To reach a higher level of autonomy for unmanned combat aerial vehicle(UCAV) in air combat games, this paper builds an autonomous maneuver decision system. In this system,the air combat game is regarded as a Markov pr...To reach a higher level of autonomy for unmanned combat aerial vehicle(UCAV) in air combat games, this paper builds an autonomous maneuver decision system. In this system,the air combat game is regarded as a Markov process, so that the air combat situation can be effectively calculated via Bayesian inference theory. According to the situation assessment result,adaptively adjusts the weights of maneuver decision factors, which makes the objective function more reasonable and ensures the superiority situation for UCAV. As the air combat game is characterized by highly dynamic and a significant amount of uncertainty,to enhance the robustness and effectiveness of maneuver decision results, fuzzy logic is used to build the functions of four maneuver decision factors. Accuracy prediction of opponent aircraft is also essential to ensure making a good decision; therefore, a prediction model of opponent aircraft is designed based on the elementary maneuver method. Finally, the moving horizon optimization strategy is used to effectively model the whole air combat maneuver decision process. Various simulations are performed on typical scenario test and close-in dogfight, the results sufficiently demonstrate the superiority of the designed maneuver decision method.展开更多
BACKGROUND: Significant hemorrhage together with blood transfusion increases postoperative morbidity and mortality of hepatic resection. Hepatic vascular occlusion is effective in minimizing bleeding during hepatic pa...BACKGROUND: Significant hemorrhage together with blood transfusion increases postoperative morbidity and mortality of hepatic resection. Hepatic vascular occlusion is effective in minimizing bleeding during hepatic parenchymal transection. This article aimed to review the current role and status of various techniques of hepatic vascular occlusion during hepatic resection. DATA SOURCES: The relevant manuscripts were identified by searching MEDLINE, and PubMed for articles published between January 1980 and April 2010 using the keywords 'vascular control', 'vascular clamping', 'vascular exclusion' and 'hepatectomy'. Additional papers were identified by a manual search of the references from the key articles. RESULTS: One randomized controlled trial (RCT) and 5 RCTs showed intermittent Pringle maneuver and ischemic preconditioning followed by continuous Pringle maneuver were superior to continuous Pringle maneuver alone, respectively. Two RCTs compared the outcomes of hepatectomy with and without intermittent Pringle maneuver. One showed Pringle maneuver to be beneficial, while the other failed to show any benefit. One RCT showed that ischemic preconditioning had significantly less blood loss than using intermittent Pringle maneuver. Four RCTs evaluated the use of hemihepatic vascular occlusion. One RCT showed it had significantly less blood loss than Pringle maneuver, while the other 3 showed no significant difference. Only 1 RCT showed it had significantly less liver ischemic injury. No RCT had been carried out to assess segmental vascular occlusion. Two RCTs compared the outcomes of total hepatic vascular exclusion (THVE) and Pringle maneuver. One RCT showed THVE resulted in similar blood loss, but a higher postoperative complication. The other RCT showed less blood loss using THVE but the postoperative complication rate was similar. Both studies showed similar degree of liver ischemic injury. Only one RCT showed that selective hepatic vascular exclusion (SHVE) had less blood loss and liver ischemic injury than P展开更多
Square-root cubature Kalman filter (SCKF) is more effective for nonlinear state estimation than an unscented Kalman filter.In this paper,we study the design of nonlinear filters based on SCKF for the system with one s...Square-root cubature Kalman filter (SCKF) is more effective for nonlinear state estimation than an unscented Kalman filter.In this paper,we study the design of nonlinear filters based on SCKF for the system with one step noise correlation and abrupt state change.First,we give the SCKF that deals with the one step correlation between process and measurement noises,SCKF-CN in short.Second,we introduce the idea of a strong tracking filter to construct the adaptive square-root factor of the prediction error covariance with a fading factor,which makes SCKF-CN obtain outstanding tracking performance to the system with target maneuver or abrupt state change.Accordingly,the tracking performance of SCKF is greatly improved.A universal nonlinear estimator is proposed,which can not only deal with the conventional nonlinear filter problem with high dimensionality and correlated noises,but also achieve an excellent strong tracking performance towards the abrupt change of target state.Three simulation examples with a bearings-only tracking system are illustrated to verify the efficiency of the proposed algorithms.展开更多
