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2021

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Articles 2371 - 2400 of 9983

Full-Text Articles in Engineering

Water Quality Sampling And Analysis, Joanna Burkhardt Sep 2021

Water Quality Sampling And Analysis, Joanna Burkhardt

Library Impact Statements

No abstract provided.

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Covid-19 Et Gestion Des Troubles Gastro-Intestinaux : Expérience D’Un Centre Hospitalier Marocaincovid-19, Gastrointestinal Disorders, Pandemic., Hanane Delsa, Mohamed Cherkaoui Jaouad Reda, Amine Benfaida, Anass Nadi, Fedoua Rouibaa Sep 2021

Covid-19 Et Gestion Des Troubles Gastro-Intestinaux : Expérience D’Un Centre Hospitalier Marocaincovid-19, Gastrointestinal Disorders, Pandemic., Hanane Delsa, Mohamed Cherkaoui Jaouad Reda, Amine Benfaida, Anass Nadi, Fedoua Rouibaa

Health Sciences

Pandemic Covid-19 is a real challenge for the medical profession. SARS-CoV-2 virus attacks several human organs, including the digestive tract. Digestive disorders have been described as revealing symptoms or accompanying signs of infection. The treatment of these symptoms must be early and codified. At Cheikh Khalifa International University Hospital in Casablanca, a codified treatment protocol has been proposed to facilitate the management of these disorders.

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A Proposal To Harmonize Bim And Iot Data Silos Using Blockchain Application, Zulkefly Abu Bakar, Malachy Mathews Dr Sep 2021

A Proposal To Harmonize Bim And Iot Data Silos Using Blockchain Application, Zulkefly Abu Bakar, Malachy Mathews Dr

Conference papers

The integration of Building Information Modelling (BIM) and Internet of Things (IoT) provide significant end-to-end benefits for the architecture, engineering, construction, and operations (AECO) industry. Example applications include on-site assembly services, data localization for built environment, occupancy performance measures and many other analyses that can be used to improve the built environment. However, silos in the BIM and IoT data exchange have impacted the digital process adoption in AECO industry, which aims to change the dynamics and behaviors of the current working process. Penzes, (2018) in his report, acknowledges the AECO industry as one of the most fragmented sectors with …

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Mechanical And Material Characterization Of Advanced Materials For Tissue Regeneration, Bailey Kylara Ricketts Jackson Sep 2021

Mechanical And Material Characterization Of Advanced Materials For Tissue Regeneration, Bailey Kylara Ricketts Jackson

Theses and Dissertations

In natural disasters and military deployment operations, injury to long bone can cause extensive damage and be difficult to treat and heal quickly. Explosive devices and trauma often produce long-bone (>2-cm length) wounds that are more complicated than common fractures. Due to the size and complexity of these injuries, they can be difficult to treat in a battlefield environment and take a long time to heal completely and properly. Even after the long healing period, these injuries often require rehabilitation to strengthen the muscles that have weakened in the wounded limb. For military applications especially, these effects can put …

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Fabrication And Comparative Study Of Horizontal And Vertical Electrospun Protein-Polysaccharide Nanofiber Biomaterials, Ashley Rivera-Galleti Sep 2021

Fabrication And Comparative Study Of Horizontal And Vertical Electrospun Protein-Polysaccharide Nanofiber Biomaterials, Ashley Rivera-Galleti

Theses and Dissertations

The use of biocompatible and biodegradable composite materials for biomedical applications has attracted the attention of many researchers in the past few years. In this study, we fabricated nanofibers of silk fibroin and cellulose and its derivatives to amalgamate their unique properties into a single material. The production of these nanofibers via electrospinning is of particular interest, and whereas several studies have been done on normal nanofibers, the formation of branched nanofibers is an exciting area not currently explored. Blend solutions are formed by dissolving silk and cellulose/cellulose acetate in formic acid separately and mixing to achieve the desired ratios. …

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Mechanical Properties And Characterization Of Epoxy Composites Containing Highly Entangled As-Received And Acid Treated Carbon Nanotubes, Aaron Krieg, Julia A. King, Gregory M. Odegard, Timothy Leftwich, Leif K. Odegard, Paul D. Fraley, Ibrahim Miskioglu, Claire Jolowsky, Matthew Lundblad, Jin Gyu Park, Richard Liang Sep 2021

