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Artificial Intelligence and Robotics

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Articles 3781 - 3810 of 4370

Full-Text Articles in Computer Engineering

Study On Multi-Objective Collaborative Optimization Of Switched Reluctance Motor Based On Chaos Fruit Fly Optimization Algorithm, Xiaoping Zhang, Shenghua Rao, Zhang Zhu, Zhao Xuan Jan 2019

Study On Multi-Objective Collaborative Optimization Of Switched Reluctance Motor Based On Chaos Fruit Fly Optimization Algorithm, Xiaoping Zhang, Shenghua Rao, Zhang Zhu, Zhao Xuan

Journal of System Simulation

Abstract: Switched reluctance motor (SRM) is difficult to get the best solution due to its complicated process and high professional requirement. Therefore, a collaborative multi-objective optimization method based on chaotic fruit fly algorithm is proposed in the paper. The initial solution is obtained by traditional design method, and the performance is verified by finite element analysis (FEA). The extreme learning machine (ELM) is applied to obtain the non-parameter model of SRM based on the sample data from FEA. The chaotic fruit fly algorithm is proposed for design optimization. Simulation results demonstrate that better coefficient of torque ripple and efficiency can …

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Optimization Of Material Release For Printed Circuit Board Template Based On Data Mining, Shengping Lü, Qiangsheng Yue, Liu Tao Jan 2019

Optimization Of Material Release For Printed Circuit Board Template Based On Data Mining, Shengping Lü, Qiangsheng Yue, Liu Tao

Journal of System Simulation

Abstract: Data mining were employed for the optimization of material release of PCB (Printed Circuit Board) template. PCB scrap ratio related parameters were specified and prediction model variables were chosen according to hypothesis test. Multiple linear regression (MLR), Chi-squared automatic interaction detector, artificial neural network and support vector machine approaches for the prediction of scrap ratio were employed. Evaluation indictors called as superfluous ratio, supplement release ratio and weighted sum of the two were presented; the material release simulation was conducted and then the four approaches were compared and MLR was taken as the preferred one. Adjust coefficient …

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Study On The Effect Of Salt Fog On Polluted Insulator Under Switching Impulse, Jianghai Geng, Zhong Zheng, Jiang Shuo, Fangcheng Lü, Yunpeng Liu, Songsong Zhou Jan 2019

Study On The Effect Of Salt Fog On Polluted Insulator Under Switching Impulse, Jianghai Geng, Zhong Zheng, Jiang Shuo, Fangcheng Lü, Yunpeng Liu, Songsong Zhou

Journal of System Simulation

Abstract: Water is mixed with soluble conductive material in haze so that the air has certain conductivity, resulting in extra mixed pollution components on the surface of the existing polluted insulator. In this paper, with the XP10-160 ceramic suspension insulator being used as the sample, the switching impulse test of the clean and polluted insulator is carried out by simulating high conductivity fog under the natural environment by salt fog method. This paper analysis the flashover characteristics of switching impulse under different salt density and water fog conductivity. The effect of high conductivity fog on the field intensity distribution of …

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Research On Modeling And Simulation Of Ac/Dc Hybrid Power Distribution System, Ye Peng, Li Shan, Sun Feng, Han Yue, Zhang Tao, Jiajue Li Jan 2019

Research On Modeling And Simulation Of Ac/Dc Hybrid Power Distribution System, Ye Peng, Li Shan, Sun Feng, Han Yue, Zhang Tao, Jiajue Li

Journal of System Simulation

Abstract: As DC loads and power supply are more and more applications in the grid, AC/DC power distribution system is the future development trend of the low voltage power grid. The modeling and simulation of AC/DC hybrid power distribution system are studied in this paper. Considering the power control, DC bus voltage control and DC power supply and load access, the hierarchical control model of voltage source converter for AC / DC hybrid distribution system and the control strategy of each layer are proposed, and on this basis, the mathematical model of each module is established. Based on PSCAD electromagnetic …

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Research On 3d Immersive Underground Laboratory Visualization System, Jiaxin Hou, Yadong Wu, Yangjie Xu, Xuejun Li, Wang Song, Dongzhou Du, Xiaorong Zhang Jan 2019

Research On 3d Immersive Underground Laboratory Visualization System, Jiaxin Hou, Yadong Wu, Yangjie Xu, Xuejun Li, Wang Song, Dongzhou Du, Xiaorong Zhang

