The new guidance algorithms for surface-to-air medium range missile

У раду су дати нови закони вођења применљиви на ракете земља-ваздух средњег домета, али и на друге типове летелица. Класични закони вођења као, нпр., пропорционална навигација, представљени су на нови начин, тј., изнова одређени и проширени помоћу теорије стабилности нелинеарних система методом Љапунова. Оптимални закони вођења за разне критеријуме оптималности представљени су за случај двостране оптимизације која се анализира теоријом диференцијалних игара (где циљ врши интелигентни - оптимални маневар избегавања ракете). На основу теорије система променљиве структуре одређени су закони вођења методом клизања. Коначна верификација одабраних закона вођења извршена је нумеричком симулацијом комплетног система самоновођене ракете као објекта са шест степени слободе кретања који има изразито нестационарне динамичке карактеристке и нелинеарне аеродинамичке коефицијенте. Ефикасност закона вођења типичне ракете земља-ваздух средњег домета испитана је против маневришућих циљева са различитим стратегијама избегавања ракете. Истражени методи самонавођења ракете успешно су примењени и на тзв. "паметну муницију" чиме је њихова прецизност вишеструко побољшана у односу на невођене пројектиле. Резултати нумеричке симулације су показани на примеру минобацачког пројектила управљаног импулсно-фреквентном модулацијом бочног вектора потиска.This work presents new guidance laws for surface-to-air medium-range missiles, applicable to other flight vehicles as well. The classical guidance laws such as proportional navigation, are presented in a new way, i.e., re-defined and expanded by using the stability theory of nonlinear systems using the method of Lyapunov. Optimal guidance laws for various criteria of optimality are presented in case of double-sided optimization which was analyzed by the differential games theory (where the target performed intelligent - optimal avoidance maneuver against the missile). Based on the theory of variable structure systems, various sliding-mode guidance laws were determined. Final verification of selected guidance laws was performed by numerical simulation of the complete system for a homing missile as an object with six degrees of freedom, which has highly nonstationary dynamic characteristic and nonlinear aerodynamic coefficients. The efficiency of guidance laws for typical surface- to-air medium-range missile was tested against maneuvering targets with different strategies for avoiding missiles. Explored homing methods were successful applied to the so-called. "smart munitions" for their accuracy improvement compared to unguided projectiles. Results of numerical simulations are shown in the case of mortar missile with a pulse jet control mechanism using the pulse-frequency modulation technique

Supplementary data for article : Pavic, A.; Glišić, B. Đ.; Vojnovic, S.; Warżajtis, B.; Savić, N. D.; Antić, M.; Radenković, S.; Janjić, G. V.; Nikodinovic-Runic, J.; Rychlewska, U.; et al. Mononuclear Gold(III) Complexes with Phenanthroline Ligands as Efficient Inhibitors of Angiogenesis: A Comparative Study with Auranofin and Sunitinib. Journal of Inorganic Biochemistry 2017, 174, 156–168. https://doi.org/10.1016/j.jinorgbio.2017.06.009

Supplementary material for: [https://doi.org/10.1016/j.jinorgbio.2017.06.009]Related to published version: [http://cherry.chem.bg.ac.rs/handle/123456789/2496]Related to accepted version: [http://cherry.chem.bg.ac.rs/handle/123456789/3110

Supplementary material for the article: Savić, N. D.; Vojnovic, S.; Glišić, B. Đ.; Crochet, A.; Pavic, A.; Janjić, G. V.; Pekmezović, M.; Opsenica, I. M.; Fromm, K. M.; Nikodinovic-Runic, J.; et al. Mononuclear Silver(I) Complexes with 1,7-Phenanthroline as Potent Inhibitors of Candida Growth. Eur. J. Med. Chem. 2018, 156, 760–773. https://doi.org/10.1016/j.ejmech.2018.07.049

Supplementary data for: [https://doi.org/10.1016/j.ejmech.2018.07.049]Research data for this article: [https://www.ccdc.cam.ac.uk/structures/search?id=doi:10.5517/ccdc.csd.cc1zdr7c&sid=DataCite]Research data for this article: [https://www.ccdc.cam.ac.uk/structures/search?id=doi:10.5517/ccdc.csd.cc1zdr6b&sid=DataCite]Research data for this article: [https://www.ccdc.cam.ac.uk/structures/search?id=doi:10.5517/ccdc.csd.cc1zdr59&sid=DataCite]Related to published version: [http://cherry.chem.bg.ac.rs/handle/123456789/2213]Related to accepted version: [http://cherry.chem.bg.ac.rs/handle/123456789/2993

