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Artificial Intelligence and Robotics

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Articles 3841 - 3870 of 5397

Full-Text Articles in Engineering

Emergency Evacuation Simulation For Dense Passenger Flow In A Rail Transit Transfer Station, Xu Hui, Tian Cheng, Wang Yong Mar 2020

Emergency Evacuation Simulation For Dense Passenger Flow In A Rail Transit Transfer Station, Xu Hui, Tian Cheng, Wang Yong

Journal of System Simulation

Abstract: The rail transit is one of the important modes of the public transportation, and its safety operation is crucial. Based on the passenger volume and structure features that have been obtained through the field investigation in Chongqing Lianglukou railway station in China, a multi-level rail transit transfer station simulation model is built to analyze the evacuation process of pedestrians in the consideration of explosion and other emergencies by the software AnyLogic. The evacuation routes and evacuation time of passengers during emergency evacuation in a rail transit transfer station are studied. The research aims at verifying the emergency evacuation capacity …

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Spatial Structure Optimization Of Natural Forest Based On Bee Colony-Particle Swarm Algorithm, Dongsheng Qing, Xiaofang Zhang, Jianjun Li, Guo Rui, Qiaoling Deng Mar 2020

Spatial Structure Optimization Of Natural Forest Based On Bee Colony-Particle Swarm Algorithm, Dongsheng Qing, Xiaofang Zhang, Jianjun Li, Guo Rui, Qiaoling Deng

Journal of System Simulation

Abstract: The natural forest spatial structure contains the spatial location information of the forest, which affects the growth, competition and stability of the forest development. Its optimization is a multi-objective programming problem. A bee colony particle swarm optimization (ABC-PSO) hybrid algorithm is proposed, which improves the initial particle generation mechanism, the number of follow bees and the circulation mechanism. The algorithm is applied to the multi-objective optimization of the spatial structure of natural forest. An optimization model which takes account of the tree distribution grid, tree size segmentation and tree competition is established. The simulation results show that the bee …

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An Estimation Of Distribution Algorithm Based On Multiple Elites Sampling And Individuals Differential Search, Yu Fei, Ruifeng Wu, Wei Bo, Yinglong Zhang, Xuewen Xia Mar 2020

An Estimation Of Distribution Algorithm Based On Multiple Elites Sampling And Individuals Differential Search, Yu Fei, Ruifeng Wu, Wei Bo, Yinglong Zhang, Xuewen Xia

Journal of System Simulation

Abstract: An estimation distribution algorithm based on the multiple elites sampling and the individuals differential search (EDA-M/D) is proposed. In EDA-M/D, the elites carry out the sampling to generate the offspring independently and enhance the exploration. Meanwhile, the variance of the population distributionis selected to control the sampling radius. Thus, the target of the population can be gradually transited from exploration to exploitation. If the elite population stagnates, the nonentities will choose the mean value of the elites distribution μ and the population historical best solution as the two exemplars to execute a differential search operator, and then help the …

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Multi-Uav 3d Formation Path Planning Based On Improved Artificial Potential Field, Haiyun Chen, Huazhou Chen, Liu Qiang Mar 2020

Multi-Uav 3d Formation Path Planning Based On Improved Artificial Potential Field, Haiyun Chen, Huazhou Chen, Liu Qiang

Journal of System Simulation

Abstract: Focusing on the GNRON (goal nonreachable with obstacles nearby), the local minima and chattering of the traditional artificial potential field method, the potential field functions are improved and analyzed to guarantee the goal is the global minimum. In the dynamic potential field, a mechanism of judging whether to fall into local minima is introduced, a method of “moving along the orientation of 90° of goal direction” is used to jump out of the local minima, and the path planning of multi-UAV formation, the synergistic obstacle avoidance and collision prevention are achieved. The path is optimized by applying the regression …

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Simulation Analysis On Flexible Track Drilling Machine Based On Adams, Yanchao Zhang, Ting Wang, Danlong Song Mar 2020

Simulation Analysis On Flexible Track Drilling Machine Based On Adams, Yanchao Zhang, Ting Wang, Danlong Song