Mechanical Properties And Characterization Of Epoxy Composites Containing Highly Entangled As-Received And Acid Treated Carbon Nanotubes, Aaron Krieg, Julia A. King, Gregory M. Odegard, Timothy Leftwich, Leif K. Odegard, Paul D. Fraley, Ibrahim Miskioglu, Claire Jolowsky, Matthew Lundblad, Jin Gyu Park, Richard Liang

Michigan Tech Publications, Part 1

Huntsman–Merrimack MIRALON® carbon nanotubes (CNTs) are a novel, highly entan-gled, commercially available, and scalable format of nanotubes. As-received and acid-treated CNTs were added to aerospace grade epoxy (CYCOM® 977-3), and the composites were characterized. The epoxy resin is expected to infiltrate the network of the CNTs and could improve mechanical properties. Epoxy composites were tested for flexural and viscoelastic properties and the as-re-ceived and acid treated CNTs were characterized using Field-Emission Scanning and Transmission Electron Microscopy, X-Ray Photoelectron Spectroscopy, and Thermogravimetric Analysis. Composites containing 0.4 wt% as-received CNTs showed an increase in flexural strength, from 136.9 MPa for neat epoxy …

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Understanding And Overcoming Challenges To Photochemical Water Treatment Technologies, Mostafa Maghsoodi Sep 2021

Understanding And Overcoming Challenges To Photochemical Water Treatment Technologies, Mostafa Maghsoodi

LSU Doctoral Dissertations

Photochemical water treatment technologies have been extensively studied in recent years to update the current practices and find an innovative, cheap, and sustainable way to treat contaminated water. Despite the well-documented advantages, these technologies faced some challenges and limitations in the way of technology transfer. Among all the challenges, the presence of dissolved organic matter (DOM) poses a serious challenge to the application of these technologies, especially photocatalysis. Moreover, the prospect of utilizing the new technology of light-emitting diodes (LEDs) offers an upgrade in the efficiency of the current practice of ultraviolet (UV) dosing. To understand the effect of DOM …

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Piezoelectric Properties Of Pvdf-Zn2geo4 Fine Fiber Mats, Fariha Rubaiya, Swati Mohan, Bhupendra B. Srivastava, Horacio Vasquez, Karen Lozano Sep 2021

Piezoelectric Properties Of Pvdf-Zn2geo4 Fine Fiber Mats, Fariha Rubaiya, Swati Mohan, Bhupendra B. Srivastava, Horacio Vasquez, Karen Lozano

Mechanical Engineering Faculty Publications

The current paper presents the development and characterization of polyvinylidene fluoride (PVDF)-Zn2GeO4 (ZGO) fine fiber mats. ZGO nanorods (NRs) were synthesized using a hydrothermal method and incorporated in a PVDF solution to produce fine fiber mats. The fiber mats were prepared by varying the concentration of ZGO NRs (1.25–10 wt %) using the Forcespinning® method. The developed mats showed long, continuous, and homogeneous fibers, with average fiber diameters varying from 0.7 to 1 µm, depending on the ZGO concentration. X-ray diffraction spectra depicted a positive correlation among concentration of ZGO NRs and strengthening of the beta …

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Perceptions Of Safety Climate In Construction Projects Between Workers And Managers/Supervisors In The Developing Country Of Iran, Daniel W. M. Chan, Matteo Cristofaro, Hala Nassereddine, Nicole S. N. Yiu, Hadi Sarvari Sep 2021

Perceptions Of Safety Climate In Construction Projects Between Workers And Managers/Supervisors In The Developing Country Of Iran, Daniel W. M. Chan, Matteo Cristofaro, Hala Nassereddine, Nicole S. N. Yiu, Hadi Sarvari

Civil Engineering Faculty Publications

What are the different perceptions on safety climate (SC) by workers and managers/supervisors engaged in the construction industry of developing countries? Reconciling these two differing views is pivotal for mitigating and avoiding both the injured and fatal accidents in the construction industry, especially in those developing countries where safety conditions are poor and unpredictable, and safety measures are inadequate in most cases. To answer this research question, the collective perceptions of 118 construction workers and 123 managers/supervisors on the SC in construction projects in Iran were gleaned and investigated. In particular, these perceptions were initially collected by two different empirical …

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Challenges And Reflection On Next-Generation Large-Scale Computer Wargame System, Guangya Si, Yanzheng Wang Sep 2021

Challenges And Reflection On Next-Generation Large-Scale Computer Wargame System, Guangya Si, Yanzheng Wang

Journal of System Simulation

Abstract: In view of the systematic, networked and intelligent characteristics of the future war, the major challenges of the new generation of large computer warfare system are proposed, and the next-generation large-scale computer wargame system is constructed. The key technologies of building a new generation of large computer warfare systems, such as intelligent war modeling, architecture integration, resource service management and human-computer interaction are researched.