AIM： To evaluate the clinical outcomes of patients undergoing hepatectomy with hemihepatic vascular occlusion （HHO） compared with total hepatic inflow occlusion （THO）. METHODS： Randomized controlled trials （RCT...AIM： To evaluate the clinical outcomes of patients undergoing hepatectomy with hemihepatic vascular occlusion （HHO） compared with total hepatic inflow occlusion （THO）. METHODS： Randomized controlled trials （RCTs） co- mparing hemihepatic vascular occlusion and total he- patic inflow occlusion were included by a systematic literature search. Two authors independently assessed the trials for inclusion and extracted the data. A meta- analysis was conducted to estimate blood loss, transfu- sion requirement, and liver injury based on the levels of aspartate aminotransferase （AST） and alanine arni- notransferase （ALT）. Either the fixed effects model or random effects model was used. RESULTS- Four RCTs including 338 patients met the predefined inclusion criteria. A total of 167 patients were treated with THO and 171 with HHO. Metaanalysis of AST levels on postoperative day 1 indicated higher levels in the THO group with weighted mean dif- ference （WMD） 342.27; 95% confidence intervals （CI） 217.28-467.26; P = 0.00001; I2 = 16%. Meta-analysis showed no significant difference between THO group and HHO group on blood loss, transfusion requirement, mortality, morbidity, operating time, ischemic duration, hospital stay, ALT levels on postoperative day 1, 3 and 7 and AST levels on postoperative day 3 and 7. CONCLUSION： Hemihepatic vascular occlusion does not offer satisfying benefit to the patients undergoing hepatic resection. However, they have less liver injury after liver resections.展开更多
The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of ta...The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.展开更多
To find a way of loads analysis from operational flight data for advanced aircraft,maneuver identification and standardization jobs are conducted in this paper. For thousands of sorties from one aircraft, after studyi...To find a way of loads analysis from operational flight data for advanced aircraft,maneuver identification and standardization jobs are conducted in this paper. For thousands of sorties from one aircraft, after studying the flight attitude when performing actions, the start and end time of the maneuvers can be determined. According to those time points, various types of maneuvers during the flight are extracted in the form of multi-parameters time histories. By analyzing the numerical range and curve shape of those parameters, a characteristic data library is established to model all types of maneuvers. Based on this library, a computer procedure using pattern-recognition theory is programmed to conduct automatic maneuver identification with high accuracy. In that way, operational loads are classified according to maneuver type. For a group of identified maneuvers of the same type, after the processes of time normalization, trace shifting, as well as averaging and smoothing, the idealization standard time history of each maneuver type is established.Finally, the typical load statuses are determined successfully based on standard maneuvers. The proposed method of maneuver identification and standardization is able to derive operational loads effectively, and might be applied to monitoring loads in Individual Aircraft Tracking Program（IATP）.展开更多
In the Chinese lunar exploration project,the Chang'E-1 (CE-1) satellite was jointly monitored by the United S-band range and Doppler and the VLBI technique. A real-time reduction of the tracking data is realized t...In the Chinese lunar exploration project,the Chang'E-1 (CE-1) satellite was jointly monitored by the United S-band range and Doppler and the VLBI technique. A real-time reduction of the tracking data is realized to deduce the time series of the instantaneous state vectors (ISV) (position and velocity vec-tors) of the CE-1 satellite,and is applied to the orbital monitoring of pivotal arcs. This paper introduces this real-time data reduction method and its application to the orbital monitoring of pivotal arcs of the CE-1 satellite in order to serve as a source of criticism and reference.展开更多
