何肇雄 , 郑震山 , 马东立 , 等 . 国外跨介质飞行器发展历程及启示 [J ] . 舰船科学技术 , 2016 , 38 ( 9 ): 152 - 157 .

HE Z X , ZHENG Z S , MA D L , et al. Development of foreign trans-media aircraft and its enlightenment to China [J ] . Ship Sience and Technology , 2016 , 38 ( 9 ): 152 - 157 . (in Chinese)

魏洪亮 , 陆宏志 , 赵静 , 等 . 水下发射航行体跨介质动态载荷预报研究 [J ] . 导弹与航天运载技术 , 2016 ( 2 ): 77 - 80 .

WEI H L , LU H Z , ZHAO J , et al. Study on dynamic load prediction of trans-media underwater launching vehicle [J ] . Missiles and Space Vehicles , 2016 ( 2 ): 77 - 80 . (in Chinese)

TRUSCOTT T T . Cavity dynamics of water entry for spheres and ballistic projectile [D ] . Cambridge, MA, US:MIT , 2009 .

KIRSCHNER I , ROSENTHAL B J , UHLMAN J S . Simplified dynamical systems analysis of supercavitating high-speed bodies [C ] // Proceedings of the 5th International Symposium on Cavitation. Osaka , Japan : MARIN , 2003 .

袁绪龙 , 朱珠 . 预置舵角对高速入水弹道和流体动力的影响 [J ] . 应用力学学报 , 2015 , 32 ( 1 ): 11 - 16 .

YUAN X L , ZHU Z . Influence of preset rudder angle on trajectory and hydro-dynamic at high-speed water-entry [J ] . Chinese Journal of Applied Mechanics , 2015 , 32 ( 1 ): 11 - 16 . (in Chinese)

王云 , 袁绪龙 , 吕策 . 弹体高速入水弯曲弹道实验研究 [J ] . 兵工学报 , 2014 , 35 ( 12 ): 1998 - 2002 . DOI: 10.3969/j.issn.1000-1093.2014.12.010 http://doi.org/10.3969/j.issn.1000-1093.2014.12.010 通过模型高速入水实验，利用高速摄像机拍摄了弹体入水过程和空泡形态演变过程，得到了4种头部外形模型的弹道曲线，并分析了头型、入水角、入水速度对水下弹道的影响。研究结果表明：椭圆斜截头弹体由于其特殊的头部更容易产生偏向水面的弯曲弹道，而其他3种弹体在一定速度内弹道比较稳定，基本趋于直线，虽然在有些工况下弹道发生了偏转，这是由于弹体加工过程中结构误差等造成的弹道不稳定性；入水角对弹道影响比较显著，小的入水角条件下弹体迅速向水面偏转，而入水角增大到一定程度时弹道向缸体底部偏转。所得结论可为高速入水武器的研究提供参考。

WANG Y , YUAN X L , LÜ C . Experimental research on curved trajectory of hight-speed water-entry missile [J ] . Acta Armamentarii , 2014 , 35 ( 12 ): 1998 - 2002 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2014.12.010 http://doi.org/10.3969/j.issn.1000-1093.2014.12.010 The experiment about the four geometries are carried out. A digital high-speed camera is used to record the evolution of the water-entry process and cavity shapes. The flat-trajectory curves of the four different geometries are obtained, and the effects of the head shape, entry angle and velocity on the trajectory are analyzed. The results show that the projectile body with oval-beveled warhead is easier to form the curved trajectory because of its special warhead. The other three kinds of trajectories are more stabilized. When it is at certain speed range, the trajectories verge to be linear; when it is at a higher speed, the trajectory may be curved. The effect of entry angle on the trajectory is obvious. When the entry angle is little, its trajectory deflects to the free surface quickly; when it is larger, the trajectory deflects to the bottom of the cylinder. The conclusions provide reference for the research on the water-entry weapons.