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Exploring Formal Model Transformation Techniques Within Model Driven Engineering, Zhu Zhi, Lei Sen, Yonglin Lei Sep 2021

Exploring Formal Model Transformation Techniques Within Model Driven Engineering, Zhu Zhi, Lei Sen, Yonglin Lei

Journal of System Simulation

Abstract: With the increasing complexity of simulation system and the wide use of simulation models, the higher requirements of the efficiency and quality for simulation models are needed. Currently, model-driven engineering is mostly applied in many simulation software tools, which cannot really carry out the formal analysis at the model level. Based on model driven engineering, the domain specific language with metamodeling and engineering model continuity is designed. Taking a group fire control channel system as the example, the domain specific language is designed and the conceptual models are transformed into other precise semantics to carry out the final executable …

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Modeling Research Of Cognition Behavior For Intelligent Wargaming, Xiaoyuan He, Shengming Guo, Wu Lin, Li Dong, Xu Xiao, Li Li Sep 2021

Modeling Research Of Cognition Behavior For Intelligent Wargaming, Xiaoyuan He, Shengming Guo, Wu Lin, Li Dong, Xu Xiao, Li Li

Journal of System Simulation

Abstract: Aiming at the problem of cognitive behavior modeling in the construction and application of intelligent wargaming system, one modeling framework based on Actor-Operations-Scene (AOS) was proposed for C2 agent in wargaming. Then the realization of cognitive behavior modeling method for C2 agent was explored, including the modeling for the scenario oriented knowledge graph, intelligent situation awareness, operational planning, integrated operational control. It provides a feasible scheme for the construction and application of intelligent wargaming system.

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Intelligent Wargaming System: Change Needed By Next Generation Need To Be Changed, Xiaofeng Hu, Dawei Qi Sep 2021

Intelligent Wargaming System: Change Needed By Next Generation Need To Be Changed, Xiaofeng Hu, Dawei Qi

Journal of System Simulation

Abstract: The future direction of wargaming system is intelligent, and the most significant feature of intelligence is the modeling of cognition. The main problems of wargaming system are summarized, the main difficulties of modeling brought by cognition and the overall framework of intelligent wargaming system design are discussed, the technical ways of transformation and upgrading based on the existing wargaming system are given from four aspects of model construction, system design, wargaming ecology and test inspection. It provides direction and reference to the development and construction of the next generation intelligent wargaming system.

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Study On Next-Generation Strategic Wargame System, Wu Xi, Xianglin Meng, Jingyu Yang Sep 2021

Study On Next-Generation Strategic Wargame System, Wu Xi, Xianglin Meng, Jingyu Yang

Journal of System Simulation

Abstract: Strategic wargame is an important support to the strategic decision. The research status and challenges of the strategic wargame are analyzed, and the influence of big data and artificial intelligence technology on the strategic wargame system is studied. The prospects and key technologies of the next-generation strategic wargame system are studied, including the construction of event association graph for strategic topics, generation of strategic decision sparse samples based on generative adversarial nets, gaming strategy learning of human-in-loop hybrid enhancement, and public opinion dissemination modeling technology based on social network. The development trend of the strategic wargame is proposed.

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Order Sorting Optimization For Four-Way Shuttle System Based On Improved Genetic Algorithm, Xinjie He, Shaowu Zhou, Hongqiang Zhang, Lianghong Wu, Zhou You Sep 2021

Order Sorting Optimization For Four-Way Shuttle System Based On Improved Genetic Algorithm, Xinjie He, Shaowu Zhou, Hongqiang Zhang, Lianghong Wu, Zhou You

Journal of System Simulation

Abstract: During the batch outbound operations of the four-way shuttle system, the different execution order of the system's outbound leads to the different interaction time between the four-way shuttle and the hoist will be different, which will affect the system's outbound operation time. According to the operation process of batch outbound, with the order of batch order outflow as the variable and the system outflow time as the objective function, a system order sort optimization model i established. Based to the characteristics of the model, with the improved genetic algorithm, the optimal order of the system is obtained. By changing …

