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Articles 58201 - 58230 of 197998

Full-Text Articles in Engineering

Design Of Multi-Scenario Simulation Of Molten Iron Logistics System With Cranes And Cross-Train Agvs, Shaowen Lu, Xiaochuan Luo Jun 2020

Design Of Multi-Scenario Simulation Of Molten Iron Logistics System With Cranes And Cross-Train Agvs, Shaowen Lu, Xiaochuan Luo

Journal of System Simulation

Abstract: Iron and steel complexes prefer a new molten iron logistics technology which involves cranes and cross-train AGVs (Automated Guided Vehicle) for transportation. The key concern of decision-makers is how to evaluate the safety and performance of the logistics design. For using simulation, it needs to solve the multi-scenario what-if simulation problems caused by uncertain processing time and crane yielding. An object-oriented simulation design method and finite state automata based modeling techniques were introduced. A multi-scenario simulation procedure was introduced. The proposed techniques can improve the flexibility, configurability and reusability of the simulation system effectively.

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Real-Time Control Method Of Hsss Based On Single Phrase Self Decoupling Strategy, Yingping Yi, Bogang Qu, Zhang Yang Jun 2020

Real-Time Control Method Of Hsss Based On Single Phrase Self Decoupling Strategy, Yingping Yi, Bogang Qu, Zhang Yang

Journal of System Simulation

Abstract: Zero Crossing Detection (ZCD) and phase locked loop are widely applied in the real-time control. Compared the performances of ZCD, SSRF SPLL and DDSRF SPLL,a method named as Single Phase Self Decoupling SPLL (SPSD SPLL) for HSSS(Hybrid Solid State Switch) is proposed and the mathematical method and control methods are given. The control parameters were obtained by analyzing the steady and dynamic performance of SPSD SPLL. By establishing the real-time controlling models based on the above strategies and HSSS model in the MATLAB/Simulink, the simulation and optimization analysis results verified that the SPSD SPLL was well performed …

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Attention Mechanism In Battlefield Situation Awareness, Yisi Kong, Xiaofeng Hu, Zhu Feng, Jiuyang Tao Jun 2020

Attention Mechanism In Battlefield Situation Awareness, Yisi Kong, Xiaofeng Hu, Zhu Feng, Jiuyang Tao

Journal of System Simulation

Abstract: Battlefield situation awareness (BSA) is the basis of C2 and decision making. Research on BSA can clarify the mechanism and lay the foundation for designing intelligent model and algorithm to assist commanders with situation awareness. Taking attention mechanism as the point, the relevant discussion in psychology was summarized, a framework of the attention mechanism in BSA was put forth, and its application in operational target value assessment was explored.

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Adaptive Mutative Scale Chaos Particles Swarm Optimization Based On Logistic Mapping, Yanyang Zeng, Yunxia Feng, Wentao Zhao Jun 2020

Adaptive Mutative Scale Chaos Particles Swarm Optimization Based On Logistic Mapping, Yanyang Zeng, Yunxia Feng, Wentao Zhao

Journal of System Simulation

Abstract: To overcome the shortcomings of Particle Swarm Optimization (PSO), an Adaptive Mutative Scale Chaos Particles Swarm Optimization (ACPSO) based on Logistic Mapping was proposed. The chaos method was used to initialize the particles. The adjustment method of the inertia weight depended on the particle's fitness; it could avoid premature convergence for the particles. When the particles fell into the local optimum, mutative scale chaos optimization strategy was adopted to adjust the optimal particles. To test the effectiveness of the algorithm, three representative algorithms were compared with. The results show that the algorithm has high convergence speed and high precision.

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Accuracy Of New Lattice Monte Carlo Simulation Algorithm Of Biased Diffusion Model, Zhengxiong Wu, Guo Gang, Duan Hong Jun 2020

Accuracy Of New Lattice Monte Carlo Simulation Algorithm Of Biased Diffusion Model, Zhengxiong Wu, Guo Gang, Duan Hong

Journal of System Simulation

Abstract: It is already proved that the traditional fixed time step lattice Monte Carlo (LMC) algorithm can reproduce both the mean and the variance of the particle displacement exactly. However, there is always a non-zero skewness when there is a drift. To further improve the accuracy, a new LMC algorithm of biased diffusion model with five transition probabilities has been devised, which indeed reproduces the first three moments exactly. The valid scope of lattice step and time step can be determined numerically once the drift and the diffusivity are given. A new measurement is introduced to study the accuracy characteristics …

