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Artificial Intelligence and Robotics

2019

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Articles 31 - 60 of 954

Full-Text Articles in Engineering

A Cloud Service Composition Optimization Based On Hnn, Huili Zhang, Zhihe Li Dec 2019

A Cloud Service Composition Optimization Based On Hnn, Huili Zhang, Zhihe Li

Journal of System Simulation

Abstract: With the rapid development of Cloud service application, how to effectively optimize the composition of Cloud services on cloud platform and improve the overall performance of cloud platform system have become an urgent research issue. In order to improve the efficiency of Cloud services, a combined optimization model based on Hopfield neural network is proposed. The problem of Cloud services is modeled. The problem is expressed as Hopfield Neural Network energy model for optimization, and a PSO group algorithm with Cauchy disturbance is designed to improve the Hopfield model. The experimental comparison shows that the method can improve …

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Design Of Universal Control Load System Of Helicopter Flight Simulator, Chen Zhen, Haikuan Yang, Jiang Nan, Yuancheng Wang, Tianjiao Jiang Dec 2019

Design Of Universal Control Load System Of Helicopter Flight Simulator, Chen Zhen, Haikuan Yang, Jiang Nan, Yuancheng Wang, Tianjiao Jiang

Journal of System Simulation

Abstract: To improve the universality and handling quality of control system of helicopter flight simulator, a universal control load system of helicopter flight simulator suitable for helicopter flight simulator is designed. The dynamic feedback model is proposed to solve the contradiction between control rigidity and stability, control precision and response frequency, the control rigidity and kinematic accuracy are improved.The operating load mechanism is designed, the system structure and drive system are simplified, the smoothness of force perception is improved; the third order smoothing algorithm and fieldbus technology based on EtherCAT are applied to improve the anti-jamming capability and response speed, …

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Robot Arm Control Method Based On Deep Reinforcement Learning, Heyu Li, Zhilong Zhao, Gu Lei, Liqin Guo, Zeng Bi, Tingyu Lin Dec 2019

Robot Arm Control Method Based On Deep Reinforcement Learning, Heyu Li, Zhilong Zhao, Gu Lei, Liqin Guo, Zeng Bi, Tingyu Lin

Journal of System Simulation

Abstract: Deep reinforcement learning continues to explore in the environment and adjusts the neural network parameters by the reward function. The actual production line can not be used as the trial and error environment for the algorithm, so there is not enough data. For that, this paper constructs a virtual robot arm simulation environment, including the robot arm and the object. The Deep Deterministic Policy Gradient (DDPG),in which the state variables and reward function are set,is trained by deep reinforcement learning algorithm in the simulation environment to realize the target of controlling the robot arm to move the gripper below …

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Research On Corridor Setting Based On Pedestrian Simulation Of Social Groups, Yiting Xu, Zhang Rui Dec 2019

Research On Corridor Setting Based On Pedestrian Simulation Of Social Groups, Yiting Xu, Zhang Rui

Journal of System Simulation

Abstract: As the connector of each space in the hub, the rail transit hub corridor plays the role of transition and buffer. The existence of social groups makes an important impact on pedestrian traffic and its simulation. The paper supplements the consideration of pedestrian traffic related studies on social groups travel, analyses the characteristics of social groups in rail transit hub corridor, improves Moussaïd social group force model, and redevelops AnyLogic micro-simulation platform based on Python language. Taking a subway station in Beijing as an example, fully considering the influence of social groups, it is obtained that the optimal channel …

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Downhole Drilling Processing Data Acquisition And Stick Slip Characteristic Analysis, Huang Sheng, Zhang Tao, Chongjun Huang, Yumei Li, Deng Hu, Zhang Xia Dec 2019

Downhole Drilling Processing Data Acquisition And Stick Slip Characteristic Analysis, Huang Sheng, Zhang Tao, Chongjun Huang, Yumei Li, Deng Hu, Zhang Xia

Journal of System Simulation

Abstract: During oil drilling process, drill string vibrations are detrimental to the bit and drill string, which even causes failure of equipment. Researches show that, studying the law of near bit vibration data can reduce non-production time (NPT) and improve drilling efficiency. This paper uses power spectral density and wavelet transform to analyze vibration signals, then compares with normal drilling situation to find out stick slip characteristics. The results show that, when stick slip occurs, the mean value of lateral vibration fluctuates greatly, which indicates stick slip is mainly based on torsional vibration. From the perspective of power spectral density …