李永利 , 刘安 , 冯金富 , 等 . 航行器小角度入水跳弹过程研究 [J ] . 兵工学报 , 2016 , 37 ( 10 ): 1860 - 1872 . DOI: 10.3969/j.issn.1000-1093.2016.10.013 http://doi.org/10.3969/j.issn.1000-1093.2016.10.013 为研究跨介质航行器小角度入水的跳弹现象，基于计算流体力学软件CFX构建数值计算模型，并验证了该模型的准确性和适用性。分别对跨介质航行器不同顶角、密度及设计的环形槽类截头外形的小角度入水跳弹过程进行仿真研究，并分析了整个跳弹过程及角加速度、角速度、位移的变化规律。研究结果表明：航行器的顶角角度和密度越小，其弹道越易向上发生弯曲，越容易发生入水跳弹现象，而浸水阶段角速度突变是由于航行器尾部与水面拍击造成的；环形槽类截头尖拱体航行器具有一定的抑制跳弹的作用，其环形槽的位置对入水跳弹过程影响较大，可根据任务需求对环形槽位置进行选择。

LI Y L , LIU A , FENG J F , et al. Research on ricochet process of small-angle water-entry vehicle [J ] . Acta Armamentarii , 2016 , 37 ( 10 ): 1860 - 1872 . (in Chinese)

时素果 , 王亚东 , 刘乐华 , 等 . 预置舵角下超控泡航行体运动过程弹道特性研究 [J ] . 兵工学报 , 2017 , 38 ( 10 ): 1974 - 1979 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2017.10.013 http://doi.org/10.3969/j.issn.1000-1093.2017.10.013 为研究超空泡航行体在水平面机动转弯过程中的弹道特性，采用航行体头部设置预置舵角方法实现，开展了0°、3°和6°预置舵角下航行体自由运动的试验研究。试验在水池中进行，采用高速摄影观察不同预置舵角下的空泡演化过程，采用内测装置测量航行体运动参数，获得了不同预置舵角下超空泡航行体水平运动过程中的弹道特性。试验结果表明：当预置舵角为0°时，航行体侧向力由于非定常因素扰动小幅波动，但均值基本为0；当存在预置舵角时，随着预置舵角的增大，轴向力和侧向力不断增加；预置舵角可以控制超空泡航行体的弹道水平机动转弯，且预置舵角越大、弹道越容易转弯，但舵角过大会导致航行体弹道失稳。

SHI S G , WANG Y D , LIU L H , et al. Research on the trajectory characteristics of supercavitating vehicle at preset rudder angle [J ] . Acta Armamentarii , 2017 , 38 ( 10 ): 1974 - 1979 . (in Chinese)

华扬 , 施瑶 , 潘光 , 等 . 非对称头型对航行器入水空泡及弹道特性影响的实验研究 [J ] . 水动力学研究与进展(A辑) , 2020 ( 1 ): 61 - 67 .

HUA Y , SHI Y , PAN G , et al. Experimental study on the cavity and trajectory of projectile water entry with asymmetric nose shape [J ] . Chinese Journal of Hydrodynamics , 2020 ( 1 ): 61 - 67 . (in Chinese)

袁绪龙 , 栗敏 , 丁旭拓 , 等 . 跨介质航行器高速入水冲击载荷特性 [J ] . 兵工学报 , 2021 , 42 ( 7 ): 1440 - 1449 .

YUAN X L , LI M , DING X T , et al. Impact load characteristics of a trans-media vehicle during high-speed water-entry [J ] . Acta Armamentarii , 2021 , 42 ( 7 ): 1440 - 1449 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.07.011 http://doi.org/10.3969/j.issn.1000-1093.2021.07.011 The trans-media vehicle conbines the advantages of missiles and supercavitating weapons, which has higher terminal penetration capability compared to missile and makes up for the shortcoming of short range of supercavitating weapon. The impact load characteristics of a trans-media vehicle during high-speed water-entry and the load-reduction method are the main key technologies for the development of trans-media vehicles. A coupled simulation model for multi-phase flow and trajectory of trans-media vehicle entering into water at high speed was established and verified.The impact load characteristics of trans-media vehicle during high-speed water entry under typical conditions were simulated, and the ballistic parameters of trans-media vehicle in the high-speed water-entry process were compared. The results show that the periodical normal overload is generated during the tail-slapping, which is about 2.7 times as high as the axial overload, and the normal force is mainly composed of the positional force caused by the oscillating angle of attack, and the inertial force is very small and could be ignored. The increase in the water-entry speed speeds up the tail-slapping frequency and decreases the angle of attack oscillation amplitude, and the water-entry speed has little effect on the normal impact force coefficient.