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Target Combination Selection Optimization Method Of Joint Operations Based On Fuzzy Genetic Algorithm, Suike Li, Jianhua Xiang, Haijun Wang, Mingzhi Zhang, Li Yi Jun 2020

Target Combination Selection Optimization Method Of Joint Operations Based On Fuzzy Genetic Algorithm, Suike Li, Jianhua Xiang, Haijun Wang, Mingzhi Zhang, Li Yi

Journal of System Simulation

Abstract: Under the condition of informatization, it is necessary to use intelligent model and optimization method to realize the cooperation and fusion of multi arms combat firepower. Aiming at the problem of target decision-making and firepower allocation in joint operations, the fuzzy multi-objective programming model was constructed to achieve the overall goal of achieving the maximum and the best firepower as a dual goal. In the model solving algorithm, the possibility theory was used to transform the fuzzy number, the model was transformed into the multi-objective programming model in the deterministic form. In order to improve the efficiency of …

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Artillery Company Firepower Assignment Model And Algorithm, Xuezhi Lü, Lisheng Chang, Xianwen Wang, Xinhui Zhao Jun 2020

Artillery Company Firepower Assignment Model And Algorithm, Xuezhi Lü, Lisheng Chang, Xianwen Wang, Xinhui Zhao

Journal of System Simulation

Abstract: In view of deficiency of traditional firepower assignment method and characteristics of modern artillery, the model and algorithm of firepower assignment of artillery company were studied. The firepower assignment problem of artillery company was described, and the resolving concept was discussed. Three firepower assignment modes based on resolving concept were introduced. The idea of getting optimal solution of firepower assignment with Monte Carlo simulation and golden section search were analyzed. The model and algorithm were validated with an example.

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A Cnn Based Cognitive Method To Battlefields Encompassing Situation With Insufficient Samples, Zhu Feng, Xiaofeng Hu, Xiaoyuan He, Yisi Kong, Yang Lu Jun 2020

A Cnn Based Cognitive Method To Battlefields Encompassing Situation With Insufficient Samples, Zhu Feng, Xiaofeng Hu, Xiaoyuan He, Yisi Kong, Yang Lu

Journal of System Simulation

Abstract: To research the issue of how to grasp the commander's cognitive experience successfully and effectively facing to battlefields sight map, Convolution Neural Network (CNN) as a kind of the typical algorithm in deep learning can provide the key ways. However, CNN needs the enough samples for running. These samples are hardly to achieve for the time being. Aimed at these problems, some exploring researches were carried out. The issues of battlefields encompassing situation cognition met generally in the warfare and lacking enough samples were discussed. On the basis of analyzing the image characteristics of battlefields encompassing situation and the …

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Simulation Of Cooperative Behavior Contagion In Small World Network, Shilong Wang Jun 2020

Simulation Of Cooperative Behavior Contagion In Small World Network, Shilong Wang

Journal of System Simulation

Abstract: Under small world network structure, this research constructed a contagion model of cooperative behavior based on behavioral characteristics such as homogeneity gathering, two degrees of separation, influence paradox, attenuation nature, etc. and used Netlogo platform to run the simulation. The results indicate the contagion of cooperative behavior has hysteresis, emergent and progressive properties; the average path length constrains the contagion completion; the strong ties are prone to spread cooperative behavior; the distribution level of node degree of network significantly impacts the contagion time. The discoveries afford guidance for enhancing cooperation performance in small groups, by adjusting relationship …

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Doa Estimation Method Of Uniform Circular Array Based On Improved Smoothed L0 Norm, Wang Biao, Chen Feng, Lu Li Jun 2020

Doa Estimation Method Of Uniform Circular Array Based On Improved Smoothed L0 Norm, Wang Biao, Chen Feng, Lu Li

Journal of System Simulation

Abstract: To solve the problems of the narrow-band signal DOA method, such as low resolution and unsuitable for applications with small number of snapshot and array elements, etc, DOA of uniform circular array based on improved smoothed l0 norm was proposed after analysis of the characteristics of UCA model and signal airspace sparse, combining with improved the smooth l0 norm algorithm. For reconstructing the signal, the method used the combined continuous function as the approximation to l0 norm by sparse matrix processing array manifold, which improved the convergence speed. It was also extended to the UCA DOA …