Journal of System Simulation

Abstract: The three-dimensional model of the flexible track drilling machine is designed by the virtual prototyping technology. The model is imported into ADAMS (Automatic Dynamic Analysis of Mechanical Systems) software to carry out the kinematics and dynamic simulation analysis of its virtual prototype, and the rationality and feasibility of the system design are evaluated. Through the comparative analysis, the reasonable driving velocity and acceleration parameters of the hole making system are given. According to the analysis of the dynamic characteristics of the systems, the asymmetric driving problems in the system are found and the corresponding improvement scheme is put forward. …

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Speech Control Scheme Design And Simulation For Uav Based On Hmm And Rnn, Zhou Nan, Jianliang Ai Mar 2020

Speech Control Scheme Design And Simulation For Uav Based On Hmm And Rnn, Zhou Nan, Jianliang Ai

Journal of System Simulation

Abstract: In order to simplify the operation and avoid the misoperation of UAVs, Based on Hidden Markov Model and Recurrent Neural Networks, a speech control scheme for UAVs is designed. In this scheme, HMM is used to train and recognize the speech command samples of UAVs. HMM is used to pick out the error commands, RNN is used to train the sets of UAVs commands, and the next command based on the training result is predicted. It is determined whether to execute or not by calculating the correlation between commands recognized by HMM and predicted by RNN. The simulation results …

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Model Of Initial Spare Parts Configuration And Ordering Policy Optimization Based On Inventory State, Songshi Shao, Minzhi Ruan, Zhihua Zhang Mar 2020

Model Of Initial Spare Parts Configuration And Ordering Policy Optimization Based On Inventory State, Songshi Shao, Minzhi Ruan, Zhihua Zhang

Journal of System Simulation

Abstract: Rational planning of spare parts configuration project is an effective approach to improve the equipment availability and reduce the life cycle cost (LCC). First of all, the spare parts demand rate forecast model is constructed. According to the systemic analysis method, the spare parts support effectiveness evaluation targets system is built, and then, the initial spare parts configuration optimization method is researched. Aim to the consumption for partial repairable spare parts, the expected backorders function of the approximate Laplace demand distribution is given. Combining the (s-1, s) and (R, Q) inventory policy, the ordering model is established under the …

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Analysis Of Aeroengine Vibration Signal, Pi Jun, Jiaze Chang, Guangcai Liu Mar 2020

Analysis Of Aeroengine Vibration Signal, Pi Jun, Jiaze Chang, Guangcai Liu

Journal of System Simulation

Abstract: Aiming at the analysis of the vibration characteristics of aeroengine rotor, an improved blind source separation algorithm based on cumulant independent component analysis (ICA) is proposed. The new algorithm is used to separate the rotor vibration signal and identify the rotor fault types. The effectiveness of this algorithm is verified by the aeroengine rotor vibration signal simulation. Comparing with the existing algorithms based on second-order cumulants and high-order cumulants, the new method improves the performance index and the signal similarity coefficient. This algorithm is used to separate the vibration signal collected by the engine rotor platform and the rotor …

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Research On Building Mechanism Model Simulation In Energy-Saving Control, Bai Yang, Decheng Yuan, Li Ling Mar 2020

Research On Building Mechanism Model Simulation In Energy-Saving Control, Bai Yang, Decheng Yuan, Li Ling

Journal of System Simulation

Abstract: In the existing building system, the energy consumption is huge, the control system is complex, and the electricity cost is high. In order to reduce the cost of electricity, the mechanism model of the building is established for simulation. The accuracy of the model is verified by simulation to confirm the model applicability to the building system. Comparing the constant electricity price with the time-varying electricity price, the system under the model predictive control can response to the price change of electricity with time and can achieve the cost control and energy-saving.

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Research On Evolution Model Of Online Public Opinion Based On Temporal Network, Li Feng, Wei Ying Mar 2020

Research On Evolution Model Of Online Public Opinion Based On Temporal Network, Li Feng, Wei Ying

Journal of System Simulation

Abstract: With the in-depth study on the social medias, the social networks of online platforms are recognized gradually as the time-varying temporal networks. In order to compare and analyze the information diffusion process and the result, the analysis method of computer simulations is adopted, a temporal network is generated, and the SIR model is used as the online public opinion diffusion model. The simulation results based on multi-agent approach show that the uncertainty of information diffusion on the social platforms comes from the complicated structure of the temporal networks and the SIR model. In addition, the misunderstanding of the social …

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Performance Balanced Opportunistic Routing And Simulation Analysis Based On Cooperative Game, Huahong Ma, Honghai Wu, Guoqiang Zheng, Baofeng Ji Mar 2020