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Evaluation Method Of Node Importance In Equipment Support Network Based On Polymeric Degree, Zhang Qiang, Junhai Cao, Tailiang Song, Yan Xu Dec 2019

Evaluation Method Of Node Importance In Equipment Support Network Based On Polymeric Degree, Zhang Qiang, Junhai Cao, Tailiang Song, Yan Xu

Journal of System Simulation

Abstract: Aiming at the problem that the heterogeneity of nodes in equipment support network and the different support relationships leading to the inaccuracy of judging the importance of nodes based on single attributes such as degree value, this paper puts forward the concept of polymeric degree, and mines the importance information of nodes from the aspects of polymeric degree, betweenness centrality, closeness centrality and Eigenvector centrality. Because of the shortcoming that the Euclidean distance can not reflect the vertical distance in the traditional method of Order Preference by Similarity to an Ideal Solution (TOPSIS), the TOPSIS method is improved. The …

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Fault-Tolerant Method And Simulation Of Heterogeneous Multi-Core Processor Based On Speculative Mechanism, Shigan Yu, Zhimin Tang, Xiaochun Ye, Dongrui Fan Dec 2019

Fault-Tolerant Method And Simulation Of Heterogeneous Multi-Core Processor Based On Speculative Mechanism, Shigan Yu, Zhimin Tang, Xiaochun Ye, Dongrui Fan

Journal of System Simulation

Abstract: Heterogeneous multicore is one of the important branches of processors,but they are still faced with frequent transient failures. TMR(Triple mode redundancy) is the main method to solve transient faults, which has the characteristics of low efficiency and high power consumption, a high-performance Fault-Tolerant Scheduling Algorithm with Speculative mechanism(FTSAS) is proposed. Each heterogeneous core can execute tasks independently, the state values of the first completed core are recorded, and the first completed core continues to perform the next task with forward speculative method. The results are compared by backward core, the majority consensus principle is adopted to ensure the reliability …

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Exploration Of Soldier Morale Using Multi-Mode Simulation Approach, Yongsheng Zhang, Zhengxiang Xiong Dec 2019

Exploration Of Soldier Morale Using Multi-Mode Simulation Approach, Yongsheng Zhang, Zhengxiang Xiong

Journal of System Simulation

Abstract: Soldier morale is a complex social construction influenced by factors at multiple levels and integrates many research domains. This research seeks to explore, model, and simulate soldier morale at multiple levels of analysis. Microcosmically Agent-Based Modeling method is used to reflect the interaction among fighters and the course of affecting morale,Macrocosmically SD method is used to reflect the influence of the tactical psychology on morale and the whole war in the counter-combat process. The developed sample case scenario pertained to US security efforts against insurgency in Afghanistan in 2007. The scenario includes representation of the patrol base operations serving …

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System Dynamics Modeling For Simulation Of Water Supply And Demand Relationship In Beijing, Longxi Luo, Jianping Wu, Chen Yun, Zhe Xu Dec 2019

System Dynamics Modeling For Simulation Of Water Supply And Demand Relationship In Beijing, Longxi Luo, Jianping Wu, Chen Yun, Zhe Xu

Journal of System Simulation

Abstract: Beijing is a metropolis and the center of politics and education of China. However, located in the region with a low level of rainfall, Beijing has been struggling with supplying water resources to meet its growing demand. The past and future trend of the water supply and demand balance in Beijing is studied. Historical data is collected and compiled for learning its past behaviors. The system dynamics (SD) modeling can simulate the complicated and integrated relationships in water supply and demand system. An SD model is then constructed based on compiled historical data. The SD model is validated by …

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Intelligent Sandbox For Geography Teaching, Xianli Ji, Yulong Ding, Shuanghua Yang Dec 2019

Intelligent Sandbox For Geography Teaching, Xianli Ji, Yulong Ding, Shuanghua Yang

Journal of System Simulation

Abstract: An intelligent sandbox geography teaching demonstration system combining the augmented reality technology and related geographic knowledge is designed and implemented on the Unity3D platform. The system has functions of deep data processing, projection matrix transformation, terrain rendering, fluid simulation, physical characteristics, adding entities along the slope, changes in sunshine angle, gesture interaction, etc., which can render virtual terrain and scene in real time according to the change of the sandbox. Students can interact with the system in projection correction, adding entities, seasonal switching, weather effects, disaster simulation and other scenarios and learn knowledge points such as contour lines, …