卢丙举 , 朱珠 . 细长前锥段超空泡航行器高速入水的载荷数值模拟 [J ] . 舰船科学技术 , 2017 , 39 ( 8 ): 119 - 123 .

LU B J , ZHU Z . Numerical research on load of a super-cavity vechicle with cone-shaped segment at high-speed water-entry [J ] . Ship Science and Technology , 2017 , 39 ( 8 ): 119 - 123 . (in Chinese)

赵海瑞 , 施瑶 , 潘光 . 头部喷气航行器高速入水空泡特性数值分析 [J ] . 西北工业大学学报 , 2021 , 39 ( 4 ): 810 - 817 .

ZHAO H R , SHI Y , PAN G . Numerical simulation of cavitation characteristics in high speed water entry of head-jetting underwater vehicle [J ] . Journal of Northwestern Polytechnical University , 2021 , 39 ( 4 ): 810 - 817 . (in Chinese) DOI: 10.1051/jnwpu/20213940810 http://doi.org/10.1051/jnwpu/20213940810 https://www.jnwpu.org/10.1051/jnwpu/20213940810 https://www.jnwpu.org/10.1051/jnwpu/20213940810 Autonomous underwater vehicle will be subjected to a huge impact load during high speed water entry, which will damage the structure and the internal instruments of the vehicle. Therefore, it is of great significance to study the buffer mechanism of the vehicle during the process of water-entry. In this paper, a kind of head-jetting device with disk cavitation is used. The complex cavitation forms, under the three-phase coupling of gas, liquid and solid, in the water entry process of the vehicle on which the device is installed. In this paper, the numerical simulation of high-speed water entry of the vehicle equipped with head jet device is carried out. Through the analysis of water entry cavitation under typical working conditions, the following conclusions are obtained. After the installation of head jet device, the water entry cavity of the vehicle changes gradually from cone to spindle shape. The air jet, compared with that without jet, can promote the formation of water inlet supercavitation, decrease the interaction area between the vehicle and water, and reduce the impact load during water entry. At the same water entry depth, the diameter of cavitation increases with the amount of air jet. The water entry velocity has a great influence on the difference of cavitation shape. The water entry depth closure phenomenon, when the water entry velocity is less than 100 m/s, can be observed in the depth of 3.5 times of the projectile length. The water entry angle has a significant effect on the cavitation shape. The cavity shows obvious asymmetry when the vehicle slants into the water, and the diameter and length of the bubbles decrease with the increase of the water entry angle. The research content of this paper provides technical support for the engineering practice of high-speed water entry and load reduction, and the conclusions are of great significance in related fields.

王一伟 , 黄晨光 , 杜特专 . 航行体有攻角出水过程数值模拟 [J ] . 水动力学研究与进展 , 2011 , 26 ( 1 ): 48 - 57 .

WANG Y W , HUANG C G , DU T Z . Numerical simulation of a submerged body exiting from water with an attack angle [J ] . Chinese Journal of Hydrodynamics , 2011 , 26 ( 1 ): 48 - 57 . (in Chinese)

李国良 , 尚庆 , 田俊武 , 等 . 航行体通气空泡发射方式对出水过程的影响 [J ] . 气体物理 , 2016 , 1 ( 3 ): 39 - 46 .

LI G L , SHANG Q , TIAN J W , et al. Effect of ventilation cavitation launching on water-exit for submarine vehicle [J ] . Physics of Gases , 2016 , 1 ( 3 ): 39 - 46 . (in Chinese)

赵蛟龙 , 郭百森 , 孙龙泉 , 等 . 细长体倾斜出水的实验研究 [J ] . 爆炸与冲击 , 2016 , 36 ( 1 ): 113 - 120 .

ZHAO J L , GUO B S , SUN L Q , et al. Experimental study on oblique water-exit of slender bodies [J ] . Explosion and Shock Waves , 2016 , 36 ( 1 ): 113 - 120 . (in Chinese)

高山 , 施瑶 , 潘光 . 潜射航行体肩部通气流体动力特性数值研究 [J ] . 西北工业大学学报 , 2021 , 39 ( 3 ): 463 - 470 .