Performance Balanced Opportunistic Routing And Simulation Analysis Based On Cooperative Game, Huahong Ma, Honghai Wu, Guoqiang Zheng, Baofeng Ji

Journal of System Simulation

Abstract: Opportunistic transmission mode of “store-carry-forward” is usually used to make routing in mobile opportunistic network. Currently, there have been many researches in this area. However, the existing opportunistic routing mechanisms pay much attention to the single index of delivery success ratio, but neglect the constraints on other performance indicators, which may lead to the extreme imbalance of network performance. Aiming at this issue, the diffusion of data packets between multiple nodes are modeled as a cooperative game with the goal of maximal performance balancing, and an opportunistic routing protocol based on the cooperative game for performance balancing is proposed. …

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Parallel Computing Of Multi-Agent System In Spatially-Explicit Modeling And Simulation, Hongchun Qu, Xianhui Yao, Yin Li Mar 2020

Parallel Computing Of Multi-Agent System In Spatially-Explicit Modeling And Simulation, Hongchun Qu, Xianhui Yao, Yin Li

Journal of System Simulation

Abstract: Aiming at the synchronization in the spatially-explicit parallel simulations, a limited optimistic synchronization algorithm based on Agent sensing region is proposed. The algorithm inherits the advantages of the optimistic synchronization algorithm and the security-guaranteed conservative synchronization algorithm. The algorithm categories all simulated agents into the security agent region and non-security agent region. The simulation is performed through the collaboration between the dispatch server and the execution servers where simulation tasks are scheduled and executed. The dispatch server determines whether an agent is in a security zone according to the security radius. The execution servers are responsible for performing the …

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Visualization Of Tropical Cyclones Based On Digital Earth, Shuoben Bi, Yucheng Gong, Mingyue Lu, Zhou Hao, Tang Zhi Mar 2020

Visualization Of Tropical Cyclones Based On Digital Earth, Shuoben Bi, Yucheng Gong, Mingyue Lu, Zhou Hao, Tang Zhi

Journal of System Simulation

Abstract: Tropical cyclones are often accompanied by heavy rains, storm surges and so on, which have serious impact on the southeast coast of China. Visualization of tropical cyclones can directly demonstrate its motion state, occurrence process and internal structure, and support the research and prediction on it. This paper builds digital earth platform based on Cesium(an open source library),introduces the system architecture, verificates the applicability of point cloud method to the visualization of cloud field data, proposes an improved wind field visualization method based on particle tracking, with includes the calculation of wind field particle properties, the drawing of wind …

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Maritime Radar Terrain Echo Simulation Based On Dem And Sar, Yongfeng Suo, Shenhua Yang, Guoquan Chen, Zhuqiang Xiang Mar 2020

Maritime Radar Terrain Echo Simulation Based On Dem And Sar, Yongfeng Suo, Shenhua Yang, Guoquan Chen, Zhuqiang Xiang

Journal of System Simulation

Abstract: Due to the huge amount of work required for terrain database building, the application of navigation radar simulation on the reflectivity of land object has been greatly limited. A novel radar simulation method is proposed based on the DEM(Digital Elevation Model) data and the same-band SAR(Synthetic Aperture Radar) reflection data. The target reflectance information is obtained, which is used as the basis for the surface radar reflectivity simulation. In combination with the radar equations, the surface reflectivity model of the navigation radar is established. Taking into account the elevation shielding relationship of the radar echo topography, an algorithm of …

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Research On Emergency Risk Decision Simulation Based On Multi-Agent And Prospect Theory, Wang Jian, Chenqi Situ, Shengqiang Yuan Mar 2020

Research On Emergency Risk Decision Simulation Based On Multi-Agent And Prospect Theory, Wang Jian, Chenqi Situ, Shengqiang Yuan

Journal of System Simulation

Abstract: Focusing on the modeling and the simulation of emergency response risk decision that multi-sections involve in, a simulation model and simulation framework based on multi-agent and prospect theory are proposed. By introducing agent theory, the multi-agent architecture model of emergency risk decision is described and the decision agent are modelled. By introducing prospect theory, following the dynamic evolution of emergencies, the impact of the psychological changes of the decision-makers have on the decision results is studied. The multi-agent emergency risk decision simulation framework is designed and implemented. Taking the risk decision of a fire emergency in the petrochemical plants …