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Numerical Simulation Analysis Of Anti-Blast Impact Of Underground Rescue Capsule Based On Ls-Dyna, Zhang Fan, Yuanhua Yang, Xiaoxu He, Deng Yu Dec 2019

Numerical Simulation Analysis Of Anti-Blast Impact Of Underground Rescue Capsule Based On Ls-Dyna, Zhang Fan, Yuanhua Yang, Xiaoxu He, Deng Yu

Journal of System Simulation

Abstract: Aiming at the strength problem of the underground rescue cabin under explosion impact load, a finite element model of overall explosion impact load and fluid-solid coupling structure response is established in transient dynamic soft LS-DYNA. The flow field impact load is generated by explosion algorithm, and the propagation of the impact load in the air is calculated. The dynamic response of the rescue cabin structure under the impact load is calculated by the fluid-solid coupling method. The results show that the maximum load occurs on the end surface closest to the explosion source, and the structural deformation is small …

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Cooperative Vehicle Positioning Method Based On V2x Enhanced Gps, Jiuling Wang, Shaobo Wu, Yuanli Zhang, Jiahui Qiu, Liu Qi Dec 2019

Cooperative Vehicle Positioning Method Based On V2x Enhanced Gps, Jiuling Wang, Shaobo Wu, Yuanli Zhang, Jiahui Qiu, Liu Qi

Journal of System Simulation

Abstract: In order to further improve the vehicle positioning accuracy and adaptability to the environment, V2X (vehicle to everything) communication network is used for auxiliary positioning to enhance the GPS/DR integrated positioning. Firstly, the three subsystems of GPS, DR and V2X auxiliary positioning independently perform filtering estimation, and then a better estimation from the GPS and V2X auxiliary positioning is selected to conduct global optimal fusion with DR, and finally the three sub-filters are reset with the feedback of the optimal result. Simulation results show that when the GPS signal is seriously affected by multipath interference, the positioning performance of …

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Survey Of Vision-Based Augmented Reality 3d Registration Technology, Shouming Hou, Han Ji, Yudong Zhang, Ziqiu Zhu Dec 2019

Survey Of Vision-Based Augmented Reality 3d Registration Technology, Shouming Hou, Han Ji, Yudong Zhang, Ziqiu Zhu

Journal of System Simulation

Abstract: Three-dimensional registration technology is one of the core technologies for augmented reality system implementation. In recent years, with the maturity of augmented reality hardware technology and the expansion of application fields, vision-based three-dimensional registration technology has received more attention and development. This paper introduces the basic principles and classification methods of 3D registration technology, focuses on the analysis of the principles and research status of three kinds of visual three-dimensional registration technology based on artificial identification, natural feature points and model.Furthermore, the defects and treatment methods of three visual registration technologies are discussed. The development prospect of visual 3D …

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Overview Of Cooperative Target Assignment, Ou Qiao, Xiaoyuan He, Jiuyang Tao Dec 2019

Overview Of Cooperative Target Assignment, Ou Qiao, Xiaoyuan He, Jiuyang Tao

Journal of System Simulation

Abstract: The concept and connotation of combat coordination are briefly analyzed. The historical origin of cooperative target allocation and its orientation in command and control process are expounded. The research status of collaborative target allocation in model building and algorithm solving is analyzed comprehensively, the shortcomings of current research is pointed out. It is proposed that for the next step we should pay more attention to large-scale collaborative target allocation under dynamic and confrontational conditions, and focus on the real-time, adaptability and iterative evolution mechanism of the algorithm.

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Knowledge Representation Method Of Joint Operation Situation Based On Knowledge Graph, Baokui Wang, Wu Lin, Xiaofeng Hu, Xiaoyuan He Dec 2019

Knowledge Representation Method Of Joint Operation Situation Based On Knowledge Graph, Baokui Wang, Wu Lin, Xiaofeng Hu, Xiaoyuan He

Journal of System Simulation

Abstract: Lacking of common knowledge for understanding and judging complex situation of operation by machines is one of the difficulties in intelligent situation cognition. The knowledge representation methods based on knowledge graph are reviewed. The characteristics and difficulties of joint operation situation knowledge representation are analyzed. Moreover, the concept of scenario knowledge graph is presented, as well as the knowledge sources and basic content of scenario knowledge graph are described. This paper also points out that the joint knowledge representation method based on discrete symbols and continuous vectors in specific scenario is an effective way to express joint operation situation …