Supplementary data for article : Pavic, A.; Glišić, B. Đ.; Vojnovic, S.; Warżajtis, B.; Savić, N. D.; Antić, M.; Radenković, S.; Janjić, G. V.; Nikodinovic-Runic, J.; Rychlewska, U.; et al. Mononuclear Gold(III) Complexes with Phenanthroline Ligands as Efficient Inhibitors of Angiogenesis: A Comparative Study with Auranofin and Sunitinib. Journal of Inorganic Biochemistry 2017, 174, 156–168. https://doi.org/10.1016/j.jinorgbio.2017.06.009

Supplementary material for: [https://doi.org/10.1016/j.jinorgbio.2017.06.009]Related to published version: [http://cherry.chem.bg.ac.rs/handle/123456789/2496]Related to accepted version: [http://cherry.chem.bg.ac.rs/handle/123456789/3110

Supplementary material for the article: Savić, N. D.; Vojnovic, S.; Glišić, B. Đ.; Crochet, A.; Pavic, A.; Janjić, G. V.; Pekmezović, M.; Opsenica, I. M.; Fromm, K. M.; Nikodinovic-Runic, J.; et al. Mononuclear Silver(I) Complexes with 1,7-Phenanthroline as Potent Inhibitors of Candida Growth. Eur. J. Med. Chem. 2018, 156, 760–773. https://doi.org/10.1016/j.ejmech.2018.07.049

Supplementary data for: [https://doi.org/10.1016/j.ejmech.2018.07.049]Research data for this article: [https://www.ccdc.cam.ac.uk/structures/search?id=doi:10.5517/ccdc.csd.cc1zdr7c&sid=DataCite]Research data for this article: [https://www.ccdc.cam.ac.uk/structures/search?id=doi:10.5517/ccdc.csd.cc1zdr6b&sid=DataCite]Research data for this article: [https://www.ccdc.cam.ac.uk/structures/search?id=doi:10.5517/ccdc.csd.cc1zdr59&sid=DataCite]Related to published version: [http://cherry.chem.bg.ac.rs/handle/123456789/2213]Related to accepted version: [http://cherry.chem.bg.ac.rs/handle/123456789/2993

The new guidance algorithms for surface-to-air medium range missile

У раду су дати нови закони вођења применљиви на ракете земља-ваздух средњег домета, али и на друге типове летелица. Класични закони вођења као, нпр., пропорционална навигација, представљени су на нови начин, тј., изнова одређени и проширени помоћу теорије стабилности нелинеарних система методом Љапунова. Оптимални закони вођења за разне критеријуме оптималности представљени су за случај двостране оптимизације која се анализира теоријом диференцијалних игара (где циљ врши интелигентни - оптимални маневар избегавања ракете). На основу теорије система променљиве структуре одређени су закони вођења методом клизања. Коначна верификација одабраних закона вођења извршена је нумеричком симулацијом комплетног система самоновођене ракете као објекта са шест степени слободе кретања који има изразито нестационарне динамичке карактеристке и нелинеарне аеродинамичке коефицијенте. Ефикасност закона вођења типичне ракете земља-ваздух средњег домета испитана је против маневришућих циљева са различитим стратегијама избегавања ракете. Истражени методи самонавођења ракете успешно су примењени и на тзв. "паметну муницију" чиме је њихова прецизност вишеструко побољшана у односу на невођене пројектиле. Резултати нумеричке симулације су показани на примеру минобацачког пројектила управљаног импулсно-фреквентном модулацијом бочног вектора потиска.This work presents new guidance laws for surface-to-air medium-range missiles, applicable to other flight vehicles as well. The classical guidance laws such as proportional navigation, are presented in a new way, i.e., re-defined and expanded by using the stability theory of nonlinear systems using the method of Lyapunov. Optimal guidance laws for various criteria of optimality are presented in case of double-sided optimization which was analyzed by the differential games theory (where the target performed intelligent - optimal avoidance maneuver against the missile). Based on the theory of variable structure systems, various sliding-mode guidance laws were determined. Final verification of selected guidance laws was performed by numerical simulation of the complete system for a homing missile as an object with six degrees of freedom, which has highly nonstationary dynamic characteristic and nonlinear aerodynamic coefficients. The efficiency of guidance laws for typical surface- to-air medium-range missile was tested against maneuvering targets with different strategies for avoiding missiles. Explored homing methods were successful applied to the so-called. "smart munitions" for their accuracy improvement compared to unguided projectiles. Results of numerical simulations are shown in the case of mortar missile with a pulse jet control mechanism using the pulse-frequency modulation technique