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Performance Evaluation Of Guidance And Control System Based On Improved Latin Hypercube, Denghui Zhang, Chao Tao, Songyan Wang, Ma Ping Jun 2020

Performance Evaluation Of Guidance And Control System Based On Improved Latin Hypercube, Denghui Zhang, Chao Tao, Songyan Wang, Ma Ping

Journal of System Simulation

Abstract: Aiming at the low efficiency and the poor space-filling property in the aircraft performance evaluation combined with simulation experiment, a novel aircraft performance evaluation method based on the improved LHD (Latin hypercube designs) was investigated. The six-DOF (Degree of Freedom) rigid aircraft model was built. Considering the characteristic of BTT (bank-to-turn) vehicle in dive phase, the performance evaluation index system of its guidance and control system was set up. The optimal LHD was applied to the performance evaluation of the aircraft guidance and control system. The improved algorithm can quickly construct a good design …

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Visualization Of Multi-Dimensional Effectiveness Indicator Of Weapon System Of Systemsbased On Fusion Manifold Learning, Jianfei Ding, Guangya Si, Yafeng Shi, Liu Yi Jun 2020

Visualization Of Multi-Dimensional Effectiveness Indicator Of Weapon System Of Systemsbased On Fusion Manifold Learning, Jianfei Ding, Guangya Si, Yafeng Shi, Liu Yi

Journal of System Simulation

Abstract: It is an important way to compare the comprehensive characteristics of weapon system of systems (WSoS) by means of visualization method to display the various effectiveness indicators information of WSoS construction planning scheme in simulation test. A visualization method for multi-dimensional effectiveness indicator was proposed based on fusion manifold learning. The indicator items and scheme items were converged from high-dimensional space to the same two-dimensional space. The density calculation was used to calculate the effect degree between the multidimensional indicator and scheme. The final multidimensional indicator visualization effect was achieved by radiological calculation. Two sets of experiments were …

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Best Viewpoint Selection For 3d Visualization Using Particle Swarm Optimization, Panpan Jia, Yanyang Zeng, Yunxia Feng Jun 2020

Best Viewpoint Selection For 3d Visualization Using Particle Swarm Optimization, Panpan Jia, Yanyang Zeng, Yunxia Feng

Journal of System Simulation

Abstract: The viewpoint selection is to automatically select one or more approximate optimal viewpoints in the viewpoints of multiple views, at the same time, it is related to the evaluation of the quality of the viewpoint. 3D visualization best viewpoint selection method based on particle swarm optimization algorithm was proposed. The viewpoint quality was evaluated by using the image information entropy and the image edge entropy, and the viewpoint was selected by the multi-objective intelligent optimization method. The basic flow begins with the initial viewpoint set, finding the best viewpoint by means of coding, particle evaluation, and particle update, which …

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Skylight Opening Degree Prediction Method Based On Parallel Clustering, Deng Li, Yu Yue, Honglin Pang, Minrui Fei Jun 2020

Skylight Opening Degree Prediction Method Based On Parallel Clustering, Deng Li, Yu Yue, Honglin Pang, Minrui Fei

Journal of System Simulation

Abstract: To process the massive distributed data and control the agricultural facilities intelligently, a parallel Dirichlet Process Mixture Model (DPMM) clustering method was proposed based on Spark. With this method, the prediction model of greenhouse skylight opening degree was obtained by training the agricultural environmental and facilities data. The model was used to predict the greenhouse skylight opening degree. Through several comparison experiments, both the feasibility and the efficiency of the proposed parallel clustering were verified, the prediction accuracy was calculated. The experimental results show that the proposed approach has higher efficiency and accuracy.

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Two Power Sliding Mode Neural Network Compensation Control For Space Robot After Target Capturing, Cheng Jing, Chen Li Jun 2020

Two Power Sliding Mode Neural Network Compensation Control For Space Robot After Target Capturing, Cheng Jing, Chen Li

Journal of System Simulation

Abstract: The impact analyses of space robot capturing a target and stability control problem in the post-impact process were discussed. The dynamic models of space robot system and target were derived by multi-body theory. The impact effect of rigidcouplingmodel was analyzed by applying geometric relationship and principle of momentum conservation. Atwo power sliding mode neural network control scheme was proposed for the combined system after acquiring with uncertain system parameters and external disturbance. The convergence speed of the control system was guaranteed by applyingtwo power sliding mode reaching raw, and the uncertain part was compensated by using neural …