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Decision-Making Method For Formulating Spares Reserve Scheme Based On Deep Neural Network, Yunjing Zhang, Guangming Tang, Xiaoyu Xu Dec 2019

Decision-Making Method For Formulating Spares Reserve Scheme Based On Deep Neural Network, Yunjing Zhang, Guangming Tang, Xiaoyu Xu

Journal of System Simulation

Abstract: Spare parts classification is important for spare parts storage and is a key part of spare parts decision-making activities. This paper analyzes the factors affecting the reserve scheme of wartime spares. Then by analyzing the inherent attributes of wartime spares, two methods of spare parts classification are proposed to determine the variety and quantity of wartime spares based on deep neural network: (1) Ranks wartime spares according to their importance. A relatively simple deep neural network is used to analyze every attribute of the wartime spares in turn; (2) Inputs all the attributes of wartime spares into a relatively …

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A Mesh Model Simplification Method Based On Visual Feature Preservation, Che Li, Dejun Tang, Shimin Li, Fengju Kang Dec 2019

A Mesh Model Simplification Method Based On Visual Feature Preservation, Che Li, Dejun Tang, Shimin Li, Fengju Kang

Journal of System Simulation

Abstract: Aiming at the problems of mesh visual feature loss and oversimplification in mesh simplification algorithm, a visual feature preservation based triangle mesh model simplification algorithm is proposed. The multi-viewpoint perception method is used to measure the visual perception error caused by the difference between the original and the simplified model in the two-dimensional view under the optimal viewpoint set. Based on QEM algorithm, a novel geometric error metric is built by introducing the triangle shape factor. The triangle collapse error function is defined by combining visual perception and geometric error to control the simplified depth of the model. Through …

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Research On Intelligent Clustering Algorithm For Complex Water Wireless Network Surveillance, Hua Xiang, Hongtao Liang, Zhaoxin Dong, Wang Zhao, Hongjuan Yao, Baohua Li, Bingqing Jiang Dec 2019

Research On Intelligent Clustering Algorithm For Complex Water Wireless Network Surveillance, Hua Xiang, Hongtao Liang, Zhaoxin Dong, Wang Zhao, Hongjuan Yao, Baohua Li, Bingqing Jiang

Journal of System Simulation

Abstract: The clustering of irregular networks will cause load imbalance, which results in the phenomenon of “energy hot zone”. Aiming at the unreasonable topology of irregular network clustering, an intelligent clustering algorithm based on genetic strategy is proposed for the wireless network surveillance of complex water system. An irregular complex water topology model and an energy consumption model are built, and a genetic clustering strategy is designed via the principle of minimum energy consumption. The P matrix coding method is given, which avoids the squared increment of data calculation. Simultaneously, an adaptive genetic operator and a fuzzy modified operator are …

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Fast Simulation Of Yacht In Calm Water Based On Improved Savitsky Method, Xiaochen Li, Yin Yong Dec 2019

Fast Simulation Of Yacht In Calm Water Based On Improved Savitsky Method, Xiaochen Li, Yin Yong

Journal of System Simulation

Abstract: An improved Savitsky method is proposed to increase the accuracy of mathematical model of yacht in fast simulation. Three degrees of freedom mathematical model is established to simulate the motion in displacement regime. warped hull forms of yachts are simplified into prismatic hull and improved Savitsky method is used to calculate resistance. The simulation is carried out in pre-planing regime and planing regime. The validity of the proposed method has been assessed by comparing results with previous experimental data, which shows good agreements. The improved method runs well and the result is accurate when it is added to the …

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Moving Object Detection Based On Deep Convolutional Neural Network, Yuqiu Lu, Jinyu Sun, Shiwei Ma Dec 2019

Moving Object Detection Based On Deep Convolutional Neural Network, Yuqiu Lu, Jinyu Sun, Shiwei Ma

Journal of System Simulation

Abstract: A deep convolution neural network MONet is designed for the intermittent motion problem in moving objects detection. In the absence of training data sets, a synthetic dataset GoChairs is generated by affine transformation, and on this basis the network training and testing are performed. The results show that the trained MONet can effectively detect the moving objects based on the correspondence between the pixels. The traditional datasets CDnet and I2R are also tested to verify the generalization performance of the network. In addition, MONet is compared qualitatively and quantitatively with classical methods for the intermittent motion problem of …

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Urban Functional Area Identification Method Based On Mobile Big Data, Xiao Di, Xiaoyong Zhang, Hu Yang Dec 2019

