration and verification of drag-free spacecraft in orbit for space-based gravitational wave detection was detailed and analyzed. On this basis, the key problems required to be solved in the research of follow-up related were presented, and the research hotspots and trends in the methods of future dynamics and control of drag-free spacecraft systems were also pointed out.
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Reasearch progress and prospects of deep learning for visual speech generation
LIU Li; SUI Jinping; DING Ding; ZHAO Lingjun; KUANG Gangyao; SHENG ChangchongLIU Li; SUI Jinping; DING Ding; ZHAO Lingjun; KUANG Gangyao; SHENG Changchong.Reasearch progress and prospects of deep learning for visual speech generation[J].国防科技大学学报,2024,46(2):123-138AbstractIn order to further advance the development of visual speech learning, the task definition and research significance of visual speech generation was expounded and the difficulties and challenges were deeply analyzed in this field. Besides, the current status and development level of visual speech generation research was introduced, and the recent mainstream methods were sorted, classified and commented based on the difference of generation frameworks. At the end of the paper, the potential problems and possible research directions of visual speech generation were discussed.
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GAO Qinhe; HUANG Tong; QIAN Bingwen; SHEN Fei; WANG Dong; GAO LeiGAO Qinhe; HUANG Tong; QIAN Bingwen; SHEN Fei; WANG Dong; GAO Lei.Technical research review on analysis and evaluation of anti-damage capability for missile launching vehicle[J].国防科技大学学报,2024,46(2):182-196
AbstractIncreasing transparency of modern warfare has brought serious challenges to the survival of missile launching vehicle on the battlefield. Around the launcher anti-damage ability of analysis and evaluation technology, the threat of damage and damage mechanism faced by launcher were analyzed, current research status of four types of damage(shock wave, kinetic energy, thermal, and electromagnetic) from the perspective of the application of anti-damage capability assessment were elaborated, and different damage types in the evaluation of anti-damage capability and application directions in the analysis were putted forward; based on the vulnerability analysis space theory, the development process of equipment vulnerability analysis was summarized. It was considered that the logical transfer relationship from physical space to performance space was the key to the vulnerability analysis of launchers at present. Research trends of vulnerability criteria were introduced from the physical criteria, performance criteria and classification criteria, and the key criteria for vulnerability of launchers was proposed. Research concept and the main problems faced by analytical methods of the anti-damage capability of the launcher were explicitly described. Research conclusions can provide references for the analysis and evaluate related research of the anti-damage capability of the missile launching vehicle.
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GaN power devices and their radiation effects for space applications
BI Jinshun; SHEN Lizhi; MEI Bo; CAO Shuang; SUN Yi; YU QingkuiBI Jinshun; SHEN Lizhi; MEI Bo; CAO Shuang; SUN Yi; YU Qingkui.GaN power devices and their radiation effects for space applications[J].国防科技大学学报,2024,46(1):149-159AbstractIt is of great significance to study GaN(gallium nitride) power devices and their radiation effects to meet the needs of space applications and promote the construction of a new generation spacecraft. Main structures and working principles of GaN power devices were introduced. Research progress of total ionizing dose effect and single event effect of GaN power devices in recent years was reviewed. Degradation and damage mechanisms of GaN devices caused by radiation effects were analyzed and discussed. Research results show that GaN power devices have strong resistance to total ionizing dose. However, GaN power devices are prone to leakage and single event burnout due to their weak resistance to single event burnout, and most of the burnout points occur at the drain side of the gate edge. Research on the radiation damage mechanism of GaN power devices lacks authoritative theories and needs to be further mastered to provide theoretical support for their space application. GaN power devices with planar structure are the current mainstream technical solutions. Monolithic integration, high frequency and miniaturization are the development directions of GaN power devices in the future.
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Development status and technology challenges of high-altitude long-endurance solar-powered aircraft
YANG Xixiang;HOU Zhongxi;GUO ZhengYANG Xixiang;HOU Zhongxi;GUO Zheng.Development status and technology challenges of high-altitude long-endurance solar-powered aircraft[J].国防科技大学学报,2023,45(6):1-9AbstractHALE(high-altitude long-endurance) solar-powered aircrafts are the research frontiers, they can staying airborne for several months, and can form new application ability named "long-endurance+station-keeping". The three-stage development process of HALE solar-powered aircrafts was systematically summarized, including early exploration stage, rapid development stage and operational capability demonstration stage, and typical development plans aboard were introduced. Key technology challenges were analyzed, including aerodynamic configuration design, energy storage battery, high altitude propulsion, large scale structure and flight control, and the suggestions for research directions were proposed. All those can provide reference for innovation development of HALE solar-powered aircrafts.
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State of the art and prospects of neural architecture search
DING Ding;LIU Wenzhe;SHENG Changchong;SUI Jinping;LIU LiDING Ding;LIU Wenzhe;SHENG Changchong;SUI Jinping;LIU Li.State of the art and prospects of neural architecture search[J].国防科技大学学报,2023,45(6):100-131AbstractNeural architecture search is a task that aims to automatically search for the optimal neural network structure for different tasks, which is of great importance and inevitability in the joint development of deep learning and computer vision to the current stage. A comprehensive review of the research on neural network search was provided. In specific, the definition and significance of neural architecture search were introduced, and the difficulties and challenges faced in relevant research were deeply analyzed. Based on this, the mainstream search strategies was elaborate and summarize; Finally, the potential problems and possible future research directions were summarized and discussed to promote further development in this field.