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Rapid Simulation And Volume Rendering Of Electromagnetic Environment Based On Geographic Coordinate System, Yuguo Wu, Beibei Han Mar 2020

Rapid Simulation And Volume Rendering Of Electromagnetic Environment Based On Geographic Coordinate System, Yuguo Wu, Beibei Han

Journal of System Simulation

Abstract: Considering the earth's curvature, the spherical regular grid model is used to organize the electromagnetic field data. In order to reduce computational complexity of ITM model, the terrain reuse is proposed to improve the efficiency of the simulation. The Multithread and the terrain reuse are combined to improve the efficiency of the multi-radiation source. Considering that the traditional ray casting algorithm which takes the cube model as the bounding box cannot draw spherical regular grid data directly, a ray casting algorithm which uses the dome model as the bounding box is proposed. Experiments show that even considering the influence …

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Research Of Link Acquisition Technology For Virtual-Reality Network, Liu Yuan, Xingbing Feng, Xiaofeng Wang, Zhaohong Deng Mar 2020

Research Of Link Acquisition Technology For Virtual-Reality Network, Liu Yuan, Xingbing Feng, Xiaofeng Wang, Zhaohong Deng

Journal of System Simulation

Abstract: Network simulation is an important foundation for the cyberspace shooting range, where the data acquisition and evaluation for the emulation network is its key link. Based on the emulation network formed by OpenStack, a distributed link data acquisition system for the diversified emulation links is constructed. The paper studies the collaborative acquisition technology and the efficient link data acquisition technology of 3 kinds of links, such as the virtual link in the host, the virtual link between the host and the virtual-reality link, and the evaluation technology based on the link data. Experiments show that the proposed method improves …

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Anti-Dead-Zone Control For Two Flexible Links Space Robot With Integration Of Motion And Vibration, Xiaoqin Huang, Chen Li Mar 2020

Anti-Dead-Zone Control For Two Flexible Links Space Robot With Integration Of Motion And Vibration, Xiaoqin Huang, Chen Li

Journal of System Simulation

Abstract: The angle tracking and flexible vibration suppression integrated control for the two flexible links free-floating space robot with joint torque output dead-zone and external disturbance are discussed. The hybrid trajectory concept with rigid motion and flexible mode is introduced, and an adaptive control scheme of the integral sliding mode neural network based on the integration of motion and vibration is proposed. In case the slope and boundary of dead-zone is uncertain and the upper kind of the optimal approximation error is unknown, the compensation term of the scheme can eliminate the effect, and ensures the robustness of the rigid …

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A Game Cheating Detection System Based On Petri Nets, Zheng Hong, Ye Cheng, Wenxuan Deng, Pan Li Mar 2020

A Game Cheating Detection System Based On Petri Nets, Zheng Hong, Ye Cheng, Wenxuan Deng, Pan Li

Journal of System Simulation

Abstract: Game cheating endangers the normal cyber game seriously. The bottlenecks of the anti-cheating technology are the low efficiency and its too much dependence on the signature matching. Not relying on the signature matching, a highly efficient game cheating detection system is proposed, which models by process trees. This can save the storage space without affecting the detection results. The system is tested with the cheating softwares on the popular cyber game and the fusion efficiency of the update model is evaluated. The results show that the storage space reduction rate can reach about 60%, which means effectiveness and feasibility …

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Optimization Simulation Of Feeder Airport Runway Structure For Pollutant Discharge Control, Jiang Bo, Yunfan Zhou, Chenglong Li, Zhang Hao Mar 2020

Optimization Simulation Of Feeder Airport Runway Structure For Pollutant Discharge Control, Jiang Bo, Yunfan Zhou, Chenglong Li, Zhang Hao

Journal of System Simulation

Abstract: Air pollutant discharge in the LTO (Landing and Take-off) cycle of the civil aviation transport is harmful to the ground personnel and the near-ground environment, which can be restrained primarily by reducing the ground taxi time. Considering the structure of the single-taxiway-single-runway in the common feeder airport, a method for calculating the aircraft ground taxi time is presented. Based on this method, an evaluation index of the pollutants is proposed and an assessment model of aircraft pollutants emission in feeder airport is established. Taking a feeder airport as an example, the taxiway crossing position with the smallest pollutant evaluation …

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A New Ectotherm 3d Tracking And Behavior Analytics System Using A Depth-Based Approach With Color Validation, With Preliminary Data On Kihansi Spray Toad (Nectophrynoides Asperginis) Activity, Philip Bal, Damian Lyons, Avishai Shuter Mar 2020

