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Unmanned aerial vehicle (UAV) relay can effectively improve the coverage and performance of land communications, which makes it prospective to be deployed in various applications. However, there exist some practical challenges we have to face in UAV-enabled communication system designing, such as secrecy and wiretapping threats due to the air-to-ground line-of-sight communication link, and energy consumption issues because of the limitation in energy-constraint. To deal with these two key issues, we develop a novel UAV swarm assisted multi-hop mobile relay system which can be applied in special scenarios with severe blockage or long distance to enhance communication performance. An effective cooperative transmission scheme is proposed to address the security issues in a physical layer security perspective, where several UAVs serve as multi-hop relays forwarding information between ground users and the other UAVs are employed as friendly jammers confusing the ground eavesdroppers. The minimum secrecy energy efficiency (MSEE), namely the minimum achievable secrecy rate per energy consumption unit over legitimate links, is designed as the performance indicator to quantify the secure and energy-efficient transmission. Subject to information-causality, transmit power, and mobility constraints, the UAV swarm assisted MSEE maximization transmission scheme is formulated into a complicated non-convex problem. To solve the non-convex fractional optimization problem, we decouple the original problem into sub-problems and further propose an efficient algorithm by applying the block coordinate descent method, successive convex approximation (SCA) techniques, and Dinkelbach method. Numerical results demonstrate that the proposed scheme achieves considerable performance enhancement on MSEE compared with benchmark schemes.

The jet medium of the adaptive gun head jet system of the fire-fighting monitor is generally a mixture of air and water. During the operation, the equivalent stiffness of the jet fluid fluctuates periodically or randomly due to the pressure pulsation of the jet system and the external excitation such as wind, thus the dynamic behavior of the adaptive gun head jet system of the fire-fighting monitor has typical nonlinear characteristics. In this paper, based on the assumption that the equivalent stiffness of the fluid fluctuates in type of simple harmonic motion, a nonlinear dynamic model of the jet system is established, and the model is solved by the multi-scale method. The influence of design parameters such as fluid pulsation frequency, air inlet rate and fluid pressure on the amplitude of the main resonance and combined resonance of the jet system is analyzed. Results show that the existence of the fluid pulsation frequency increases the resonance frequency range of the jet system. As to the influence of design parameters on the dynamic characteristics of the jet system, from the point of view of amplitude change, the air inlet rate has the greatest impact on the main resonance, and the fluid pulsation frequency has the dominant influence on the combined resonance. This research can provide theoretical support for the dynamic optimization of the adaptive gun head jet system of the fire-fighting monitor.

The working medium of the adaptive gun head jet system of fire-fighting monitor is generally water containing a little bit of air. During the operation, the pressure pulsation of the fluid will cause the fluctuation of the equivalent stiffness of the gas-liquid mixed fluid, so that the motion of the fluid in the jet system has obvious nonlinear characteristics. In this paper, the nonlinear dynamic model of the jet system is established. The analytical expressions of the nonlinear vibration response of the jet system are derived via the multi-scale method. The main resonance and combined resonance of the jet system are determined. The results show that the external excitation frequency is the dominant frequency of the main resonance response of the jet system, and the combined frequency between the natural frequency of each order and the equivalent stiffness fluctuation frequency of the fluid unit has a small effect on the main resonance, and the maximum amplitude is 0.2592mm; the dominant frequency of the combined resonance response of the jet system is the combined frequency between the natural frequency of each order and the equivalent stiffness fluctuation frequency of the fluid unit, the system amplitude in combined resonance is smaller than that in the main resonance, and the maximum amplitude is 0.002532mm; the main resonance and the combined resonance will adversely affect the dynamic characteristics of the jet system. This research can provide a theoretical basis for the dynamic optimization of the adaptive gun head jet system of the fire-fighting monitor.

The bulk modulus of the gas-containing hydraulic oil is an important indicator reflecting its compressibility, directly affecting the stability, accuracy, rapidity, and reliability of the fluid transmission system. In the time-varying system with high speed and pressure, since the gas release rate differs from the gas dissolution rate, there exists a large difference between the static and dynamic values of the bulk modulus of hydraulic oil. Therefore, it is necessary to research the dynamic bulk modulus of the gas-containing hydraulic oil. Based on the improvement of Henry's law and gas-polytropic-process equation, a modified model of dynamic bulk modulus of the gas-containing hydraulic oil was proposed. Through the analysis of parameter influence, the influence of initial gas content and pressure on the dynamic bulk modulus of the gas-containing hydraulic oil during compression and expansion was discussed. Comparing the modified model and the Zhou model with the experimental results, the goodness of fit between the Zhou model and the experimental results during compression and expansion was 0.9936 and 0.9864, respectively. And the goodness of fit between the modified model and the experimental results during compression and expansion was 0.9937 and 0.9936, respectively. The prediction precision of the dynamic bulk modulus was improved while verifying the accuracy of the modified model. This research can provide a reference for optimizing the theoretical model of the dynamic bulk modulus of the gas-containing hydraulic oil.