GAO S , SHI Y , PAN G . Numerical investigation on fluid dynamic characteristics around shoulder ventilation of submarine-launched vehicle [J ] . Journal of Northwestern Polytechnical University , 2021 , 39 ( 3 ): 463 - 470 . (in Chinese) DOI: 10.1051/jnwpu/20213930463 http://doi.org/10.1051/jnwpu/20213930463 https://www.jnwpu.org/10.1051/jnwpu/20213930463 https://www.jnwpu.org/10.1051/jnwpu/20213930463 In order to study the influence of the ventilating cavitation flow at the shoulder of a submerged-launched vehicle on the surface hydrodynamic characteristics, a three-dimensional potential model for the shoulder ventilation of the vehicle was established based on the homogeneous multiphase flow theory, standard RNG k-ε model, Singhal cavitation model and overlapping grid technology, and the numerical simulation of the unsteady evolution process of the ventilated cavitation flow was carried out, and the cavitation flow morphology evolution, surface pressure distribution and resistance characteristics under different ventilation rates were compared. The results showed that the thickness and length of the ventilated cavitation flow in the early stage of fusion continue increased with the increasing of ventilation volume, and its thickness and length changed slightly in the later stage; when the exhaust position did not change and the ventilation volume was within a certain range, the differential pressure resistance coefficient and viscous resistance coefficient decreased with the increasing of internal pressure of the ventilated cavity.

MAY A . Water entry and the cavity-running behavior of missiles: SEAHAC/TR 75-2 [R ] . Silver Spring, MD , US : Naval Sea Systems Command , 1975 .

曹伟 , 魏英杰 , 韩万金 , 等 . 自然超空泡航行体弹道稳定性分析 [J ] . 哈尔滨工业大学学报 , 2012 , 44 ( 1 ): 26 - 30 .

CAO W , WEI Y J , HAN W J , et al. Simulation of the trajectory stability of natural supercavitating vehicles [J ] . Journal of Harbin Institute of Technology , 2012 , 44 ( 1 ): 26 - 30 . (in Chinese)

陈诚 , 袁绪龙 , 任耀 , 等 . 通气对超空泡航行体自由运动的弹道特性影响试验研究 [J ] . 西北工业大学学报 , 2019 , 37 ( 4 ): 691 - 696 .

CHEN C , YUAN X L , REN Y , et al. Experimental study on influence of ventilation on trajectory characteristics of free motion of supercavitating vehicle [J ] . Journal of Northwestern Polytechnical University , 2019 , 37 ( 4 ): 691 - 696 . (in Chinese) DOI: 10.1051/jnwpu/20193740691 http://doi.org/10.1051/jnwpu/20193740691 https://www.jnwpu.org/10.1051/jnwpu/20193740691 https://www.jnwpu.org/10.1051/jnwpu/20193740691 In order to study the trajectory characteristics of supercavitating vehicle in free motion, a series of experiments were carried out on an unpowered vehicle under ventilation and non-ventilation conditions respectively. High-pressure gas was utilized to launch the vehicle. The flow pattern in free motion was captured by using a high-speed video camera, the variations in the motion parameters and the cavity pressure were simultaneously recorded by using the internal measuring system. The measured data under ventilation and non-ventilation conditions were analyzed in detail, giving the effect of the ventilation on the motion of the vehicle. The experimental results show that the cavitation number fluctuates around a certain value under the influence of both velocity of the vehicle and the ventilation flow rate, keeping the vehicle to stably move in the supercavitating state. Under non-ventilation condition, the vehicle moves stably at the state of supercavitating and double-cavity closed on at the cylindrical section of the vehicle. But the motion turns into instable when the cavity is closed at the shoulder of the vehicle. Therefore, to reduce the cavitation number by ventilation is beneficial to maintaining the stability of the vehicle.