Urban Functional Area Identification Method Based On Mobile Big Data, Xiao Di, Xiaoyong Zhang, Hu Yang

Journal of System Simulation

Abstract: With the rapid development of urbanization, the function of urban land is constantly evolving. It is of great significance to identify urban functional areas in real time and accurately. In recent years, accompanied by the popularity of smart phones and the rapid development of the Internet, mobile phones have become sensors of human activities. In this paper, a method of urban functional area identification based on time series mobile phone data mining and POI semantics analysis is proposed. The time series feature of remaining mobile phone positioning is extracted facing block scale. And a FCM clustering algorithm based …

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Design Of A Flexible System Simulation Evaluation Framework, Rusheng Ju, Zimin Cai, Wang Song, Wang Peng Dec 2019

Design Of A Flexible System Simulation Evaluation Framework, Rusheng Ju, Zimin Cai, Wang Song, Wang Peng

Journal of System Simulation

Abstract: To meet variable evaluation requirement of complex system simulation, this paper puts forward a design strategy of flexible effectiveness evaluation framework. The composition structure of system simulation evaluation framework is analyzed. To help users design reference dynamically, the method of evaluation reference edit and display is introduced based on Web. To enhance the extensibility of evaluation model, the method of interface design and code generation is investigated. To ensure the flexibility and extensibility of evaluation framework, the relation and mapping mechanism of evaluation references, evaluation model and evaluation result is studied. The framework is realized and verified in …

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Intelligent Fire Rescue Based On Internet Of Things And Virtual Reality, Fengting Yan, Zhicai Shi, Qianmin Su, Dong Jing, Jue Chen, Yunyu Shi, Tang Xian Dec 2019

Intelligent Fire Rescue Based On Internet Of Things And Virtual Reality, Fengting Yan, Zhicai Shi, Qianmin Su, Dong Jing, Jue Chen, Yunyu Shi, Tang Xian

Journal of System Simulation

Abstract: The integration of virtual reality, Internet of Things and artificial intelligence can provide intelligent WebVR interaction for fire rescue decision-making. However, it is necessary to solve the problems of data lightweight, real-time data transmission based on the Internet of Things, and visualization of fire scenario data on the web, and to build effective mechanisms and algorithms. This paper proposes an intelligent fire rescue (IVIFR) mechanism based on the integration of Internet of Things and Virtual Reality, gives a virtual intelligent fire rescue (VIFR) algorithm, and constructs a prototype system of intelligent fire rescue. The VIFR algorithm …

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Modeling And Simulation Of Complex Equipment Health Management System Based On Cloud Computing, Tianrui Zhang, Chuansheng Qu, Baoku Wu, Jianan Xu Dec 2019

Modeling And Simulation Of Complex Equipment Health Management System Based On Cloud Computing, Tianrui Zhang, Chuansheng Qu, Baoku Wu, Jianan Xu

Journal of System Simulation

Abstract: For complex equipment operation safely, the health management problems of complex equipment life cycle is analyzed. In order to realize remote service, complex equipment health management mode based on cloud computing is proposed. Aiming at the accuracy problem in the process of extracting and recognizing complex equipment characteristic data, the feature knowledge acquisition method based on ontology is researched, and the expression and acquisition algorithm of state characteristic knowledge is proposed. A task sequencing algorithm faults based on fuzzy comprehensive evaluation method is proposed, an appropriate task assignment model is selected for scheduling health management technicians. …

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Research On Eye Location And Head State Detection Based On Integrated Learning, Yingnian Wu, Mengjia He, Xiang Wei Dec 2019

Research On Eye Location And Head State Detection Based On Integrated Learning, Yingnian Wu, Mengjia He, Xiang Wei

Journal of System Simulation

Abstract: For real-time detection of eye location problem, a real-time detection system of human eye based on Viola Jones algorithm is designed. Through the MATLAB, the real-time reading and positioning of the detected human eye pictures are controlled by the external or webcam. Through side view, top view, and upward view, it is shown that the human eye real-time positioning system has good detection effect and robustness. In view of the poor classification effect of small data sets on the head state, the random forest algorithm is used to classify the pitching Angle and yaw Angle by HOG-LBP fusion feature …

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Design And Finite Element Analysis Of Reflector Spherical Shell For Flight Simulator, Hailiang Bai, Jiang Nan, Zhang Liao, Yuewen Fu Dec 2019