Journal of System Simulation

Abstract: Deep geological disposal of high-level radioactive waste is the only internationally recognized and feasible method. The construction of underground laboratories is a complex engineering. To improve the intuitiveness and accuracy of comprehensive data analysis, an immersive underground laboratory 3D data visualization system is constructed. The system includes surface scenes, scene models with laboratory lanes and bedrooms, and designs scene roaming and visual interactive interaction of 3D data. The practical application shows that this system can not only facilitate the rapid construction and evaluation of underground laboratory design schemes, but also provide scientific basis for rapid decision-making of engineering construction …

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Person Retrieval Method Based On Image Caption, Yadong Li, Mo Hong, Shihao Wang, Zhou Zhong, Wu Wei Jan 2019

Person Retrieval Method Based On Image Caption, Yadong Li, Mo Hong, Shihao Wang, Zhou Zhong, Wu Wei

Journal of System Simulation

Abstract: Retrieve specific person in the surveillance scene is an important and urgent demand on the security field. In recent years, the method of image retrieval is mainly based on image content, which requires the image to be retrieved works as input and thus can’t meet the actual needs of surveillance and security. We propose a method of person retrieval based on image caption and present a new surveillance dataset SPCD which tags person caption. We verify the method in new dataset, the accuracy of gender, dress color and action respectively reaches 86.5%, 93.5% and 65.5%. This paper provides an …

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Research Of Nonlinear Time Series Prediction Method For Motion Capture, Tianyu Huang, Yunying Guo Jan 2019

Research Of Nonlinear Time Series Prediction Method For Motion Capture, Tianyu Huang, Yunying Guo

Journal of System Simulation

Abstract: In this paper, we study the nonlinear time series prediction method for action capture. A prediction method based on the capture data is studied and implemented by analyzing human motion data to solve the data loss and correction problem caused by sensor failure. Based on this research purpose, the simulation experiment assumes that a sensor in the sequence of actions fails, then uses eight kinds of machine learning methods, and evaluates them with six indexes. The prediction results of different methods are compared and the predicted motions are visualized. Through the experiments, data prediction accuracy by random forest, decision …

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Simulation Optimization Design Method Of Model Driven Aviation Command And Support System, Yongliang Luo, Zhihui Zhang, Zhang Jun, Yuanhui Qin Jan 2019

Simulation Optimization Design Method Of Model Driven Aviation Command And Support System, Yongliang Luo, Zhihui Zhang, Zhang Jun, Yuanhui Qin

Journal of System Simulation

Abstract: As a typical complex system, the design process of air command and security system (ACSS) is different from the existing design process of complex system because of more typical characteristics, such as functional complexity, process complexity and scene complexity. According to the design requirements of ACSS, a simulation optimization design method of model driven and process centered ACSS based on the theoretical method of system engineering is proposed, and the key enabling technologies are introduced, which include model-driven multi-view architecture design, process traction simulation of ACSS, efficient resource optimization and allocation technology, and so on. The simulation and …

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Simulation Evaluation Method Of Mission Sustainability For Operational Unit, Yan Xu, Junhai Cao, Tailiang Song, Gao Long, Zhang Qiang Jan 2019

Simulation Evaluation Method Of Mission Sustainability For Operational Unit, Yan Xu, Junhai Cao, Tailiang Song, Gao Long, Zhang Qiang

Journal of System Simulation

Abstract: To analyze and evaluate support capabilities of operational units and scientifically describe the operational mission sustainability of weapon systems, the typical mission models for individual operational unit and operational units were established according to system engineering ideology. The mission status of operational units was defined, and the parameters including mission sustainability and equipment availability of operational units were proposed. An operational unit mission process simulation model was established with the agent-based method, which provides a simulation method for operational unit mission sustainability evaluation and technical means for the operational unit support capability assessment problem. A case study of …

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Construction And Utilization Of Simulation Meta-Model Based On Influence Diagram Game, Zhong Lin, Mingan Tong, Li Sheng Jan 2019

Construction And Utilization Of Simulation Meta-Model Based On Influence Diagram Game, Zhong Lin, Mingan Tong, Li Sheng