Wheel-off-loadings and orbital maneuvers of the GEO satellite result in additional accelerations to the satellite itself. Complex and difficult to model, these time varying accelerations are an important error source ...Wheel-off-loadings and orbital maneuvers of the GEO satellite result in additional accelerations to the satellite itself. Complex and difficult to model, these time varying accelerations are an important error source of precise orbit determination (POD). In most POD practices, only non-maneuver orbital arcs are treated. However, for some applications such as satellite navigation RDSS services, uninterrupted orbital ephemeris is demanded, requiring the development of POD strategies to be processed both during and after an orbital maneuver. We in this paper study the POD for a maneuvered GEO satellite, using high precision and high sampling rate ranging data obtained with Chinese Area Positioning System (CAPS). The strategy of long arc POD including maneuver arcs is studied by using telemetry data to model the maneuver thrust process. Combining the thrust and other orbital perturbations, a long arc of 6 days’ CAPS ranging data is analyzed. If the telemetry data are not available or contain significant errors, attempts are made to estimate thrusting parameters using CAPS ranging data in the POD as an alternative to properly account for the maneuver. Two strategies achieve reasonably good data fitting level in the tested arc with the maximal position difference being about 20 m.展开更多
In order to improve the autonomous ability of unmanned aerial vehicles(UAV)to implement air combat mission,many artificial intelligence-based autonomous air combat maneuver decision-making studies have been carried ou...In order to improve the autonomous ability of unmanned aerial vehicles(UAV)to implement air combat mission,many artificial intelligence-based autonomous air combat maneuver decision-making studies have been carried out,but these studies are often aimed at individual decision-making in 1 v1 scenarios which rarely happen in actual air combat.Based on the research of the 1 v1 autonomous air combat maneuver decision,this paper builds a multi-UAV cooperative air combat maneuver decision model based on multi-agent reinforcement learning.Firstly,a bidirectional recurrent neural network(BRNN)is used to achieve communication between UAV individuals,and the multi-UAV cooperative air combat maneuver decision model under the actor-critic architecture is established.Secondly,through combining with target allocation and air combat situation assessment,the tactical goal of the formation is merged with the reinforcement learning goal of every UAV,and a cooperative tactical maneuver policy is generated.The simulation results prove that the multi-UAV cooperative air combat maneuver decision model established in this paper can obtain the cooperative maneuver policy through reinforcement learning,the cooperative maneuver policy can guide UAVs to obtain the overall situational advantage and defeat the opponents under tactical cooperation.展开更多
In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due...In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability展开更多
基金supported by the National Natural Science Foundation of China(61601505)the Aeronautical Science Foundation of China(20155196022)the Shaanxi Natural Science Foundation of China(2016JQ6050)
文摘To reach a higher level of autonomy for unmanned combat aerial vehicle(UCAV) in air combat games, this paper builds an autonomous maneuver decision system. In this system,the air combat game is regarded as a Markov process, so that the air combat situation can be effectively calculated via Bayesian inference theory. According to the situation assessment result,adaptively adjusts the weights of maneuver decision factors, which makes the objective function more reasonable and ensures the superiority situation for UCAV. As the air combat game is characterized by highly dynamic and a significant amount of uncertainty,to enhance the robustness and effectiveness of maneuver decision results, fuzzy logic is used to build the functions of four maneuver decision factors. Accuracy prediction of opponent aircraft is also essential to ensure making a good decision; therefore, a prediction model of opponent aircraft is designed based on the elementary maneuver method. Finally, the moving horizon optimization strategy is used to effectively model the whole air combat maneuver decision process. Various simulations are performed on typical scenario test and close-in dogfight, the results sufficiently demonstrate the superiority of the designed maneuver decision method.