田北晨 , 李达钦 , 刘涛涛 , 等 . 跨介质飞行器触水滑跳运动特性数值模拟 [J ] . 兵工学报 , 2022 , 43 ( 3 ): 586 - 598 . DOI: 10.12382/bgxb.2021.0164 http://doi.org/10.12382/bgxb.2021.0164 受生活中水漂现象的启发，跨介质飞行器广泛采用灵活机动的滑跳运动模式，大大提高了海战武器的突防能力。基于数值模拟方法研究具有复杂构型的跨介质飞行器触水滑跳运动特性，重点分析入水参数对跨介质飞行器静水面的近水面滑跳运动过程影响。研究结果表明：针对所提跨介质飞行器，近水面滑跳运动可分为稳定滑跳阶段及水面滑行阶段，稳定滑跳阶段飞行器运动轨迹呈类正弦规律波动，逐次入水砰击瞬间飞行器均会受到较大的砰击载荷；跨介质飞行器入水速度v取值为10~55 m/s范围时，随着入水速度增大，可顺利实现近水面滑跳运动的入水俯仰角范围先增大后减小，入水速度为30 m/s时，飞行器入水俯仰角φ有效范围最大为-8°~10°；跨介质飞行器近水面滑跳运动过程中入水速度越大，砰击载荷越大、稳定滑跳次数越多、稳定滑跳距离越远；入水俯仰角φ为0°~5°时飞行器近水面稳定滑跳次数最多，滑跳距离最远，滑跳姿态最稳定。

TIAN B C , LI D Q , LIU T T , et al. Numerical simulation on kinematic characteristics of trans-media aircraft during water-skipping [J ] . Acta Armamentarii , 2022 , 43 ( 3 ): 586 - 598 . (in Chinese) DOI: 10.12382/bgxb.2021.0164 http://doi.org/10.12382/bgxb.2021.0164 Inspired by the phenomenon of hydroplaning in life，the flexible skipping motion mode is widely used for trans-media aircraft，which greatly improves the penetration ability of naval weapons. The kinematic characteristics of a trans-media aircraft with complex configuration are studied numerically，and the influence of water-entry parameter on the skipping process of trans-media aircraft over calm water surface is emphatically analyzed. The research results show that the skipping process of trans-media aircraft over water surface can be divided into stable skipping phase and hydroplaning phase，the movement trajectory of trans-media aircraft at the stable skipping phase fluctuates in a sinusoidal pattern，and it is subjected to a large slamming load at every water contact moment. When the water-entry velocity of trans-media aircraft is in the range of 10-55 m/s，the water-entry pitch angle range of the aircraft can increases first and then decreases in the skipping process over water surface with the increase in the entry velocity. When the entry velocity is 30 m/s，the effective range of the water-entry pitch angle of the aircraft is from -8° to 10°.The greater the water-entry velocity is，the greater the slamming load is，the more the number of stable skipping is and the farther the stable skipping distance of the aircraft is. When the pitch angle of water-entry is from 0° to -5°， the trans-media aircraft has the most stable skipping times over the water surface，the longest skipping distance，and the most stable skipping attitude.

祁晓斌 , 刘喜燕 , 王瑞 , 等 . 高速射弹小角度入水数值模拟研究 [J ] . 中国造船 , 2022 , 63 ( 3 ): 31 - 39 .

QI X B , LIU X Y , WANG R , et al. Numerical simulation of water entry for high-speed projectile at small angle [J ] . Shipbuilding of China , 2022 , 63 ( 3 ): 31 - 39 . (in Chinese)

MENTER F R . Two-equation eddy-viscosity turbulence models for engineering applications [J ] . AIAA Journal , 1994 , 32 ( 8 ): 1598 - 1605 . DOI: 10.2514/3.12149 http://doi.org/10.2514/3.12149 https://arc.aiaa.org/doi/10.2514/3.12149 https://arc.aiaa.org/doi/10.2514/3.12149

黄闯 , 罗凯 , 白杰 , 等 . 液体可压缩性对超空化流动的影响 [J ] . 上海交通大学学报 , 2016 , 50 ( 8 ): 1241 - 1245 .

HUANG C , LUO K , BAI J , et al. Influence of liquid’s compressibility on supercaviting flow [J ] . Journal of Shanghai Jiao Tong University , 2016 , 50 ( 8 ): 1241 - 1245 . (in Chinese)

张孝石 , 王聪 , 魏英杰 , 等 . 水下航行体通气空泡溃灭特性研究 [J ] . 兵工学报 , 2016 , 37 ( 12 ): 2324 - 2330 . DOI: 10.3969/j.issn.1000-1093.2016.12.019 http://doi.org/10.3969/j.issn.1000-1093.2016.12.019 通过水洞实验对水下通气航行体通气空泡进行实验研究，分析航行体通气空泡通气停止后空泡行为。为了研究通气空泡溃灭过程的脉动特性，通过高速摄像和动态测力系统测量航行体表面空泡演变过程和压力变化情况。实验结果表明：脱落空泡运动过程中，其形状变化可分为空泡凹陷、空泡断裂、空泡脱落和溃灭4个阶段。脱落空泡在近模型壁面发生溃灭时，通过表面压力传感器捕捉到空泡的溃灭压力。对空泡溃灭压力实验结果与基于空泡生长和溃灭理论的计算结果进行了对比，理论结果与实验结果具有较好的一致性。