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Research progress of anti-irradiation MRAM
SUN Jiejie;WANG Chao;LI Jiawei;JIANG Chuanpeng;CAO Kaihua;SHI Hui;ZHANG Youguang;ZHAO WeishengSUN Jiejie;WANG Chao;LI Jiawei;JIANG Chuanpeng;CAO Kaihua;SHI Hui;ZHANG Youguang;ZHAO Weisheng.Research progress of anti-irradiation MRAM[J].国防科技大学学报,2023,45(6):174-195AbstractThe novel non-volatile MRAM(magnetic random access memory) has the advantages of fast read and write speed, long data retention time and low power consumption, which attracts wide attention from researchers. Its excellent anti-irradiation capabilities are explored in depth, and further applications in aerospace and other fields are expected. The industrial development, technological changes and applications of MRAM were reviewed, the mature MRAM products of recent years were listed, and the advantages and disadvantages of different generations of MRAM were analyzed. The radiation effects of MTJ(magnetic tunnel junction) and read/write circuit based CMOS(complementary metal oxide semiconductor) were discussed. The recent achievements in anti-radiative hardening design for MRAM were summarized. The development prospect of anti-irradiation MRAM in aerospace field and even nuclear energy field was prospected.
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Overview of cognitive electronic warfare
HUANG Zhitao; WANG Xiang; ZHAO YuruiHUANG Zhitao; WANG Xiang; ZHAO Yurui.Overview of cognitive electronic warfare[J].国防科技大学学报,2023,45(5):1-11AbstractCognitive electronic warfare is usually defined as a form of electronic warfare that is based on electronic warfare equipment with cognitive performance and focuses on autonomous interactive electromagnetic environment learning capability and dynamic intelligent confrontation task processing capability. Since it was first proposed, it has attracted extensive attention from researchers and scholars at home and abroad for its advantages of accurate perception, strong reasoning and fast decision-making. With the continuous emergence of new concepts, technologies and applications of artificial intelligence, cognitive electronic warfare has stepped into a brand new stage of development. In order to capture its future development direction, the connotation of the concept of cognitive electronic warfare was summarized and enriched from the perspective of artificial intelligence, the development of cognitive electronic warfare and typical foreign projects were sorted out, the framework and architecture of cognitive electronic warfare system was built, a comprehensive and systematic review of the key technologies of cognitive electronic warfare was conducted from the aspects of perception, judgment, decision-making, etc., and the challenges and development trends of cognitive electronic warfare were summarized.
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Overview of GNSS/INS ultra-tight integrated navigation
NI Shaojie; LI Shiyang; XIE Yuchen; DENG DingNI Shaojie; LI Shiyang; XIE Yuchen; DENG Ding.Overview of GNSS/INS ultra-tight integrated navigation[J].国防科技大学学报,2023,45(5):48-59AbstractGNSS/INS ultra-tight integrated navigation system has become a research hotspot in the field of integrated navigation due to its high positioning accuracy, excellent dynamic performance and strong anti-jamming ability. The principle of GNSS/INS ultra-tight integration was introduced, and the advantages and features of ultra-tight integration mode relative to other integration modes were compared based on the analysis of the technical principle. The domestic and international research status was introduced, represented by ultra-tight integration under high dynamics and MIMU/GNSS ultra-tight integration. The key technologies such as fault-tolerant control technology, neural network assistance, and multi-sensor assisted ultra-tight integration were summarized, and the prospect of GNSS/INS ultra-tight integration towards low cost, high precision and strong stability was prospected.
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Survey on converged networks of high-performance computing network and data center network
LU Pingjing; DONG Dezun; LAI Mingche; QI Xingyun; XIONG Zeyu; CAO Jijun; XIAO LiquanLU Pingjing; DONG Dezun; LAI Mingche; QI Xingyun; XIONG Zeyu; CAO Jijun; XIAO Liquan.Survey on converged networks of high-performance computing network and data center network[J].国防科技大学学报,2023,45(4):1-10AbstractWith the convergence trend of high performance computing, big data processing, cloud computing and artificial intelligence computing, the converged network of high-performance computing network and data center network becomes an important trend. The current research status of converged network was analyzed, and the representative converged networks were described in detail to comprehensively show the latest technologies and trends. The challenges faced by the converged network were put forward, and the trends of converged network were proposed, including the convergence and differentiation coexistence of the converged network protocols, the performance acceleration of the converged network based on in-network computing, and the performance optimization of the converged network for emerging applications.