Open loop control of the five-axis missile and target flight motion simulator implementation / Внедрение системы управления пятиосевых имитаторов полета ракеты и воздушной цели в разомкнутом цикле / Implementacija upravljanja petoosnim simulatorom leta rakete i cilja u otvorenoj petlji

An important phase in missile systems development is flight testing and simulation in the environmental conditions dictated by the operation the system is made for. Since field testing of complex systems means a big financial burden and a time consuming process, hardware in the loop (HIL) simulations represent a very effective solution for saving both costs and time. This paper presents an implementation of a control application that integrates synchronized data generation and acquisition on the five-axis missile and target flight motion simulator owned by the HIL laboratory. The described simulation application is a result of a missile development engineer's need for a simple way to acquire information on a real missile response, when desired control signals are provided. The solution is realized in Lab VIEW software using a robust software design architecture named 'classic state machine'. / Важнейшим фактором в развитии ракетных систем является этап моделирования и симуляции движения ракеты в соответствующих операционным параметрам условиях. Учитывая высокую стоимость полевых испытаний подобных систем, большие финансовые расходы и продолжительность подготовительных мероприятий, симулирование в рамках программно-аппаратного моделирования (Hardware in the loop - HIL) является наиболее эффективным испытательным решением. В данной статье описан процесс внедрения системы управления, то есть, синхронизированного генерирования и активации данных пятиосевого имитатора движения ракеты и воздушной цели, разработанного в лаборатории программно-аппаратного моделирования. Описанное в работе приложение имитатора обеспечивает эффективный контроль и безопасную среду, так как используя данную систему инженер-испытатель может сосредоточиться на функциональности устройства и быть уверенными в реальных параметрах движения ракеты. Решение разработано на платформе LabVIEW программного комплекса, с робастной архитектурой программного обеспечения, под названием «классический конечный автомат». / Razvoj raketnih sistema podrazumeva važne faze testiranja i simulacije leta rakete u uslovima okruženja koje diktira operacija za koju je sistem izrađen. Kako terenska ispitivanja ovako složenih sistema zahtevaju veliki utrošak finansijskih resursa, a i mnogo vremena, simulacije koje podrazumevaju hardver u petlji (Hardware in the loop - HIL) predstavljaju vrlo efikasno rešenje za smanjenje troškova razvoja i testiranja. U ovom radu predstavljena je implementacija upravljanja, odnosno sinhronizovanog generisanja i akvizicije podataka na petoosnom simulatoru leta rakete i cilja laboratorije za hardver u petlji (HIL laboratorije). Opisana aplikacija za simulaciju javila se kao rezultat potrebe inženjera razvoja raketa za jednostavnim načinom akviziranja informacja o odzivu realne rakete na željena i zadata upravljanja. Rešenje je realizovano u LabVIEW softverskom paketu primenom robusne arhitekture softvera, takozvane klasične mašine stanja

Analysis of viscoelastic behavior of a filled elastomer under action of different loads

Mechanical properties of viscoelastic filled polymers strongly depend on temperature and strain rate and vary for several orders of magnitude. During service life, a viscoelastic body, especially carboxy-terminated polybutadiene (CTPB) composite solid rocket propellant grain, is subjected to many stress-inducing loads. Its structural integrity analysis (hereafter: “structural analysis”), unlike elastic bodies, is quite complex and sometimes impossible under the action of just a single load. An even greater problem occurs when multiple different types of loads act simultaneously. This study is based on a complete uniaxial mechanical characterization of a viscoelastic CTPB composite rocket propellant, made in MTI- -Belgrade, whose results were used for the analysis of the propellant grain reliability. Through an example, this paper shows a behavior of the viscoelastic propellant grain when it is subjected to extremely different environmental loads at the same time. Similar explicit examples are difficult to found in the literature, except in the form of recommended principles for analysis. It is shown that the tensile strength under the action of fast load due to the pressure may be almost 20 times greater than the tensile strength under the slow temperature load. A probabilistic approach is presented in evaluation the reliability and service life. An example is shown for a rocket propellant grain as a viscoelastic body. The presented principles of the analysis can be applied to any arbitrary viscoelastic body in other areas