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Minireview On Self-Healing Polymers: Versatility, Application, And Prospects, Md. Wasikur Rahman, Nawrin Rahman Shefa Sep 2021

Minireview On Self-Healing Polymers: Versatility, Application, And Prospects, Md. Wasikur Rahman, Nawrin Rahman Shefa

Mechanical Engineering Faculty Publications

Nature is blessed with self-healing properties. Mimicking nature is a traditional practice to innovate new classes of materials for researchers. In this practice, researchers made a revolutionary approach to innovate self-healing polymer (SHP) that can be used to treat damage-related losses. Different SHPs with various properties have been developed for a wide range of applications. SHPs unlocked the key to the taste of real life through their application and versatility in the sectors close to our day-by-day life of this age and the near future. In this study, we reviewed the scopes and prospects of the application of SHPs owing …

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Use Of Pressure-Measuring Insoles To Characterize Gait Parameters In Simulated Reduced-Gravity Conditions, Christian Ison, Connor Neilsen, Jessica Deberardinis, Mohamed B. Trabia, Janet S. Dufek Sep 2021

Use Of Pressure-Measuring Insoles To Characterize Gait Parameters In Simulated Reduced-Gravity Conditions, Christian Ison, Connor Neilsen, Jessica Deberardinis, Mohamed B. Trabia, Janet S. Dufek

Mechanical Engineering Faculty Research

Prior researchers have observed the effect of simulated reduced-gravity exercise. However, the extent to which lower-body positive-pressure treadmill (LBPPT) walking alters kinematic gait characteristics is not well understood. The purpose of the study was to investigate the effect of LBPPT walking on selected gait parameters in simulated reduced-gravity conditions. Twenty-nine college-aged volunteers participated in this cross-sectional study. Participants wore pressure-measuring insoles (Medilogic GmBH, Schönefeld, Germany) and completed three 3.5-min walking trials on the LBPPT (AlterG, Inc., Fremont, CA, USA) at 100% (normal gravity) as well as reduced-gravity conditions of 40% and 20% body weight (BW). The resulting insole data were …

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Wargaming Eco-System For Intelligence Growing, Wu Lin, Xiaofeng Hu, Jiuyang Tao, Xiaoyuan He Sep 2021

Wargaming Eco-System For Intelligence Growing, Wu Lin, Xiaofeng Hu, Jiuyang Tao, Xiaoyuan He

Journal of System Simulation

Abstract: The construction of the next generation intelligent wargaming system can not be accomplished at one move, but through building an ecosystem to gradually grow intelligence. The basic concepts of the intelligent wargame ecosystem, and are defined the idea of dynamic openness, diversified levels and co-evolution are proposed. Drawing lessons from the human intelligence growing process and learning-evolution mechanism, the double helix model of the next generation of wargame cognitive intelligent evolution and growth is constructed. On the basis of the OLTA cycle, the wargame deduction ecosystem system framework is given. The application of the technologies, such as …

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Application Of Two-Population Fish Swarm Algorithm In Distributed Portfolio, Fuyu Wang, Tang Tao Sep 2021

Application Of Two-Population Fish Swarm Algorithm In Distributed Portfolio, Fuyu Wang, Tang Tao

Journal of System Simulation

Abstract: Aiming at the disadvantages of artificial fish swarm algorithm, such as low precision and easily falling into local optimum, combining the idea of gravity algorithm and teaching optimization, a two-population fish swarm search algorithm is proposed. Cross-thinking is adopted to optimize the results obtained by the two populations and avoid the local optimization. Metropoils criterion of simulated annealing is added to the standard function verifies the algorithm, and the results show that the two-population fish swarm algorithm is better than the traditional artificial fish swarm algorithm and the known literature algorithm. Based on the known literature, a distributed …

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Learning Ant Colony Algorithm For Green Multi-Depot Vehicle Routing Problem, Hu Rong, Wenbo Chen, Bin Qian, Guo Ning, Fenghong Xiang Sep 2021

Learning Ant Colony Algorithm For Green Multi-Depot Vehicle Routing Problem, Hu Rong, Wenbo Chen, Bin Qian, Guo Ning, Fenghong Xiang