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SHEN Jianghua; ZHOU Yuting; WANG XiuxiaSHEN Jianghua; ZHOU Yuting; WANG Xiuxia.Research progress in damage mechanism of nickel-based single crystal superalloys under service conditions[J].国防科技大学学报,2023,45(4):55-65
AbstractIn order to improve the service life of nickel-based single crystal blades and solve the key technology of aeroengine turbine and gas turbine, domestic and overseas researchers carried out a large number of research on the failure and damage mechanism of nickel-based single crystal superalloys under service conditions in recent years. The research achievements and progress of fatigue, creep and thermomechanical fatigue damage mechanism of nickel-based single crystal superalloys under service conditions were concluded. In addition, in view of the time and cost increase caused by a large number of experiments, the research works and achievements in life prediction methods of nickel-based single crystal superalloys in recent years were summarized, and the difficulties and challenges in life evaluation and failure analysis of nickel-based single crystal superalloys were proposed.
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Research progress of operational reliability of civil aircraft
FENG Yunwen; LIU Jiaqi; PAN Weihuang; LU ChengFENG Yunwen; LIU Jiaqi; PAN Weihuang; LU Cheng.Research progress of operational reliability of civil aircraft[J].国防科技大学学报,2023,45(4):66-93AbstractBased on the technical status and development trend of civil aircraft operation reliability research, the requirements of civil aircraft operation reliability research were expounded according to the current type design, development and actual situation of in-service aircraft. By reviewing the research progress and engineering application status of civil aircraft operational reliability theory, the research status and problems of civil aircraft operational reliability are elaborated from six aspects:operation data acquisition and processing, operational reliability analysis method, operational reliability prediction feedback technology, optimization design based on operational reliability, optimize maintenance tasks, and comprehensive management platform for operational reliability. The future development direction of operation reliability research of civil aircraft is prospected.
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Progress in internal wave theory for two-layer and three-layer fluid systems
ZHAO Binbin; ZHANG Tianyu; DU Hui; DUAN Wenyang; WANG ZhanZHAO Binbin; ZHANG Tianyu; DU Hui; DUAN Wenyang; WANG Zhan.Progress in internal wave theory for two-layer and three-layer fluid systems[J].国防科技大学学报,2023,45(4):124-135AbstractInternal waves, occurring in stratified ocean, are ubiquitous in the world oceans. It is of great significance for our country′s marine development to study the generation and evolution of internal waves. Based on the internal wave theory of two-layer and three-layer fluid systems, the KdV(Korteweg-de Vries) internal wave theory, MCC(Miyata-Choi-Camassa) internal wave theory, HLGN(high-level Green-Naghdi) internal wave theory and Dubreil-Jacotin-Long internal wave theory, which were widely used at home and abroad, were selected to review their research progress. The advantages and limitations of different internal wave theories were discussed from mathematical models, theoretical research and numerical simulations. In the view of mathematical derivation, it is proved that MCC internal wave theory is equivalent to the first-level HLGN internal wave theory.
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JIANG Chuanjin; REN Yongjie; TONG Yiheng; XIE Yuan; CHU Wei; LI XiuqianJIANG Chuanjin; REN Yongjie; TONG Yiheng; XIE Yuan; CHU Wei; LI Xiuqian.Current status and trend of dynamic atomization characteristics of swirl injector under oscillating environment in liquid rocket engines[J].国防科技大学学报,2023,45(3):1-19
AbstractIn order to master the atomization characteristics of oscillating spray and its relationship with unstable combustion, research and development of gas-liquid coaxial swirl injectors and liquid-liquid coaxial swirl injectors, which are widely used in liquid rocket engines, are reviewed from three aspects of excited oscillation, self-pulsation, and interactions of spray oscillation with combustion stability, so as to deepen our understanding of them. According to the review, for the excited oscillation, the research on the upstream pressure oscillation caused by flow oscillation of supply system under normal temperature and pressure conditions is relatively sufficient. However, the research on the backpressure oscillation caused by pressure oscillation in the combustion chamber and the research on the excited oscillation of spray under supercritical conditions are lack. For the self-pulsation, the current research is focused on the liquid-centered coaxial swirl injectors. There are few studies on the gas-centered coaxial swirl injectors and liquid-liquid coaxial swirl injectors. The optical diagnosis technology is far from enough to extract the single combustion flow field information.
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Research progress of energy and actuation technology for micro-soft robots
YANG Yun; LIN Zening; HONG Yang; JIANG Tao; SHANG Jianzhong; LUO ZirongYANG Yun; LIN Zening; HONG Yang; JIANG Tao; SHANG Jianzhong; LUO Zirong.Research progress of energy and actuation technology for micro-soft robots[J].国防科技大学学报,2023,45(3):76-85AbstractMicro-soft robots with high compliance, low energy consumption and high energy density have wide application prospects in complex environments such as pipeline maintenance and battle field reconnaissance. Energy and actuator play a decisive role in the motion modes and performances of micro-soft robots. In order to make more researchers understand the research progresses of the existing flexible driving technology and their energy sources, the typical driving methods based on physical energy driving, chemical energy driving and biological hybrid driving were summarized and analyzed. The shortcomings and future development of the existing flexible driving technology and their energy sources were discussed and summarized, which can provide reference for the development and improving performance of the flexible drive technology of soft robots in the future.