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Sar Object Recognition Based On Multi-Band And Multi-Polarization Simulation Image, Gu Yu, Zhang Qin, Xu Ying Jun 2020

Sar Object Recognition Based On Multi-Band And Multi-Polarization Simulation Image, Gu Yu, Zhang Qin, Xu Ying

Journal of System Simulation

Abstract: The object model was built based on Creator, and object texture-material mapping was performed by Vega TMM tool. The multi-band and multi-polarization SAR image database was built by visual simulation technology. A hybrid intelligent optimization algorithm was designed to optimize combination of band and polarization by genetic algorithm and binary particle optimization. Zernike moment features, Gabor wavelet coefficients, etc were extracted from original image and rectified image to make up of feature candidates, and the feature selection experiments were carried out by using multi-band and multi-polarization SAR images. Simulation results demonstrate that, building SAR image database through simulation …

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Research And Implementation Of Question Answering System Oriented Wargaming Based On Aiml, Zejian Sun, Guangya Si, Liu Yang Jun 2020

Research And Implementation Of Question Answering System Oriented Wargaming Based On Aiml, Zejian Sun, Guangya Si, Liu Yang

Journal of System Simulation

Abstract: Wargaming exercise is an important means of combat simulation, but the high query and operation threshold of wargaming system limit its use and extension. Through investigating the actual operation process of a wargaming exercise, collecting and analyzing the trainees use requirements, the intelligent question answering system centering on access to the database by making knowledge documents, index tables and access modules was designed based on AIML(Artificial Intelligence Markup Language) and ALICE program, adopted heuristic rules. The implementation of question answering system made commanders participating in wargaming query data by natural language, provided ideas for the further improvement of wargaming …

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Brief Technical Analysis Of Malicious Cyber Attacks In Power System, Yan Ru, Minrui Fei, Dajun Du Jun 2020

Brief Technical Analysis Of Malicious Cyber Attacks In Power System, Yan Ru, Minrui Fei, Dajun Du

Journal of System Simulation

Abstract: The power system is responsible for providing electric power to the society. Whether its operation is safe and reliable or not is directly related to the economic livelihood and national security. The malicious cyber-attacks happening on power systems in recent years were summarized, the attack methods used in malicious attack were enumerated, and the complexity and diversity of attack methods were analyzed. The vulnerability of the power system at present was pointed putting forward the corresponding measures to ensure the safe and stable operation of power system. Experimental simulation is designed to analyze the attack methods. The future research …

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Dynamic Simulation And Analysis Of The Taxiing Turning Process Of Aircraft, Zhang Qian, Yingshu Zhang Jun 2020

Dynamic Simulation And Analysis Of The Taxiing Turning Process Of Aircraft, Zhang Qian, Yingshu Zhang

Journal of System Simulation

Abstract: To solvethe problem that a certain type of aircraft couldn't turn easily during taxiing,a research was carried out concerning the dynamic taxiing process simulation of the aircraft when only differential brake could be used for turning. After analyzing the aircraft turning process, and applying the software of Matlab, dynamic model of the turning process was established in the Simulink environment. After running the model, studying and analyzing the simulation results, the correspondence between the differential brake turning requirements and the performance of the wheel and brake control system was obtained. Usingthe simulation method,the turning difficult fault is reappeared,the mechanism …

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Air Command And Support Heterogeneous Systems Integration Technology Supporting Lvc Simulation, Yongliang Luo, Zhang Jun, Yuping Xiong, Zhihui Zhang, Yuanhui Qin Jun 2020

Air Command And Support Heterogeneous Systems Integration Technology Supporting Lvc Simulation, Yongliang Luo, Zhang Jun, Yuping Xiong, Zhihui Zhang, Yuanhui Qin

Journal of System Simulation

Abstract: To solve the integration of heterogeneous simulation systems or platforms based on different communication protocols, a heterogeneous system integration technology of Air Command and Security System (ACSS) for LVC simulation was proposed combined with ACSS integrated simulation requirements. By analyzing the characteristics and requirements of air command and support LVC simulation system, an integrated framework of air command and LVC simulation system on the basis of existing heterogeneous system integration technology and data center was proposed. Those aspects such as resource layer, middleware layer, core service layer, application layer and so on were introduced. An integrated framework for command …

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Model-Based Design And Simulation For An Aircraft Flight Control System, Chi Yue, Shan Dong, Zhenxin Yan, Hei Peng Jun 2020