Design And Finite Element Analysis Of Reflector Spherical Shell For Flight Simulator, Hailiang Bai, Jiang Nan, Zhang Liao, Yuewen Fu

Journal of System Simulation

Abstract: The fight simulator with six-degree-of-freedom motion platform can simulate the flight attitude in real time and provide realistic overload dynamic feeling, which requires that the equipment on the platform must adapt to the overload during flight simulation. To solve the contradiction between the rigidity and weight of material, the glass fiber composite material is used to design and manufacture the spherical shell of the mirror . To improve the optical collimation of the reflector, the specific hyperboloid aspheric surface is selected as the surface design scheme,the 3D model of the spherical shell is constructed. The parameters of the …

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Dynamic Collision Optimization Algorithm Based On Ray Detection, Li Xing, Yanfang Fu, Wang Liang, Chengtao Lu Dec 2019

Dynamic Collision Optimization Algorithm Based On Ray Detection, Li Xing, Yanfang Fu, Wang Liang, Chengtao Lu

Journal of System Simulation

Abstract: Aiming at the inaccurate collision detection problem in Unity 3D-based visual simulation systems, a dynamic collision optimization algorithm based on ray detection is designed and implemented. The 3D virtual scene is segmented by octree, which simplifies the detection range of obstacles during the operation of simulation systems. At the same time, based on ray detection, according to the quantization coefficient and distance of the threat degree of obstacles, an appropriate collision collider is dynamically added to the obstacles to complete collision detection. The results show that the algorithm not only improves the fluency of visual simulation systems but also …

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Research On Clock Synchronization Of Simulation System Based On Ethernet And Optical Fiber Network, Yulin Meng, Shen Tao, Shuaihao Wang, Lüyi Zhao, Chengshi Tang Dec 2019

Research On Clock Synchronization Of Simulation System Based On Ethernet And Optical Fiber Network, Yulin Meng, Shen Tao, Shuaihao Wang, Lüyi Zhao, Chengshi Tang

Journal of System Simulation

Abstract: With the development of simulation communication and Ethernet clock synchronization technology, the traditional timing simulation method based on real-time operating system can not meet the accuracy requirements of clock synchronization between multi-simulation systems. A time synchronization method between simulation systems based on IEEE1588 clock synchronization protocol and optical fiber reflection memory network is proposed, in which the Beidou/GPS timing device periodically calibrates the real-time operating system, and the real-time operating system divides the frequency of the calibrated clock information and synchronizes the clock of each simulation system through the high-speed optical fiber reflection memory network. The clock synchronization …

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Simulation Of Vehicle Startup Delay At Green Light And Its Direct And Chain-Reaction Impact On Traffic Flow, Longxi Luo, Lijun Xie, Jianping Wu, Xu Ming Dec 2019

Simulation Of Vehicle Startup Delay At Green Light And Its Direct And Chain-Reaction Impact On Traffic Flow, Longxi Luo, Lijun Xie, Jianping Wu, Xu Ming

Journal of System Simulation

Abstract: In current traffic simulations, it is implicitly assumed vehicles are driven by ideal drivers. Therefore, simulated vehicles make the most reasonable decisions such as moving out immediately when traffic lights turn green, resulting in a gap between simulations and real traffics. Research shows that drivers, including those who follow the rules, show a delay in starting-up their vehicles at the green light. The vehicle startup delay (SUD) is even more significant for drivers by things such as cell phones during waiting. However, the SUD has rarely been considered in simulations. The SUD is simulated to study its impacts on …

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Research On Dual-Antenna Gnss-Assisted Mins Navigation Method, Hailu Wang, Su Zhong, Liu Ning, Liu Hong, Guodong Fu Dec 2019

Research On Dual-Antenna Gnss-Assisted Mins Navigation Method, Hailu Wang, Su Zhong, Liu Ning, Liu Hong, Guodong Fu

Journal of System Simulation

Abstract: For the integrated navigation system of the single-antenna GNSS-assisted MEMS strap-down inertial navigation system (MINS), the heading angle divergence is invalid when the vehicle is stationary and linear motion, and the error is large. The method of the dual-antenna GNSS-assisted MINS integrated navigation based on EKF is proposed. The error state model is established, and the extended Kalman filter combined filter (EKF) algorithm is designsed for simulation verification. The driving test is carried out by comparing the high-precision SPAN-CPT. The results show that the yaw angle and pitch angle accuracy are 0.2 RMS, 0.3 RMS, which can be used …

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