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Review of the detection and removal methods of raindrops attached to the lens surface
LI Zhong; OUYANG Bin; QIU Shaohua; CUI Xiaopeng; XU XinghuaLI Zhong; OUYANG Bin; QIU Shaohua; CUI Xiaopeng; XU Xinghua.Review of the detection and removal methods of raindrops attached to the lens surface[J].国防科技大学学报,2023,45(3):146-160AbstractVisual system is an important part of autonomous unmanned system. The raindrops attached to the surface of the camera lens will produce artifacts in the image, resulting in the degradation of image quality, which will significantly affect the performance of the visual system. The detection and removal methods of attached raindrops in recent years were comprehensively and deeply researched. The essence of the problem was condensed, and the existing raindrop imaging models were summarized. Different technical methods were sorted out from three directions:model-based, data-driven and camera system-based, then the development of deep network model was summarized from two aspects of network architecture and loss function. The existing datasets of attached raindrops were summarized, and the performance of some algorithms was compared through the experimental results. The main problems in the task of raindrop detection and removal were discussed, and the possible development direction in this field was prospected.
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Survey on key technologies of UAV advanced ground stations
XIANG Xiaojia; TAN Qin; WANG Chang; ZHOU Han; TANG Dengqing; NIU YifengXIANG Xiaojia; TAN Qin; WANG Chang; ZHOU Han; TANG Dengqing; NIU Yifeng.Survey on key technologies of UAV advanced ground stations[J].国防科技大学学报,2023,45(2):1-14AbstractThe novel UAV (unmanned aerial vehicle) ground station with advanced control capabilities such as immersive display, intelligent assistance, and naturalized human-computer interaction has become a hot research topic in the field of UAV control. To analyze the technical aspects, the functional points and designs concepts of a series of advanced ground stations for UAVs at home and abroad were systematically compared. The technical system composition from the OODA (observe, orient, decide and act) loop of UAV ground station command and control were summarized and refined. The key techniques such as task environment construction, battlefield situation immersive display, intelligent assisted decision and naturalized human-computer interaction were analyzed and pointed out. The main research methods of various techniques were deeply analyzed, and the current challenges and future development trends of UAV advanced ground stations were also studied and judged. In addition, it provides guidance and reference for the development of novel ground stations.
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Review of visual-inertial navigation system initialization method
LIU Zhe; SHI Dianxi; YANG Shaowu; LI RuihaoLIU Zhe; SHI Dianxi; YANG Shaowu; LI Ruihao.Review of visual-inertial navigation system initialization method[J].国防科技大学学报,2023,45(2):15-26AbstractVINS (visual-inertial navigation systems) solve a series of parameters required for state estimation through initialization, such as scale, gravity vector, velocity, inertial measurement unit′s bias, etc., to improve the accuracy of navigation positioning and environmental perception of the system. The initialization methods of VINS can be divided into three categories according to the sensing information fusing mode:joint initialization, disjoint initialization and semi-joint initialization. Based on the existing research work, the current mainstream initialization methods of VINS were reviewed from four aspects:basic theory, development and classification, existing methods, performance evaluation, and the future development trends were summarized, which is helpful to have a general understanding of VINS initialization methods and grasp its development direction.
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Review on the memristor based neuromorphic chips
CHEN Changlin; LUO Changhang; LIU Sen; LIU HaijunCHEN Changlin; LUO Changhang; LIU Sen; LIU Haijun.Review on the memristor based neuromorphic chips[J].国防科技大学学报,2023,45(1):1-14AbstractIn order to master the current development status and development trends of memristor based neuromorphic chips, the existing memristor based neuromorphic chips and architectures were investigated. The memristor array structure and integration process, anterior and posterior neuron circuits, multi-array interconnection topology and data transmission strategy used in the chip, as well as the system simulation and evaluation methods used in the chip design process were compared and analyzed. It is concluded that the current circuit design of memristor based neuromorphic chips still need to solve the problems of limited resistance states, large device parameter fluctuation, complex array peripheral circuits, small integration scale, etc. It is pointed out that the actual application of this type of chip still faces challenges such as the improvement of memristor production process, improvement of development tool support, special instruction set development, and determination of typical traction applications.
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NIU Yifeng; LIU Tianqing; LI Jie; JIA ShengdeNIU Yifeng; LIU Tianqing; LI Jie; JIA Shengde.Review on motion planning methods for unmanned aerial vehicle cooperative maneuvering flight in cluttered environment[J].国防科技大学学报,2022,44(4):1-12
AbstractThe basic principle, representative methods, and state-of-the-art research of the sub-module related research within the general framework of cooperative maneuvering flight planning from single UAV (unmanned aerial vehicle) maneuvering flight to multi-UAV cooperative planning were introduced. It mainly included real-time navigation map construction, discrete-space path planning, continuous-space trajectory planning, hybrid planning based on discrete-space and continuous-space, and multi-courses/trajectories cooperative planning. The next research directions were proposed based on the major technologies of the planning framework.