Model-Based Design And Simulation For An Aircraft Flight Control System, Chi Yue, Shan Dong, Zhenxin Yan, Hei Peng

Journal of System Simulation

Abstract: The process and method of model-based system engineering (MBSE) and its implementation in highly complex flight control system were clearly introduced. By comparing with traditional design methods, MBSE applied models as baseline instead of documents to handle the complexity of modern systems. The top-down workflow is more capable of ensuring coherence of design process, completeness of requirements verification and system testability. With the simulation of system model, the integrality of design and verification process, system function behavior simulation, implementation of the failure mode, effect analysis (FMEA) and the decreasing of system risk grade are well achieved.

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Virtual Flight Modeling And Simulation Of Air-Launched Anti-Ship Missile, Zhipeng Sun, Guanghong Gong Jun 2020

Virtual Flight Modeling And Simulation Of Air-Launched Anti-Ship Missile, Zhipeng Sun, Guanghong Gong

Journal of System Simulation

Abstract: The relationship between the parameters affecting aerodynamic force was studied, and the aerodynamic coefficient was properly linearly simplified. According to the type of airborne anti-ship missile performance model, the "black box modeling" and extrapolation method was adopted to determine its aerodynamic coefficient, a typical anti-ship missile six degrees of freedom of the simplified dynamic model was established. By studying the flight phases after the missile launch, the flight trajectory model of each flight phase was established by using the control method of the track angle. The whole flight trajectory process of the missile attacking a target was realized and …

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Simulation And Verification For Low Altitude Ground Reflection Characteristics Of Low-Frequency Broadband Signal, Zhannan Ma, Feifei Du, Jinxi Chen Jun 2020

Simulation And Verification For Low Altitude Ground Reflection Characteristics Of Low-Frequency Broadband Signal, Zhannan Ma, Feifei Du, Jinxi Chen

Journal of System Simulation

Abstract: Low frequency broadband signals have advantages in improving radar target recognition ability. To determine the ground reflectance of broadband signal at low altitude, the ground reflectance of different frequency points of narrowband is used to compose the equivalent ground reflectance of broadband signal based on ground reflection model. The relationship between ground reflectance and ground characteristics (relative dielectric constant, conductivity), grazing angle, and polarization characteristics were discussed in detail. The reflectance in typical environment was verified using the method of antenna pattern test at low altitude. Results show that the reflectance simulation model was effective, and the model provides …

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Research On Visual Objective Test Method Of High-Level Flight Simulator, Zhangfa Liu, Huiyong Li Jun 2020

Research On Visual Objective Test Method Of High-Level Flight Simulator, Zhangfa Liu, Huiyong Li

Journal of System Simulation

Abstract: With the development of commercial aircraft, the demand of high-level flight simulator will increase. In addition to development and production, qualification test is a key link to ensuring the quality of simulator. Visual system plays an important role of flight simulator. In order to meet the requirement of qualification from CAAC, visual objective test based on main qualification test guide of flight simulator was developed. It is very significant that test requirements, test theory and test methods of visual objective test item were researched deeply, including transport delay, field of view, system geometry, surface contrast, brightness, surface resolution, light …

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Study Machine Tool Spindle Performance Reliability Based On Bayes Method, Yulun Chi, Haolin Li Jun 2020

Study Machine Tool Spindle Performance Reliability Based On Bayes Method, Yulun Chi, Haolin Li

Journal of System Simulation

Abstract: With the development of high precision machine tool, the reliability requirement is higher and higher for machine tool spindle. Reliability evaluation of spindle based on accelerated life testing is becoming a hot spot of research, and how to improve the precision of evaluation is one of the most important issues. According to the Weibulldistribution characteristic of machine tool spindle reliability, the spindle accelerated life reliability was studied by using the Bayes method. Due to the environment difference between the accelerated test load and the actual working load. The Bayes theory which used the environment difference factor, was introduced to …

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Dynamic Simulation For Tethered Trailer Vehicle, Chen Ning, Hongchao Ma Jun 2020