ZHANG X S , WANG C , WEI Y J , et al. Research on collapse characteristics of ventilated cavities around an underwater vehicle [J ] . Acta Armamentarii , 2016 , 37 ( 12 ): 2324 - 2330 . (in Chinese)

李宜果 , 王聪 , 武雨嫣 , 等 . 跨介质航行体高速入水空泡壁面运动特性 [J ] . 兵工学报 , 2022 , 43 ( 3 ): 574 - 585 . DOI: 10.12382/bgxb.2021.0145 http://doi.org/10.12382/bgxb.2021.0145 跨介质航行体高速入水涉及非定常多相流动，具有很强的理论研究意义和工程应用价值。为获得航行体高速入水空泡壁面的运动特性，对回转体模型高速入水开展试验研究，分析不同激励效果对空泡演化特性的影响，提取极值位移与姿态角和空化数双自变量的关系并进行曲面拟合。试验结果表明：垂直入水时，自由液面以上的喷溅环以及自由液面以下空泡壁面的相对位移近似对称；非垂直入水时，迎流侧喷溅环显著大于背流侧喷溅环；空化数为0.008 5~0.008 8时，以能量传递与空化为主的正激励主导迎流侧空泡壁面极值位移，且姿态角越小，正激励效果越强；3倍直径深度位置以下时，吸气效应负激励效果相对空化效应正激励效果可以忽略，在极值位移曲面中，背流侧呈现近似对称性，迎流侧呈现近似线性。

LI Y G , WANG C , WU Y Y , et al. On the motion characteristics of cavity wall in the high-speed water entry of trans-media vehicle [J ] . Acta Armamentarii , 2022 , 43 ( 3 ): 574 - 585 . (in Chinese) DOI: 10.12382/bgxb.2021.0145 http://doi.org/10.12382/bgxb.2021.0145 The high-speed water entry of a trans-media vehicle involves unsteady multiphase flow，which has strong theoretical research significance and engineering application value. In order to obtain the motion characteristics of cavity wall in the high-speed water entry of the vehicle，an experimental study is carried out on the high-speed water entry of a rotating body model. The influences of different excitation effects on the evolution characteristics of the cavity are analyzed. The relationship between the extreme displacement of the cavity and the dual independent variables including attitude angle and cavitation number is extracted，for which surface fitting is performed. The experimental results show that both the splash ring above the free liquid surface and the relative displacement of cavity wall below the free liquid surface are approximately symmetrical during the vertical water entry. The splash ring on the upstream side is significantly larger than that on the downstream side during the non-vertical water entry. When the cavitation number is 0.008 5-0.008 8，the positive excitation dominated by energy transfer and cavitation leads to the extreme displacement of cavity wall on the upstream side，and the smaller the attitude angle is，the stronger the positive excitation effect is. Below the 3D depth position，the negative excitation effect of inhalation effect can be ignored relative to the positive excitation effect of cavitation effect. The extreme displacement on the downstream side is approximately symmetrical，and that on the upstream side is approximately linear on the fitted surface.

张珂 , 李鹏 , 王志 , 等 . 超空泡航行体尾部滑行力实验研究 [J ] . 船舶力学 , 2020 , 24 ( 1 ): 8 - 17 .

ZHANG K , LI P , WANG Z , et al. Experimental study of planning force on supercavitating vehicle tail [J ] . Journal of Ship Mechanics , 2020 , 24 ( 1 ): 8 - 17 . (in Chinese)

王威 . 通气超空泡航行体非定常运动多相流动特性数值研究 [D ] . 哈尔滨 : 哈尔滨工业大学 , 2019 .

WANG W . Numerical study on unsteady multiphase flow characteristics of ventilated supercavitating vehicle [D ] . Harbin : Harbin Institute of Technology , 2019 . (in Chinese)