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Review of RCS measurement and imaging methods of stealth aircraft
JIA Gaowei; YIN Peng; SHAO Shuai; WANG JianfengJIA Gaowei; YIN Peng; SHAO Shuai; WANG Jianfeng.Review of RCS measurement and imaging methods of stealth aircraft[J].国防科技大学学报,2022,44(3):93-103AbstractStealth aircraft has gradually become a great power, and will continue to play an important role, making stealth technology become the key technology of aircraft design. RCS(radar cross section) measurement of stealth aircraft is a necessary step to design, manufacture and maintain stealth aircraft. The basic process of RCS measurement of stealth aircraft was reviewed from three aspects:RCS test of scaled model, outdoor RCS test of full-scale aircraft and indoor near-field test of full-scale aircraft, the theoretical basis of RCS near-field measurement of stealth aircraft was summarized, and the near-field RCS measurement technology with imaging diagnosis function was analyzed intensively. The development trend and key technologies of stealth aircraft RCS measurement were prospected, which is helpful to have a general understanding of RCS measurement of stealth aircraft and grasp the development direction of RCS measurement.
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XIAO Fei; MA Weiming; LUO Yifei; LIU Binli; JIA Yingjie; LI XinXIAO Fei; MA Weiming; LUO Yifei; LIU Binli; JIA Yingjie; LI Xin.Review of dynamic characterization research of high power IGBTs and their combinations under multiple time scales[J].国防科技大学学报,2021,43(6):108-126
AbstractBased on demand of multiple time scale dynamic characterization of power electronic devices and their combination, the recent research progress and achievements on the widely used full-control power electronic devices—IGBTs(insulated gate bipolar transistors), were analyzed systematically, including the multiple time scales electro-thermal modeling of high power IGBTs and their combinations, quantitative failure evaluation methods based on the multiple time scales model and the assisted multi-rate simulation method. Furthermore, applications of the models were introduced in power electronic instruments design. In conclusion, the dynamic characterization method of high power IGBTs and their combinations under multiple time scales were presented from four aspects of modelling method, reliability evaluation, simulation method and application design, which can bring theoretical and technical support of power electronic devices to precise design of power electronic hybrid system.
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Review on two-dimensional trajectory correction projectile and its guidance and control technology
XING Bingnan; DU Zhonghua; DU ChengxinXING Bingnan; DU Zhonghua; DU Chengxin.Review on two-dimensional trajectory correction projectile and its guidance and control technology[J].国防科技大学学报,2021,43(4):53-68AbstractIn view of the wide application prospect of intelligent ammunition, the development of two-dimensional trajectory correction projectile, main correction mechanism scheme and guidance control technology were summarized. The development process of the two-dimensional trajectory correction projectile was reviewed, aiming to reveal the development principle. Several main correction schemes were discussed, and the function characteristics and research difficulties of each mechanism were analyzed. Based on the requirements of the two-dimensional trajectory correction projectile, the research status of its control technology was summarized from three aspects:aerodynamic identification and state estimation algorithm, parameter optimization algorithm and guidance law. The rapid development of intelligent algorithm in recent years, especially the application of neural network theory in the field of control algorithm was focused on. The main technical difficulties and the future development direction of the control research of the two-dimensional trajectory correction projectile, which provides ideas for the design, were pointed out.
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Current status and trend of UAV swarm communication payload technology based on free space optical
SU Shaojing; TONG Xiaozhong; WEI Junyu; WU PengSU Shaojing; TONG Xiaozhong; WEI Junyu; WU Peng.Current status and trend of UAV swarm communication payload technology based on free space optical[J].国防科技大学学报,2021,43(4):118-127AbstractThe application requirements of UAV (unmanned aerial vehicle) swarm communication payload technology based on FSO (Free Space Optical) were summarized, and the current status of FSO technology and application at home and abroad UAV payloads was discussed. The development prospect of the payload technology of UAV swarm based on FSO communication in high-speed mobile communication environment was also analyzed. Furthermore, a profound analysis on the key technologies in FSO communication links applied to UAV swarm was conducted. Predictably, FSO-based communication payload will be used widely for wide-bandwidth communication networking of UAV swarm in the future.
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Review of layerwise theory for composite materials laminated structures and its applications
SHEN Haijun; LI WeiSHEN Haijun; LI Wei.Review of layerwise theory for composite materials laminated structures and its applications[J].国防科技大学学报,2021,43(3):1-14AbstractLayerwise theory, proposed by Reddy, is a 3D analysis method for accurately analyzing composite laminated plates and shells. Without introducing any deformation and stress hypothesis, layerwise theory, compared with the classical equivalent single layer theories, has greater advantages for static and dynamic responses analysis of thick composite laminated plates and shells, especially for local interlaminar effects analysis. A review and recent research progress of the layerwise theory were presented, and its numerical solutions and applications were demonstrated as well. The basis of layerwise theory and its recent development were introduced. The implementation of layerwise finite element method and its refined models were discussed. The employment of layerwise theories for conducting static and vibration analyses and the damage model analysis of composite laminated plates and shells were outlined. And several future research trends were recommended in the end.