Journal of System Simulation

Abstract: To overcome the shortcomings of the meta-model, the dynamic influence diagram game is used as simulation meta-model. A construction process and the utilization for structured dynamic influence diagram game (DIDG) are presented. The necessary simulation data are gathered for the construction of a DIDG that presents the changes in simulation state with chance nodes. The decision alternatives and objectives of the decision problem are included in the DIDG as decision and utility nodes. The adversary’s action is represented by an explicit decision node in which case an influence diagram game results. The constructed DIDG is solved to …

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Modeling And Simulation Of Airport Flight Flow Based On Cellular Automaton, Hongying Zhang, Xuwei Yang, Luo Qian Jan 2019

Modeling And Simulation Of Airport Flight Flow Based On Cellular Automaton, Hongying Zhang, Xuwei Yang, Luo Qian

Journal of System Simulation

Abstract: To increase the reliability of the airport scene traffic simulation model, the complex characteristics of scene traffic are researched. An improved model based on NS model is proposed. The influence of the stochastic factors on the taxiing process and the traffic characteristics at the intersection are considered, and the new cells are added to connect the two sections with different evolution rules. The state of the connected cells represents the occupancy of the next section. A large number of simulation experiments were processed, and the results show the goodness of fit between the simulation values and true ones increased …

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Method Of Visualsimulation Of Rice Leaf Color, Hongyun Yang, Aizhen Sun, Wenji Yang, Huojiao He Jan 2019

Method Of Visualsimulation Of Rice Leaf Color, Hongyun Yang, Aizhen Sun, Wenji Yang, Huojiao He

Journal of System Simulation

Abstract: A color rendering method for rice leaves based on SPAD data distribution image was presented. Rice leaf image was collected and SPAD value was measured by field rice sample test. The relationship model between SPAD values and RGB value of leaf image was analyzed and constructed, and the R2 was 0.932 8, 0.833 1, 0.562 3 respectively. This showed that there was a correlation between SPAD and the red and green color of the leaf image. By the SPAD data distribution image, the spatial distribution of SPAD value on the leaf surface is described. The leaf surface color …

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Message Passing Algorithm Through Particles On Factor Graph In Cooperative Positioning Network, Xinyue Fan, Wang Guan, Zhou Fei Jan 2019

Message Passing Algorithm Through Particles On Factor Graph In Cooperative Positioning Network, Xinyue Fan, Wang Guan, Zhou Fei

Journal of System Simulation

Abstract: Combining the sum-product algorithm with the factor graph can achieve cooperative positioning by a distributed manner. The sum-product algorithm is a message passing algorithm. However, the parameter method cannot meet the positioning needs because of the large error in the non-linear non-Gaussian environment. Therefore, this paper presents an algorithm to achieve message passing in the form of particle. The calculation of the message in the factor consists of summation and quadrature processes. The proposed method obtains the sum of messages by importance sampling, obtains the product of messages using Gibbs sampling. Particle-based information passing algorithm can simplify the complex …

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Model Of Target Assignment In Joint Fire Strike Operations, Chen Hui, Yaping Ma Jan 2019

Model Of Target Assignment In Joint Fire Strike Operations, Chen Hui, Yaping Ma

Journal of System Simulation

Abstract: The assignment of firepower resources in combination to the target is one of the key problems in planning work of joint fire strike operations. According to the characteristics of joint fire strike target assignment problem, and synthetically considering the factors such as strike sequence, damage grade, threats, cost-effectiveness, damage, a multi-objective optimization model of target assignment problem is established. By combining the MOEA/D and the multi-level co-evolutionary framework, a multi-objective optimization model is proposed to solve the target assignment based on the multi-level cooperative MOEA/D algorithm, and the related genetic evolution mechanism is designed. The simulation …

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Coalescence Characteristics Of Droplets Containing Surfactants On Topographic Substrates, Xuemin Ye, Yuxi Lin, Lifang Lu, Chunxi Li Jan 2019

Coalescence Characteristics Of Droplets Containing Surfactants On Topographic Substrates, Xuemin Ye, Yuxi Lin, Lifang Lu, Chunxi Li

Journal of System Simulation

Abstract: The droplet motion evolution model was established based on the lubrication theory for two identical surfactant-containing droplets on the topographic substrate. The coalescing process of the droplets on topographic substrate was simulated, and the effects of spacing, wave number and base height on the characteristics of coalescing were examined. The results show that the two droplets meet and superimpose each other under the capillary force, and finally form a “new” droplet at tf. The dynamics of droplet over time are divided into five stages; while the surfactant concentration experiences the three stages in a short period; …