A New Ectotherm 3d Tracking And Behavior Analytics System Using A Depth-Based Approach With Color Validation, With Preliminary Data On Kihansi Spray Toad (Nectophrynoides Asperginis) Activity, Philip Bal, Damian Lyons, Avishai Shuter

Faculty Publications

The Kihansi spray toad (Nectophrynoides asperginis), classified as Extinct in the Wild by the IUCN, is being bred at the Wildlife Conservation Society’s (WCS) Bronx Zoo as part of an effort to successfully reintroduce the species into the wild. Thousands of toads live at the Bronx Zoo presenting an opportunity to learn more about their behaviors for the first time, at scale. It is impractical to perform manual observations for long periods of time. This paper reports on the development of a RGB-D tracking and analytics approach that allows researchers to accurately and efficiently gather information about the toads’ behavior. …

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Algorithm Selection Framework: A Holistic Approach To The Algorithm Selection Problem, Marc W. Chalé Mar 2020

Algorithm Selection Framework: A Holistic Approach To The Algorithm Selection Problem, Marc W. Chalé

Theses and Dissertations

A holistic approach to the algorithm selection problem is presented. The “algorithm selection framework" uses a combination of user input and meta-data to streamline the algorithm selection for any data analysis task. The framework removes the conjecture of the common trial and error strategy and generates a preference ranked list of recommended analysis techniques. The framework is performed on nine analysis problems. Each of the recommended analysis techniques are implemented on the corresponding data sets. Algorithm performance is assessed using the primary metric of recall and the secondary metric of run time. In six of the problems, the recall of …

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Pedestrian Navigation Using Artificial Neural Networks And Classical Filtering Techniques, David J. Ellis Mar 2020

Pedestrian Navigation Using Artificial Neural Networks And Classical Filtering Techniques, David J. Ellis

Theses and Dissertations

The objective of this thesis is to explore the improvements achieved through using classical filtering methods with Artificial Neural Network (ANN) for pedestrian navigation techniques. ANN have been improving dramatically in their ability to approximate various functions. These neural network solutions have been able to surpass many classical navigation techniques. However, research using ANN to solve problems appears to be solely focused on the ability of neural networks alone. The combination of ANN with classical filtering methods has the potential to bring beneficial aspects of both techniques to increase accuracy in many different applications. Pedestrian navigation is used as a …

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Cyber-Physical Security With Rf Fingerprint Classification Through Distance Measure Extensions Of Generalized Relevance Learning Vector Quantization, Trevor J. Bihl, Todd J. Paciencia, Kenneth W. Bauer Jr., Michael A. Temple Feb 2020

Cyber-Physical Security With Rf Fingerprint Classification Through Distance Measure Extensions Of Generalized Relevance Learning Vector Quantization, Trevor J. Bihl, Todd J. Paciencia, Kenneth W. Bauer Jr., Michael A. Temple

Faculty Publications

Radio frequency (RF) fingerprinting extracts fingerprint features from RF signals to protect against masquerade attacks by enabling reliable authentication of communication devices at the “serial number” level. Facilitating the reliable authentication of communication devices are machine learning (ML) algorithms which find meaningful statistical differences between measured data. The Generalized Relevance Learning Vector Quantization-Improved (GRLVQI) classifier is one ML algorithm which has shown efficacy for RF fingerprinting device discrimination. GRLVQI extends the Learning Vector Quantization (LVQ) family of “winner take all” classifiers that develop prototype vectors (PVs) which represent data. In LVQ algorithms, distances are computed between exemplars and PVs, and …

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Demand Forecasting Of Wartime Spares Based On Evidence Theory, Yunjing Zhang, Xinxin Wang, Wang Yang, Guangming Tang Feb 2020

Demand Forecasting Of Wartime Spares Based On Evidence Theory, Yunjing Zhang, Xinxin Wang, Wang Yang, Guangming Tang

Journal of System Simulation

Abstract: A new method based on evidence theory is proposed to solve the lack of data for the demand prediction of spares in wartime. Utilizing Markov chain model to research the rule of spares demand of peacetime from the historical data. A Markov chain transfer probability adjustment strategy, based on the change of combat intensity, is designed, which can be used to simulation the rule of spares demand in wartime. Under the experience of experts and the combination of the Fuzzy theory and evidence theory, the spares demand is wartime is forecasted. The simulation example shows that the …