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Research progress and application of thermal fluid platelet devices
YIN Liang; LIU WeiqiangYIN Liang; LIU Weiqiang.Research progress and application of thermal fluid platelet devices[J].国防科技大学学报,2021,43(3):15-22AbstractThe platelet technology has been in rapid development because of several features, including the special structure of flow channel, the precise size and location, and can provide solutions to difficult thermal and fluid flow problems. As a result, the platelet technology is a major technological innovation in the history of science and technology. The characteristics and development of platelet fluid devices were briefly introduced. Some typical new applications at home and abroad in recent years, such as platelet injector, platelet transpiration cooling nose-tip, platelet fluid mixer, platelet thruster of high speed ship and platelet muffler were summarized. Finally, the correlation of processing of platelet technology and 3D printing technology was described.
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LUO Shibin; LIU Haiqiao; HU Maoqing; DONG JingLUO Shibin; LIU Haiqiao; HU Maoqing; DONG Jing.Review of multi-modal image matching assisted inertial navigation positioning technology for unmanned aerial vehicle[J].国防科技大学学报,2020,42(6):1-10
AbstractHigh-precision positioning and navigation in GPS(global positioning system) denied environments is a key technology for aircraft achieving autonomous scout, cruise, and strike. Vision navigation has the advantages of passive-type, low cost, and avoidable accumulated errors avoidable, etc. The fusion of vision and inertial navigation can give full play to their advantages and achieve the purpose of high-precision positioning. Firstly, the development of aircraft positioning technology based on multi-modal image matching assisted inertial navigation was summarized. Then this technology was elaborated in five aspects:the vision-internal calibration, multi-modal image matching, attitude algorithm, data fusion, and back-end optimization. Finally, four possible future directions were proposed as follows, two types of passive positioning combined navigation systems based on deep learning, multi-modal image matching and inertial navigation. The four possible future directions provide a reference for realizing multi-modal image matching assisted inertial navigation aircraft positioning technology.
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ZHENG Wei; LI Zhaowei; WU FanZHENG Wei; LI Zhaowei; WU Fan.Research progress of the underwater gravity-aided navigation based on the information of aerospace-marine integration[J].国防科技大学学报,2020,42(3):39-49
AbstractThe accurate navigation of the underwater vehicle plays an important role in the process of the ocean utilization and development. The problem of restraining the accumulation errors of the underwater navigation over time was discussed and analyzed in detail. Firstly, the development history of the inertial devices was briefly described. Secondly, the advantages and disadvantages of each navigation system were compared in detail, the research status of the gravity-aided navigation at home and abroad were introduced, and the demand for the high-precision navigation of the underwater vehicles and the scientific problems of insufficient spatial resolution of the global marine gravity reference map were analyzed. Finally, the idea and technical route of obtaining the high spatial resolution and high precision global marine gravity reference map by GNSS-R altimetry constellations are proposed in order to improve the accuracy of the underwater gravity-aided navigation.
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A survey of the techniques of volume rendering for large-scale scientific data
WANG Huawei; HE Liu; CAO Yi; XIAO LiWANG Huawei; HE Liu; CAO Yi; XIAO Li.A survey of the techniques of volume rendering for large-scale scientific data[J].国防科技大学学报,2020,42(2):1-12AbstractVolume rendering is an effective method to visualize complex physical features in large-scale scientific data with high expressiveness, the difficulties in processing huge amount of data and capturing complex features, however, are still a great challenge to volume rendering. To address the challenges and improve efficiency and effect of volume rendering, researchers conducted in-depth research on volume rendering algorithms from three aspects. On the one hand, it is an effective way to improve the efficiency of volume rendering by sharing computation with lots of processor cores so as to reduce the computational amount of one processor core. On the other hand, by fully exploring the intrinsic characteristics of three-dimensional data fields, data reduction methods can greatly decrease the amount of data in the rendering process and thus reduce the overhead of a volume rendering algorithm. In addition, feature analysis and enhancement techniques can also be integrated into volume rendering algorithms, thus complex physical features are highlighted from the data fields and high-quality rendering of scientific data is achieved. A survey of recent advances on volume rendering techniques was presented and various research methods were analyzed. In the end, this paper makes prospection for future research directions on volume rendering of large-scale scientific data, including application-driven feature volume rendering, feature-based data reduction in volume rendering, hardware-adapted multi-level acceleration of volume rendering and in-situ intelligent volume rendering.
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Research progress of supercontinuum laser source
YANG Weiqiang; SONG Rui; HAN Kai; HOU JingYANG Weiqiang; SONG Rui; HAN Kai; HOU Jing.Research progress of supercontinuum laser source[J].国防科技大学学报,2020,42(1):1-9AbstractAlong with the maturity of high-nonlinearity optical fiber manufacturing technology and the improvement of the performance of fiber lasers, the supercontinuum sources have entered a period of rapid development. Supercontinuum generation by using optical fibers as the non-linear media has become a research hotspot. The technical schemes and recent progress of supercontinuum generation were been reviewed from three different bands:visible, near-infrared and mid-infrared. At present, the output power of the visible and near-infrared supercontinuum sources broke through 100 W. At the same time, many new schemes such as supercontinuum generation in multi-core photonic crystal fibers, fiber amplifiers and random fiber lasers were developed. The output power of mid-infrared supercontinuum generation by using fluoride and tellurite fibers as non-linear media, also reached 10 W. The output spectrum of supercontinuum generation with chalcogenide optical fibers as non-linear medium was extended to more than 12 μm.