Journal of System Simulation

Abstract: Considering the congested roads situation of urban central areas in China, a speed calculation method based on vehicle driving sections is designed, and a model for the Green Multi-Depot Vehicle Routing Problem with Total Fuel-Consumption cost Criterion (TFC-GMDVRP) is established, considering simultaneously the vehicle travel distance, load, and speed factors. A learning ant colony optimization algorithm (LACO), combining a knowledge model and an ant colony optimization algorithm (ACO), is proposed for solving the TFC-GMDVRP. In order to improve the performance and robustness of the algorithm's global search, the parameter knowledge that contains the different …

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Hurricane Trajectory Outlier Detection Method Based On Variational Auto-Encode, Wanting Qin, Songyang Lao, Tang Jun, Lu Cong Sep 2021

Hurricane Trajectory Outlier Detection Method Based On Variational Auto-Encode, Wanting Qin, Songyang Lao, Tang Jun, Lu Cong

Journal of System Simulation

Abstract: Hurricanes often cause incalculable human and economic losses, and the trajectory outlier detection can provide the auxiliary information or abnormal warning of the disaster. On deep learning, a method of hurricane trajectory outlier detection based on variable auto encoder (VAEOD) is proposed in this paper. The trajectory is divided into equal sequence sub trajectories based on the sliding window as the input of VAE. The trajectory reconstruction model is trained by the VAE. The parallel, vertical and angle distance of reconstructed trajectory and the input trajectory are compared to find out the outlier trajectory segments. The simulation experiment on …

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Research And Application On Space-Launching Mission Simulated Rehearsal Technology, Xiuluo Liu, Wang Jia, Wu Feng, Liu Yang, Ailiang Zhang, Wang Min Sep 2021

Research And Application On Space-Launching Mission Simulated Rehearsal Technology, Xiuluo Liu, Wang Jia, Wu Feng, Liu Yang, Ailiang Zhang, Wang Min

Journal of System Simulation

Abstract: High-density space launching tasks need the new requirements for space-launching mission rehearsal. The new concept of space-launching mission simulated rehearsal is proposed, the definition and content are presented in detail,and the technology research objective and key works are analyzed. The technology implementation architecture is established on five dimensions of the domain resources, developing tools, simulation modeling, fundamental function design and domain application. On the basis of simulation, the working process is given, the simulation software architecture is designed, and the simulation application tool is developed. The simulation results are also given, which validate the method and technology.

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Mechanism Design For Entities' Passive Dimensional Sensing Interaction In Discrete Event Simulations, Yan Fei, Bin Gan, Zhaodi Chen, Wenjuan Ma, Luyao Li, Zhang Ke Sep 2021

Mechanism Design For Entities' Passive Dimensional Sensing Interaction In Discrete Event Simulations, Yan Fei, Bin Gan, Zhaodi Chen, Wenjuan Ma, Luyao Li, Zhang Ke

Journal of System Simulation

Abstract: Dimensional sensing interaction mechanism is a method of computing the entities' visibility on the basis of the position and visible range, and informing when and where the entities can perceive each other. Entities' active computing on the relative position needs a lot of computation and is low efficiency, and slow down the simulation execution at last. The mechanism and framework of the passive dimensional sensing interaction, including the spatial grid models, discrete movement models, and passive sense models are researched. Dimensional sensing interaction manager is designed to realize the computation of entities' dimensional sensing interaction in discrete event-based battle …

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Collaborative Research: Audio For Inclusion: Uncovering The Narratives Of Minoritized Students To Provide Insight To Faculty On The Known Unknowns Of Inclusion, Cassandra Mccall Sep 2021

Collaborative Research: Audio For Inclusion: Uncovering The Narratives Of Minoritized Students To Provide Insight To Faculty On The Known Unknowns Of Inclusion, Cassandra Mccall

Funded Research Records

No abstract provided.

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Research On The Issues Of Next Generation Wargame System Model Engine, Yubo Tang, Bilong Shen, Shi Lei, Yi Xing Sep 2021

Research On The Issues Of Next Generation Wargame System Model Engine, Yubo Tang, Bilong Shen, Shi Lei, Yi Xing

Journal of System Simulation

Abstract: Aiming at the more and more complex war systems, widely used artificial intelligence technology is needed to make up the human deficiencies in future wargame deduction, which is necessary for the next generation wargame system model engine. To address these challenges, a framework prototype of the next generation wargame model engine based on the experience of the long-term development and application is proposed. The decoupling method for the complexity of structure and computation is researched. The human-computer integration architecture on digital twinning technology is studied. Some new modeling techniques which the threshold of model development is reduced and the …