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Moea/D Algorithm Based On The Hybrid Framework For Multi-Objective Evolutionary Algorithm, Hongjun Tian, Wang Lei, Qidi Wu Feb 2020

Moea/D Algorithm Based On The Hybrid Framework For Multi-Objective Evolutionary Algorithm, Hongjun Tian, Wang Lei, Qidi Wu

Journal of System Simulation

Abstract: Aimto the difficulties of designing the bonding mechanism of global optimization algorithm and local search strategy for hybrid multi-objective evolutionary algorithm, and of improving the performance of multi-objective evolutionary algorithms, based on the feedback control idea, a systematic and modular hybrid MOEA/D algorithm combining the global optimization and local search is proposed. In the algorithm, a diversity measure method based on crowded entropy is designed; a local search strategy based on simplified quadratic approximation and population diversity enhancement strategy for MOEA/D is proposed. The numerical experiments show that the proposed HMOEA/D can achieve a balance between diversity …

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Tele-Robot Control System With Online Virtual Simulation Prediction, Lingyan Hu, Kangbai Shi, Bichun Zhang, Shaoping Xu Feb 2020

Tele-Robot Control System With Online Virtual Simulation Prediction, Lingyan Hu, Kangbai Shi, Bichun Zhang, Shaoping Xu

Journal of System Simulation

Abstract: When a tele-robot with virtual simulation system works in a complicated environment, the virtual scene may not synchronize with the real one. This may cause the operator on the master side to give wrong instruction. This paper presents a tele-robot with online virtual model correction. The virtual simulation system on the master side builds a virtual model of environment and robot on the slave side. It predicts the motion of the slave robot in real time according the commands from the operator. In order to ensure the virtual scene synchronize with the real one, the measured data on the …

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Research On Cavitation Evolution Model In Venturi Tube, Guihua Han, Yanan Liu, Junpeng Shao, Cijun Zhang Feb 2020

Research On Cavitation Evolution Model In Venturi Tube, Guihua Han, Yanan Liu, Junpeng Shao, Cijun Zhang

Journal of System Simulation

Abstract: The dynamic cavitation model of venturi tube air-water two-phase flow was established according to the time variation of air precipitation and digestion process in water. FLUENT three-dimension numerical simulation were studied to simulate the air-water two-phase flow, and the variation law of venturi tube throat diameter and inlet pressure on vapor volume fraction were obtained. The results of numerical simulation and experiments show that the vapor volume fraction increases following the increase of the inlet pressure. If the throat diameter is increased, the inlet pressure can be increased as the compensation to achieve the same cavitation effect. The …

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Self-Organizing Aggregation Behavior Modeling Of Swarm Robots Based On Ant Colony Algorithm, Yang Wei, Zeng Liang, Xinchen Kang Feb 2020

Self-Organizing Aggregation Behavior Modeling Of Swarm Robots Based On Ant Colony Algorithm, Yang Wei, Zeng Liang, Xinchen Kang

Journal of System Simulation

Abstract: Aiming at the formation of aggregation behavior model of swarm robots, a self-organizing motion model based on particle system mechanics and perceptual state weighting is established to realize the autonomous transfer of robot motion state. The aggregation degree and uniformity index of aggregation behavior are established, and the aggregation performances of different models are analyzed by experiment, which lay a foundation for the formation of self-organized aggregation behavior model of swarm robots. Using the selected model, the self-organizing aggregation behavior simulation experiments are conducted in two cases with boundary constraints and no boundary constraints. The maximum coverage of …

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Auv Vertical Plane Control Based On Improved Pid Neural Network Algorithm, Runan Huang, Ding Ning Feb 2020

Auv Vertical Plane Control Based On Improved Pid Neural Network Algorithm, Runan Huang, Ding Ning

Journal of System Simulation

Abstract: An improved PID neural network controller is designed for the movement control of a small low-speed autonomous underwater vehicle (AUV) in vertical plane, and the global control of the depth and pitch angle of the underwater vehicle in vertical plane is obtained. The AUV simulation control system is built by using REMUS underwater vehicle model in Simulink. The simulation results show that the improved control method with better dynamic performance has solved the original excessive saturation issue, and can adapt to different learning rates and network initial weight,and is of certain reference value to the practical application …

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