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Advanced imaging and detecting technology for precision guidance
LUO Chenggao; DENG Bin; CHENG Yongqiang; WANG Wenpeng; WANG Hongqiang;WANG ZhanLUO Chenggao; DENG Bin; CHENG Yongqiang; WANG Wenpeng; WANG Hongqiang;WANG Zhan.Advanced imaging and detecting technology for precision guidance[J].国防科技大学学报,2019,41(5):174-184AbstractThe history of precision guidance technologies was reviewed, and the challenges and main developing trends of imaging and detecting technologies for precision guidance were illustrated. Combined with the recent developments of the emerging technologies such as terahertz, quantum and metamaterial, the backgrounds, developing venation, basic principles and advantages of three typical advanced imaging and detecting technologies, namely, terahertz radar, quantum radar and metamaterial radar were expounded. These advanced techniques may have the potential to provide feasible approaches for precision guidance technology to overcome the challenges brought by the future new warfare form. The analysis results will provide some positive guidance and is of significance for improving the strike and intercept effectiveness of the precision guided weapon systems.
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Definition and measurement of system complexity
DUAN Xiaojun; YIN Yimin;GU KongjingDUAN Xiaojun; YIN Yimin;GU Kongjing.Definition and measurement of system complexity[J].国防科技大学学报,2019,41(1):191-198AbstractComprehension of complexity is one of the key challenges in science and technology. Complexity is a very important conception in interdisciplinary systems science, and is significant to researchers. The basic semantic background on system complexity was presented and the various definitions of complexity domestically and overseas were analyzed. On the basis of the classification of ontology and epistemology, a taxonomy of complexity was described on the basis of the state-of-the-art works on complexity definition. Meanwhile, a category of complexity measurements and the corresponding mathematical tools were proposed. Examples were given for the efficiency of complexity classification and measures.
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Research progress in controlling femtosecond laser filamentation in atmosphere
NIE Jinsong;HU YuzeNIE Jinsong;HU Yuze.Research progress in controlling femtosecond laser filamentation in atmosphere[J].国防科技大学学报,2018,40(4):1-8AbstractUnder the dynamic equilibrium among diffraction, dispersion, Kerr effect and multiple photons ionization, a self-guiding filament formed by femtosecond laser with long propagation distance can be constructed, which is accompanied by a narrow plasma channel. In order to control the propagation features of filamentation explicitly in air, a way to effectively regulate filamentation propagation modes and spatio temporal distributions has become a research hotspot. On the basis of introducing the physical model of filamentation briefly, a general overview of controlling filamentation divided by two parts was presented in this review: temporal modulations and spatial modulations. In particular, the latter consists of modulations designed by phase, amplitude and special beams. Our findings suggest that unique filaments controlled by initial modulations can offer advantages and fundamentals for the realization of numerous potential applications.
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Current status and prospect for the method on reliability analysis of hull structures in-service
HUA Lin; WU Fan; LYU Yansong;MU JinleiHUA Lin; WU Fan; LYU Yansong;MU Jinlei.Current status and prospect for the method on reliability analysis of hull structures in-service[J].国防科技大学学报,2018,40(4):173-180AbstractAs the key technology of reliability evaluation for hull structure in-service, the merits of the reliability assessment theories determines the effectiveness and confidence level of the reliability evaluation result directly. The development course and current research situation of traditional reliability assessment theories and non-probabilistic reliability assessment theory were elaborated in the view of calculation principle, computing of measurement index and engineering application. Simultaneously, the advantages and disadvantages of all current reliability assessment theories that applied in hull structure in-service were analyzed and summarized. The future research outlook was developed and the focus in the study of hull structure reliability was outlined.
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Survey of alert-correlation based on network threat detection techniques
WANG Yijie; CHENG Li;MA XingkongWANG Yijie; CHENG Li;MA Xingkong.Survey of alert-correlation based on network threat detection techniques[J].国防科技大学学报,2017,39(5):128-138AbstractThe rapid development of the Internet also causes more and more network threats. How to detect the network threats in a real-time and accurate manner becomes one of the key technique issues. The alert-correlation-based network threat detection technique is becoming the research hotspot, which couples with the widely used security products and fully exploits the relation between abnormal events to reconstruct the attack scenario. Starting from the features of network threats and security environment, the requirements and classification of network threat detection were introduced. Then the basic concepts and system model of alert-correlation-based network threat detection technique were illustrated in detail. The key module of the model, aler correlation method, and the fundamentals and features of different kinds of typical algorithm were studied in detail, including causal-relation-based method, case-based method, similarity-based method and data-mining-based method. Furthermore, three kinds of representative detection system architectures were discussed with practical instances, namely centralized architecture, hierarchical architecture and distributed architecture. Finally, based on the analysis of recent research work, the future work is discussed and outlined.