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Asymmetry Investigation On Radial Tire Contact Pressure Distribution, Haibo Huang, Xudong Yu, Jinpeng Liu, Yao Zhen Jan 2019

Asymmetry Investigation On Radial Tire Contact Pressure Distribution, Haibo Huang, Xudong Yu, Jinpeng Liu, Yao Zhen

Journal of System Simulation

Abstract: The asymmetric pressure distribution in tire contact patch has significant impact on the vehicle fuel economy, tire wear and tire dynamics. In this paper, a FEA model for 205/55R16 semi-steel radial tire was built and verified by static pressure experiments. The influences of tire structural parameters and vehicle driving parameters on asymmetry factor for exploring the asymmetry of the pressure distribution in contact patch were investigated in the steady-state rolling condition. The results show that the influence of the parameters ranging from +50% to -50% on the asymmetry factor of the contact pressure distribution is nonlinear. The impact order …

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Image Classification Based On Sparse Autoencoder And Support Vector Machine, Liu Fang, Lixia Lu, Hongjuan Wang, Wang Xin Jan 2019

Image Classification Based On Sparse Autoencoder And Support Vector Machine, Liu Fang, Lixia Lu, Hongjuan Wang, Wang Xin

Journal of System Simulation

Abstract: A new algorithm of image classification based on the sparse autoencoder and the support vector machine was proposed in view of the drawbacks that the single layer sparse autoencoder for feature learning is easy to lose the deep abstract feature and the features lack the robustness. The deep sparse autoencoder is constructed to learn each image layer and the feature of each layer is automatically extracted. The each feature weights and the reorganized set of feature are obtained according to the feature weighting method. By combining the strong global search ability of genetic algorithm and the excellent performance of …

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Broadband 2-D Doa Estimation Based On Continuous Sparse Recovery, Chenxi Wu, Zhang Min, Keren Wang Jan 2019

Broadband 2-D Doa Estimation Based On Continuous Sparse Recovery, Chenxi Wu, Zhang Min, Keren Wang

Journal of System Simulation

Abstract: For the problem of two dimensional underdetermined direction of arrival (2-D DOA) estimation, three parallel sparse arrays are designed and a novel DOA method based on continuous sparse recovery is proposed. The dimension of received data is reduced and the cross covariance matrix is vectorized to improve freedom degree. According to the objection function of the minimization issue based on total variation norm constraint, the space frequency is achieved by solving corresponding dual problem. The center frequency, azimuth and pitch angles are paired by capon method. Theoretical analysis shows the proposed method has a higher array aperture extension and …

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Multi-Objective Optimization Of The Main Circuit And Control Parameters Of The Buck-Boost Matrix Converter, Xiaoping Zhang, Wenhao Song, Hongping Zhu Jan 2019

Multi-Objective Optimization Of The Main Circuit And Control Parameters Of The Buck-Boost Matrix Converter, Xiaoping Zhang, Wenhao Song, Hongping Zhu

Journal of System Simulation

Abstract: The optimization of main circuit parameters and control parameters of the Buck-Boost matrix converter has been investigated. The study takes the main circuit parameters and control parameters as optimization object and takes the harmonic distortion of output voltage, capacitance voltage deviation and inductance current deviation of the converter as optimization target. Firstly, multi-objective optimization satisfaction function is established correspondingly. Meanwhile, the fitness function is built and solved to achieve a set of optimizing parameters based on the fruit fly algorithm, which makes each optimizing target achieve synergistic optimal. Finally, the optimization effect is verified by simulation. The results show …

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Inputting Strategy Simulation Of Multi-Ramp Coordinated Control Signal For Urban Expressway, Mingbao Pang, Zemin Xia, Yanhai Luan Jan 2019

Inputting Strategy Simulation Of Multi-Ramp Coordinated Control Signal For Urban Expressway, Mingbao Pang, Zemin Xia, Yanhai Luan

Journal of System Simulation

Abstract: Based on the analysis of the driver's reaction when the urban expressway is in traffic jamming state and stated preference survey (SP) investigating, the key parameters' variation trends when the driving behavior adjusts and the possible path changing probability for a driver in each state are determined. A cellular automaton model of coordinated control section on urban expressway is established, where the driving behaviors are described accurately. The characteristics of traffic flow is discussed via the simulation experiments after inputting coordination control signals with different on-ramp numbers upstream of jamming point. The effects of each coordinated control modes on …