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Abroad Wargaming Deduction And System Research, Zhanguang Cao, Tao Shuai, Xiaofeng Hu, Lülong He Sep 2021

Abroad Wargaming Deduction And System Research, Zhanguang Cao, Tao Shuai, Xiaofeng Hu, Lülong He

Journal of System Simulation

Abstract: Wargaming is an important auxiliary means of war deduction, scheme evaluation and operational analysis. Wargaming deduction system can support the research of operational problems, innovation of tactics and development of operational concepts. The development status of foreign computer wargaming system from the deduction method and system research is reviewed, and the online deduction the multi-level joint deduction, as well as the research status of multi-level wargaming fusion design, the multi system combination and auxiliary tool development are mainly introduced, which can providereference to the development and application of computer wargame system.

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Fault Diagnosis Of Industrial Process Based On Lle And K-Means Clustering Algorithm, Li Yuan, Zewei Geng Sep 2021

Fault Diagnosis Of Industrial Process Based On Lle And K-Means Clustering Algorithm, Li Yuan, Zewei Geng

Journal of System Simulation

Abstract: Because of the similarity of various types of data in the industrial process. The fault diagnosis using the K-means algorithm has a large error rate. A K-means clustering algorithm based on Locally Linear Embedding (LLE) is proposed. the normal data is reduced by the LLE algorithm and the projection matrix is obtained. The projection matrix is used to map the original fault data to the low-dimensional space and the K-means algorithm clusters is used to carry out the data to establish a detection and diagnosis model. The method is applied to the fault detection and diagnosis in the TE …

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Optimization Algorithm Of Mine Ventilation Based On Sa-Ipso, Liangshan Shao, Wang Zhen, Changming Li Sep 2021

Optimization Algorithm Of Mine Ventilation Based On Sa-Ipso, Liangshan Shao, Wang Zhen, Changming Li

Journal of System Simulation

Abstract: A non-linear optimization mathematical model aiming at the minimum total power of the mine ventilation network is established, in which SA-IPSO algorithm is applied for the optimization. The mutation operation is introduced in the PSO algorithm, in which a new inertia weight is proposed and a new particle selection method is constructed to control the number of particles violating the constraints, and the ability of the PSO algorithm to find boundaries is improved. The constraint conditions of the mine ventilation law are transformed into the penalty term of the objective function. IPSO optimizes the objective function and uses SA …

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An Improved Srgan Infrared Image Super-Resolution Reconstruction Algorithm, Hu Lei, Zugen Wang, Chen Tian, Yongmei Zhang Sep 2021

An Improved Srgan Infrared Image Super-Resolution Reconstruction Algorithm, Hu Lei, Zugen Wang, Chen Tian, Yongmei Zhang

Journal of System Simulation

Abstract: Aiming at the low resolution of infrared images, an improved SRGAN super-resolution reconstruction algorithm is designed. In the generative network, the method of applying the residual dense network to obtain the image features extracted from each network layer so as to retain more high-frequency information of the image, and adopting a progressive upsampling method to improve the super-resolution reconstruction effect under a large scaling factor. In terms of the loss function, the perceptual loss that is more in line with human senses is adopted to make the generated image being closer to the real high-resolution image of senses and …

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Trajectory Planning Of 6-Dof Manipulator Based On Inverse Multi-Objective Optimization, Xianyin Duan, Can Zhang, Zerun Zhu, Zhaoyang Sun, Guozhang Jiang, Xiang Feng Sep 2021

Trajectory Planning Of 6-Dof Manipulator Based On Inverse Multi-Objective Optimization, Xianyin Duan, Can Zhang, Zerun Zhu, Zhaoyang Sun, Guozhang Jiang, Xiang Feng

Journal of System Simulation

Abstract: In order to optimize the machining quality and production efficiency of manipulator, an inverse multi-objective determination method based on the optimization of manipulator stiffness and global travel is proposed. Establishing the forward kinematics model of manipulator, the inverse kinematics is solved by using behaviour tree. The stiffness performance evaluation index and the mathematical model of total stroke of joint angle are constructed to carry out the inverse solution multi-objective optimization. The 7-5-7 order polynomial joint space interpolation algorithm is designed for the trajectory planning. Compared with the commonly used cubic polynomial programming method, the manipulator trajectory obtained by …

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