Dynamic Simulation For Tethered Trailer Vehicle, Chen Ning, Hongchao Ma

Journal of System Simulation

Abstract: Tethered trailer vehicle is a non professional tractor that drags an unpowered vehicle with hemp rope. This conduct has many problems: poor operating stability, and high incidence of traffic accident. A nonlinear dynamic model for longitudinal, lateral, and yaw motions was developed. The model considers nonlinearity through a modified Dugoff's tire friction model, and is seven-degree-of-freedom. A new nonlinear tethered tractor-trailer combination model was created to simulate critical parameters which would cause unstable state. Then, a trailer front-wheel steering feedback control strategy was derived with the goal of improving stability and trajectory tracking feature of the tractor-trailer system. The …

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Study On Effect Of Neglecting Transient Terms Of Momentum Equations On Simulation Models Of Single Phase Heated Tubes, Yingwei Kang, Yanan Wang, Daogang Peng, Pengyuan Zheng, Yang Ping Jun 2020

Study On Effect Of Neglecting Transient Terms Of Momentum Equations On Simulation Models Of Single Phase Heated Tubes, Yingwei Kang, Yanan Wang, Daogang Peng, Pengyuan Zheng, Yang Ping

Journal of System Simulation

Abstract: A model of single phase heated tubes was presented, based on which the effect of neglecting transient terms of momentum equations on model performance was investigated by simulating a heated tube of the superheater of a power plant boiler. It is found that neglecting the transient terms of momentum equations can significantly decrease the dynamic accuracy of the model; under various step disturbances, neglecting the transient terms of momentum equations can speed up the dynamic response of the enthalpy-temperature channel of the model nearly 4 times; under the step disturbance of the inlet steam flux, neglecting the transient terms …

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Surrogate Model Based Processor Architectural Design Space Exploration Algorithm, Hongwei Wang, Ziyuan Zhu, Jinglin Shi, Yongtao Su, Hongmei Shi, Zhiguo Liu Jun 2020

Surrogate Model Based Processor Architectural Design Space Exploration Algorithm, Hongwei Wang, Ziyuan Zhu, Jinglin Shi, Yongtao Su, Hongmei Shi, Zhiguo Liu

Journal of System Simulation

Abstract: A novel surrogate model based penalty-distance multi-objective expected improvement (PDMOEI) algorithm was proposed for processor architectural design space exploration (DSE): first using a Kriging interpolation technique to construct a surrogate model, then adopting the surrogate model based PDMOEI algorithm to search the Pareto points and finding the globally multi-objective optimized architectural parameter configurations. The proposed algorithm was compared with the multi-objective expected improvement (MOEI) algorithm, the non-dominated sorting genetic algorithm II (NSGA-II) algorithm and the metamodel-assisted NSGA-II (MA-NSGA-II) algorithm by performing two experiments. Experimental results show that, the proposed algorithm achieves better Pareto points pursuing performance than …

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Research On Semi-Active Control Strategy Of High Speed Railway Pantograph-Catenary System Based On Model Predictive Control, Zhiling Ren, Lin Dong, Wang Yue, Guangquan Zhang Jun 2020

Research On Semi-Active Control Strategy Of High Speed Railway Pantograph-Catenary System Based On Model Predictive Control, Zhiling Ren, Lin Dong, Wang Yue, Guangquan Zhang

Journal of System Simulation

Abstract: For the pantograph catenary coupling problem, the semi-active control strategy of pantograph catenary system was proposed. According to the established pantograph catenary model and the contact force history data, it used the MPC prediction technique to predict the next moment of contact force. The predicted value and the theoretical value error were calculated, and the MPC controller output the calculated results to the ER damper. The change of the control input of the contact force was provided by the current damper, which made the actual value close to the theoretical value. Experimental results show that the semi-active …

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Analysis Of Static Equilibrium Workspace For Under-Constrainted Cable-Driven System With Multi-Robots, Zhigang Zhao, Li Wei, Youde Li, Yanlin Wang, Ma Yan Jun 2020

Analysis Of Static Equilibrium Workspace For Under-Constrainted Cable-Driven System With Multi-Robots, Zhigang Zhao, Li Wei, Youde Li, Yanlin Wang, Ma Yan

Journal of System Simulation

Abstract: For the under-constrainted system that multi-robots tow the payload by cables, which does not meet the condition of force closure and equations are generally not compatible, so the accurate workspace can't be found out. The static equilibrium equation of the system was established, and then the least squares principle combined with the Monte-Carlo method was put forward. When the movement is low speed or quasi static for the payload, the approximate static equilibrium workspace can be found out quickly and the expression of the cable tension is given by using the normal equations and QR decomposition respectively. When position …

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