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Open Circuit Fault Diagnosis Strategy For Switch Of Three Level Inverter, Yanxia Shen, Beibei Miao Jan 2019

Open Circuit Fault Diagnosis Strategy For Switch Of Three Level Inverter, Yanxia Shen, Beibei Miao

Journal of System Simulation

Abstract: Fault diagnosis of switch is the premise of reliable operation of three-level-inverter under the fault of the switch. Taking simple open circuit fault of the diode neutral point clamped (NPC) three level inverter as an example, the open circuit fault diagnosis method based on the combination of online and offline diagnoses is proposed. The fault phase is detected by the mean value of the bridge arm phase voltages. In the time domain, the fault switch tube is diagnosed by the maximum and minimum values of the load phase voltages. In the frequency domain, the amplitude of the fault signal …

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Gams-Based Active Power Optimization With Reactive Power Compensation, Weiqing Sun, Ye Lei, Yiyun Tu Jan 2019

Gams-Based Active Power Optimization With Reactive Power Compensation, Weiqing Sun, Ye Lei, Yiyun Tu

Journal of System Simulation

Abstract: Based on the safe operation of the electric system, aiming at the problems of large power loss and high generation cost, it is unreasonable to schedule electricity through only one index, so a combined model of economic dispatch with reactive power optimization and a linearized model of unit commitment are proposed. The ideal point method changes multi-objective optimization problem which is combined with the generation cost and power loss into a single objective optimization problem and solved by GAMS. The case analysis for IEEE-39 bus system and a regional transmission network, by adjusting the generator active and reactive power …

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Modeling And Analysis For Underwater High-Speed Supercavitaing Torpedo, He Zhen, Aiping Pang, Jinghua Wang, Fanwei Meng, Guangxiong Wang Jan 2019

Modeling And Analysis For Underwater High-Speed Supercavitaing Torpedo, He Zhen, Aiping Pang, Jinghua Wang, Fanwei Meng, Guangxiong Wang

Journal of System Simulation

Abstract: Supercavitation technology can significantly reduce skin-friction drag of underwater torpedo, and therefore dramatically increase the velocity and attack power of underwater weapons. Because the torpedo is almost entirely enveloped by a supercavity, the hydrodynamic problems of the high-speed supercavitating torpedo (HSST) are complex. The hydrodynamic forces acting on cavitator, fin, and the planing force along the longitude plane of the underwater HSST are analyzed. A benchmark nonlinear dynamics model of supercavitating torpedo is established based on the basic dynamic equations of the longitude plane, and the specific parameters of HSST are calculated. In the longitude plane the motion equation …

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Stability Analysis Of Post-Fault Power Angle Based On Relevance Vector Machine, Haiying Li, Zhuocheng Xue Jan 2019

Stability Analysis Of Post-Fault Power Angle Based On Relevance Vector Machine, Haiying Li, Zhuocheng Xue

Journal of System Simulation

Abstract: Energy interconnection has become a hot topic in the current research.With the large-scale of new energy into the grid, the safe operation of power system is facing new challenges. On line fast stability analysis is one of the effective ways to solve this problem. Traditional power system transient safety analysis method is difficult to adapt to the on-line analysis, and the further development of large data processing and machine learning provides a new way of thinking. The classification model of relevance vector machine (RVM) based on Bayesian framework is used to design a kind of power angle classification strategy. …

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Trust Model And Simulation Of E-Commerce Based On Social Networks, Yu Zhen, Zhu Jie, Guicheng Shen Jan 2019

Trust Model And Simulation Of E-Commerce Based On Social Networks, Yu Zhen, Zhu Jie, Guicheng Shen

Journal of System Simulation

Abstract: In the current e-commerce industry, users need to check for the historical evaluation of the commodity before buying goods mostly, but false recommendations and massive redundancy recommendation problem which widely exists at present seriously affect the effectiveness and accuracy of users’ obtaining recommendations. For getting trust in e-commerce transactions, an e-commerce trust model SNTrust based on social networks is proposed. In SNTrust model, each user maintains a trusted social network set; a topological structure of the user information diffusion in the social network is described in the model, and the recommendation node trust is introduced to measure its credibility, …

