钨合金柱形弹超高速撞击水泥砂浆靶的侵彻深度研究

In this paper we carried out experiments using two-stage light gas gun with Gram-grade cylindrical tungsten alloy projectiles, impacting concrete targets at velocity from 1.82 km/s to 3.66 km/s ton investigate the cratering mechanism of concrete targets in hypervelocity impact conditions. We obtained the penetration depth and residual length of the projectiles using computerized tomography (CT) and used the numerical simulation results conducted by Euler algorithm to further examine the mechanism of hypervelocity impact, and achieved the following results: (1) The craters were structured by spalling areas and bullet holes; (2) The penetration depth increases at first and then decreases with the increase of the impact velocities, and the maximum penetration depth was 8.5 times that of the projectile length, which showed no significant advantage over low velocity penetration; (3) According to the pressure of the interface of the projectiles and targets, the penetration processes were divided into four stages, of which the quasi-steady stage and the third stage were crucial in determining the total penetration depth; (4) When the projectiles were completely eroded with the increase of the impact velocities, the penetration depth of the quasi-steady stages almost remained the same and the penetration depth of the third stage decreased so that the total penetration depth was observed to increase at first and then decrease.     

基于分布式拍卖机制的多移动机器人动态任务分配算法

任务分配是多移动机器人调度系统的关键问题之一,为了提高任务整体完成效率,提出了一种基于分布式拍卖机制的多移动机器人动态任务分配算法.该方法对机器人群体采用分布式控制方法,彼此共享且动态更新任务集,采用分布式的拍卖机制竞拍任务,增加了调整任务执行顺序环节,考虑任务整体完成效率,最后在Linux系统下搭建了多机器人和障碍物的仿真环境.结果表明,该算法分配效率高于线性(CLP)算法和混合整数求解(CBC)算法,且具有稳定性,相比执行效率高的深度强化学习(DQN)算法和空缺链(VC)算法,执行效率稳定,移动代价降低了55%,实现了较高执行效率和低移动代价之间的平衡,可应用于实际仿真环境,具有可行性.