Mononuclear gold(III) complexes with phenanthroline ligands as efficient inhibitors of angiogenesis: A comparative study with auranofin and sunitinib

Gold(III) complexes with 1,7- and 4,7-phenanthroline ligands, [AuCl3(1,7-phen-kappa N7)] (1) and [AuCl3(4,7-phen-kappa N4)] (2) were synthesized and structurally characterized by spectroscopic (NMR, IR and UV-vis) and single crystal X-ray diffraction techniques. In these complexes, 1,7- and 4,7-phenanthrolines are monodentatedly coordinated to the Au(III) ion through the N7 and N4 nitrogen atoms, respectively. In comparison to the clinically relevant anti-angiogenic compounds auranofin and sunitinib, gold(III)-phenanthroline complexes showed from 1.5- to 20-fold higher anti-angiogenic potential, and 13- and 118-fold lower toxicity. Among the tested compounds, complex 1 was the most potent and may be an excellent anti-angiogenic drug candidate, since it showed strong anti-angiogenic activity in zebrafish embryos achieving IC50 value (concentration resulting in an anti-angiogenic phenotype at 50% of embryos) of 2.89 mu M, while had low toxicity with LC50 value (the concentration inducing the lethal effect of 50% embryos) of 128 mu M. Molecular docking study revealed that both complexes and ligands could suppress angiogenesis targeting the multiple major regulators of angiogenesis, such as the vascular endothelial growth factor receptor (VEGFR-2), the matrix metalloproteases (MMP-2 and MMP-9), and thioredoxin reductase (TrxR1), where the complexes showed higher binding affinity in comparison to ligands, and particularly to auranofin, but comparable to sunitinib, an anti-angiogenic drug of clinical relevance.Peer-reviewed manuscript: [http://cherry.chem.bg.ac.rs/handle/123456789/3110]Supplementary material: [http://cherry.chem.bg.ac.rs/handle/123456789/3111

Mononuclear silver(I) complexes with 1,7-phenanthroline as potent inhibitors of Candida growth

Mononuclear silver(I) complexes with 1,7-phenanthroline (1,7-phen), [Ag(NO3-O,O') (1,7-phen-N7)(2)] (1) and [Ag(1,7-phen-N7)(2)]X, X = ClO4- (2), CF3SO3- (3), BF4- (4) and SbF6- (5) were synthesized and structurally characterized by NMR (H-1 and C-13), IR and UV-Vis spectroscopy and ESI mass spectrometry. The crystal structures of 1, 3 and 4 were determined by single-crystal X-ray diffraction analysis. In all these complexes, 1,7-phen coordinates to the Ag(I) ion in a monodentate fashion via the less sterically hindered N7 nitrogen atom. The investigation of the solution stability of 1-5 in DMSO revealed that they are sufficiently stable in this solvent at room temperature. Complexes 1-5 showed selectivity towards Candida spp. in comparison to bacteria, effectively inhibiting the growth of four different Candida species with minimal inhibitory concentrations (MIC) between 1.2 and 11.3 mu M. Based on the lowest MIC values and the lowest cytotoxicity against healthy human fibroblasts with selectivity index of more than 30, the antifungal potential was examined in detail for the complex 1. It had the ability to attenuate C. albicans virulence and to reduce epithelial cell damage in the cell infection model. Induction of reactive oxygen species (ROS) response has been detected in C. albicans, with fungal DNA being one of the possible target biomolecules. The toxicity profile of 1 in the zebrafish model (Danio rerio) revealed improved safety and activity in comparison to that of clinically utilized silver(I) sulfadiazine. (C) 2018 Elsevier Masson SAS. All rights reserved.Peer-reviewed manuscropt: [http://cherry.chem.bg.ac.rs/handle/123456789/2993]Supplementary material: [http://cherry.chem.bg.ac.rs/handle/123456789/2994