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Quadrotor Attitude Control Based On An Improved Adrc, Wang Biao, Chaoying Tang, Daqing Kong Jan 2019

Quadrotor Attitude Control Based On An Improved Adrc, Wang Biao, Chaoying Tang, Daqing Kong

Journal of System Simulation

Abstract: An improved attitude control scheme for the quadrotor is proposed based on active disturbance rejection control (ADRC). The attitude dynamics of the quadrotor is modelled and analysed. The influence of actuator characteristics is discussed to establish an extended state observer (ESO). Based on it, the ESO is compensated by the delay unit and its discrete state equations are given. Nonlinear function of previous studies is used to construct nonlinear state error feedback (NLSEF). The simulation results show that the ESO with compensation of the delay unit gets better estimation of disturbance and compensates to disturbance better than the ESO …

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Simulation And Experimental Verification Of Grinding Force Based On Different Directions Of Ultrasonic Vibration, Wang Yan, Qin Chen, Jianguo Liu, Shuiping Peng, Delin Li Jan 2019

Simulation And Experimental Verification Of Grinding Force Based On Different Directions Of Ultrasonic Vibration, Wang Yan, Qin Chen, Jianguo Liu, Shuiping Peng, Delin Li

Journal of System Simulation

Abstract: The method based on variable angle of ultrasonic vibration assisted grinding was put forward to identify the relationship between direction of ultrasonic vibration and grinding force. The trajectory of grit in contact zone was analyzed. The stress field of contact zone and the grinding force, which were based on the different directions of ultrasonic vibration, were simulated and analyzed by Deform-3D. A series of grinding experiments of GCr15 were conducted. It demonstrates that with the angle α increasing, the grinding force firstly decreased and then increased. The experiment results showed that the error of normal force is 5.23% and …

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Modeling And Realization Of Acoustic Signal Separation Simulation System Based On Systemvue, Xiaorong Tong Jan 2019

Modeling And Realization Of Acoustic Signal Separation Simulation System Based On Systemvue, Xiaorong Tong

Journal of System Simulation

Abstract: Aiming at the practical requirements of blind separation process of acoustic signals, a modeling method of acoustic signals separation simulation system based on SystemVue simulation platform is proposed according to specific mode of signal separation and acoustic sensor network layout in the practical work. It provides a novel signal separation algorithm based on signal single source detection which is the improvement of FastICA algorithm. It also can obtain the source acoustic signals without the information of signal source numbers. The SystemVue software is used to model the net of acoustic sensors, and the target simulation information is generated at …

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Air Admission Feature And Discharge Coefficient Of Fixed Conical Valve, Chengbiao Tong, Zhixiong Zhou, Qiuxia Yan Jan 2019

Air Admission Feature And Discharge Coefficient Of Fixed Conical Valve, Chengbiao Tong, Zhixiong Zhou, Qiuxia Yan

Journal of System Simulation

Abstract: The complicated flow pattern is existent in fixed conical valve. When the high speed jet flowing near the diversion cone injects the sudden enlargement area, the severe vortex and evident negative pressure are generated. To reduce or eliminate the negative pressure area, the admission pipe should be installed. For clarifying the air admission and flow rule beyond air admission, a calculation mathematical model is built, the basic law of negative pressure generation and air admission is obtained; CFD is adopted to certify that the admission pipe is efficient to restrain the negative pressure; under air admission condition, the two-phase …

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Improved Intelligent Water Drops Algorithm Applied To Power Economic Emission Dispatch, Wenqing Zhao, Zhibu Qin Jan 2019

Improved Intelligent Water Drops Algorithm Applied To Power Economic Emission Dispatch, Wenqing Zhao, Zhibu Qin

Journal of System Simulation

Abstract: Multi-objective optimization for power economic emission dispatch aimed at minimizing the economic costs of power generation and gas emissions. To solve the problems of low search performance and easy to fall into local optimal solution with intelligent water drops algorithm for continuous optimization process, an improved intelligent water drops algorithm based on simulated annealing method was introduced. The improved algorithm had a better advantage in the number of iterations and the search for solutions. The proposed approach verified by Matlab simulation was applied to IEEE-30 bus test system with 6 generating units to solve the multi-objective optimization problem of …

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