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A survey of gliding guidance methods for hypersonic vehicles
PAN Liang; XIE Yu; PENG Shuangchun; XU Mingliang;YUAN TianbaoPAN Liang; XIE Yu; PENG Shuangchun; XU Mingliang;YUAN Tianbao.A survey of gliding guidance methods for hypersonic vehicles[J].国防科技大学学报,2017,39(3):15-22AbstractThe basic problem of gliding guidance for hypersonic vehicles was proposed, and the difficulties of complicated multiple constraints, maneuver requirements, and parameter perturbation in the course of gliding guidance were analyzed. The corresponding research status at home and abroad was surveyed, and the problems were also pointed out. On this basis, the key problems required to be solved at present in the research of gliding guidance for hypersonic vehicles were presented, and the research hotspots in the methods of future gliding guidance were also pointed out.
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HUANG Min; WANG Zhongwei;GUO ZhenyunHUANG Min; WANG Zhongwei;GUO Zhenyun.Wind tunnel based virtual flight testing system and key technologies for the evaluation of flight control system[J].国防科技大学学报,2017,39(2):1-8
AbstractIn order to provide a guide for specific investigations on WTBVFT(wind tunnel based virtual flight testing) techniques, the test system and key technologies of WTBVFT for the evaluation of FCS (flight control system) were analyzed. Based on the deficiencies of the traditional FCS evaluation methods, the advantages of WTBVFT for evaluation of FCS were analyzed. According to the common constitution of attitude control loop and guidance control loop used by FCS, the test system and working principle of WTBVFT for FCS evaluation were presented. The main differences between the WTBVFT system and the hardware-in-the-loop simulation system were analyzed. The key technologies of WTBVFT for FCS evaluation were also analyzed, including WTBVFT evaluation methods, aircraft model design technique, FCS modification technique, and model support technique.
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Electromagnetic launch technology
MA Weiming;LU JunyongMA Weiming;LU Junyong.Electromagnetic launch technology[J].国防科技大学学报,2016,38(6):1-5AbstractElectromagnetic launch technology is an inevitable trend among methods of launch in the future. The principle and technology characteristics of electromagnetic launch is analyzed, three branches of electromagnetic launch technology development overseas in electromagnetic ejection, electromagnetic railgun and electromagnetic pushing were studied, and the key technology of electromagnetic launch was summarized. Furthermore, the development strategy and the extension application prospect of electromagnetic launch technology was proposed.
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Review of the interdependent networks
LAO Songyang; WANG Junde;BAI LiangLAO Songyang; WANG Junde;BAI Liang.Review of the interdependent networks[J].国防科技大学学报,2016,38(1):122-128AbstractIn recent years, the network dependency and interdependent networks have become a research hotspot in the field of complex network, but literature about the overview of related research progress is still very rare. Based on the systematic research of domestic and overseas literatures, the percolation theory of the interdependent networks was briefly introduced, and the cascading failure process of the interdependent networks was described. Then the related progress was summarized from three aspects that can affect the robustness of interdependent networks: characteristics of sub network, type of dependency edge, the combination of sub networks. Finally, the future development direction of interdependent networks was prospected in both theoretical and practical aspects.
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YANG Xixiang; YANG Huixin;WANG PengYANG Xixiang; YANG Huixin;WANG Peng.Overview of pseudo-spectral method and its application intrajectory optimum design for flight vehicles[J].国防科技大学学报,2015,37(4):1-8
AbstractTrajectory optimum design for flight vehicles using pseudo-spectral methods has been a hot research direction in recent years, but studies about the overview of this field are very few. Based on the systematic research of domestic and overseas related literatures, the basic principles of several pseudo-spectral methods which have a wide range of applications in aerospace field were expounded; the thoughts and formulas for transforming continuous optimal control problems into nonlinear programming problems were concluded; the applications of pseudo-spectral method in the trajectory optimum design for flight vehicles were summarized; the development directions of pseudo-spectral method and its application in trajectory optimization design for flight vehicles were discussed.
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Development status and tendency of active debris removal
CAO Xibin; LI Feng; ZHANG Jinxiu;Richard MurielCAO Xibin; LI Feng; ZHANG Jinxiu;Richard Muriel.Development status and tendency of active debris removal[J].国防科技大学学报,2015,37(4):117-120AbstractWith the increase of domestic and foreign launching tasks, it is becoming a serious challenge that plenty of failure or invalid spacecrafts in the process of space resources recycling. The active debris removal can be regarded as an effective and fundamental means that can realize the reuse of space resources and safe disposal. The concept of active debris removal is clarified and its development process also is analyzed. Some key techniques, such as relative navigation, coordinated control, capture method and device for non-cooperative target, are proposed. It will provide some fruitful reference for our country′s active debris removal in future.
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Research and application progress on underwater terrain-aided navigation technology
ZHANG Jingyuan; SHEN Jian; LI Heng;RAO ZheZHANG Jingyuan; SHEN Jian; LI Heng;RAO Zhe.Research and application progress on underwater terrain-aided navigation technology[J].国防科技大学学报,2015,37(3):128-135AbstractBased on brief introduction of the conception of underwater terrain-aided navigation, the key problems and research progress of underwater terrain-aided navigation were introduced from the view of terrain aided navigation algorithm, underwater digital map technology, and experimentation. The direction of research and development of application was pointed out as well.