文摘BACKGROUND: Significant hemorrhage together with blood transfusion increases postoperative morbidity and mortality of hepatic resection. Hepatic vascular occlusion is effective in minimizing bleeding during hepatic parenchymal transection. This article aimed to review the current role and status of various techniques of hepatic vascular occlusion during hepatic resection. DATA SOURCES: The relevant manuscripts were identified by searching MEDLINE, and PubMed for articles published between January 1980 and April 2010 using the keywords 'vascular control', 'vascular clamping', 'vascular exclusion' and 'hepatectomy'. Additional papers were identified by a manual search of the references from the key articles. RESULTS: One randomized controlled trial (RCT) and 5 RCTs showed intermittent Pringle maneuver and ischemic preconditioning followed by continuous Pringle maneuver were superior to continuous Pringle maneuver alone, respectively. Two RCTs compared the outcomes of hepatectomy with and without intermittent Pringle maneuver. One showed Pringle maneuver to be beneficial, while the other failed to show any benefit. One RCT showed that ischemic preconditioning had significantly less blood loss than using intermittent Pringle maneuver. Four RCTs evaluated the use of hemihepatic vascular occlusion. One RCT showed it had significantly less blood loss than Pringle maneuver, while the other 3 showed no significant difference. Only 1 RCT showed it had significantly less liver ischemic injury. No RCT had been carried out to assess segmental vascular occlusion. Two RCTs compared the outcomes of total hepatic vascular exclusion (THVE) and Pringle maneuver. One RCT showed THVE resulted in similar blood loss, but a higher postoperative complication. The other RCT showed less blood loss using THVE but the postoperative complication rate was similar. Both studies showed similar degree of liver ischemic injury. Only one RCT showed that selective hepatic vascular exclusion (SHVE) had less blood loss and liver ischemic injury than P
基金supported by the National Natural Science Foundation of China (Nos.60934009,60804064,and 30800248)the China Post-doctoral Science Foundation (No.20100471727)the Science and Technology Department of Zhejiang Province,China (No.2009C34016)
文摘Square-root cubature Kalman filter (SCKF) is more effective for nonlinear state estimation than an unscented Kalman filter.In this paper,we study the design of nonlinear filters based on SCKF for the system with one step noise correlation and abrupt state change.First,we give the SCKF that deals with the one step correlation between process and measurement noises,SCKF-CN in short.Second,we introduce the idea of a strong tracking filter to construct the adaptive square-root factor of the prediction error covariance with a fading factor,which makes SCKF-CN obtain outstanding tracking performance to the system with target maneuver or abrupt state change.Accordingly,the tracking performance of SCKF is greatly improved.A universal nonlinear estimator is proposed,which can not only deal with the conventional nonlinear filter problem with high dimensionality and correlated noises,but also achieve an excellent strong tracking performance towards the abrupt change of target state.Three simulation examples with a bearings-only tracking system are illustrated to verify the efficiency of the proposed algorithms.
文摘AIM： To evaluate the clinical outcomes of patients undergoing hepatectomy with hemihepatic vascular occlusion （HHO） compared with total hepatic inflow occlusion （THO）. METHODS： Randomized controlled trials （RCTs） co- mparing hemihepatic vascular occlusion and total he- patic inflow occlusion were included by a systematic literature search. Two authors independently assessed the trials for inclusion and extracted the data. A meta- analysis was conducted to estimate blood loss, transfu- sion requirement, and liver injury based on the levels of aspartate aminotransferase （AST） and alanine arni- notransferase （ALT）. Either the fixed effects model or random effects model was used. RESULTS- Four RCTs including 338 patients met the predefined inclusion criteria. A total of 167 patients were treated with THO and 171 with HHO. Metaanalysis of AST levels on postoperative day 1 indicated higher levels in the THO group with weighted mean dif- ference （WMD） 342.27; 95% confidence intervals （CI） 217.28-467.26; P = 0.00001; I2 = 16%. Meta-analysis showed no significant difference between THO group and HHO group on blood loss, transfusion requirement, mortality, morbidity, operating time, ischemic duration, hospital stay, ALT levels on postoperative day 1, 3 and 7 and AST levels on postoperative day 3 and 7. CONCLUSION： Hemihepatic vascular occlusion does not offer satisfying benefit to the patients undergoing hepatic resection. However, they have less liver injury after liver resections.
文摘The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.
文摘To find a way of loads analysis from operational flight data for advanced aircraft,maneuver identification and standardization jobs are conducted in this paper. For thousands of sorties from one aircraft, after studying the flight attitude when performing actions, the start and end time of the maneuvers can be determined. According to those time points, various types of maneuvers during the flight are extracted in the form of multi-parameters time histories. By analyzing the numerical range and curve shape of those parameters, a characteristic data library is established to model all types of maneuvers. Based on this library, a computer procedure using pattern-recognition theory is programmed to conduct automatic maneuver identification with high accuracy. In that way, operational loads are classified according to maneuver type. For a group of identified maneuvers of the same type, after the processes of time normalization, trace shifting, as well as averaging and smoothing, the idealization standard time history of each maneuver type is established.Finally, the typical load statuses are determined successfully based on standard maneuvers. The proposed method of maneuver identification and standardization is able to derive operational loads effectively, and might be applied to monitoring loads in Individual Aircraft Tracking Program（IATP）.
基金Supported by the National Natural Science Foundation of China (Grant Nos. 10973031, 10778635 and 10973030)the Chinese Lunar Exploration Project (Chang’E-1), STC of Shanghai Municipality (Grant No. 06DZ22101)+1 种基金the CAS Key Research Program (Grant No. KJCX2-YW-T13-2)the National High Technology Research and Development Program of China (Grant Nos. 2008AA12A209 and 2008AA12A210)
文摘In the Chinese lunar exploration project,the Chang'E-1 (CE-1) satellite was jointly monitored by the United S-band range and Doppler and the VLBI technique. A real-time reduction of the tracking data is realized to deduce the time series of the instantaneous state vectors (ISV) (position and velocity vec-tors) of the CE-1 satellite,and is applied to the orbital monitoring of pivotal arcs. This paper introduces this real-time data reduction method and its application to the orbital monitoring of pivotal arcs of the CE-1 satellite in order to serve as a source of criticism and reference.
基金Supported by the National Natural Science Foundation of China (Grant No. 10703011)the Science & Technology Commission of Shanghai Municipality of China (Grant No. 06DZ22101)
文摘Wheel-off-loadings and orbital maneuvers of the GEO satellite result in additional accelerations to the satellite itself. Complex and difficult to model, these time varying accelerations are an important error source of precise orbit determination (POD). In most POD practices, only non-maneuver orbital arcs are treated. However, for some applications such as satellite navigation RDSS services, uninterrupted orbital ephemeris is demanded, requiring the development of POD strategies to be processed both during and after an orbital maneuver. We in this paper study the POD for a maneuvered GEO satellite, using high precision and high sampling rate ranging data obtained with Chinese Area Positioning System (CAPS). The strategy of long arc POD including maneuver arcs is studied by using telemetry data to model the maneuver thrust process. Combining the thrust and other orbital perturbations, a long arc of 6 days’ CAPS ranging data is analyzed. If the telemetry data are not available or contain significant errors, attempts are made to estimate thrusting parameters using CAPS ranging data in the POD as an alternative to properly account for the maneuver. Two strategies achieve reasonably good data fitting level in the tested arc with the maximal position difference being about 20 m.
基金supported by the Aeronautical Science Foundation of China(2017ZC53033)the Seed Foundation of Innovation and Creation for Graduate Students in Northwestern Polytechnical University(CX2020156)。
文摘In order to improve the autonomous ability of unmanned aerial vehicles(UAV)to implement air combat mission,many artificial intelligence-based autonomous air combat maneuver decision-making studies have been carried out,but these studies are often aimed at individual decision-making in 1 v1 scenarios which rarely happen in actual air combat.Based on the research of the 1 v1 autonomous air combat maneuver decision,this paper builds a multi-UAV cooperative air combat maneuver decision model based on multi-agent reinforcement learning.Firstly,a bidirectional recurrent neural network(BRNN)is used to achieve communication between UAV individuals,and the multi-UAV cooperative air combat maneuver decision model under the actor-critic architecture is established.Secondly,through combining with target allocation and air combat situation assessment,the tactical goal of the formation is merged with the reinforcement learning goal of every UAV,and a cooperative tactical maneuver policy is generated.The simulation results prove that the multi-UAV cooperative air combat maneuver decision model established in this paper can obtain the cooperative maneuver policy through reinforcement learning,the cooperative maneuver policy can guide UAVs to obtain the overall situational advantage and defeat the opponents under tactical cooperation.
文摘In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability
