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Articles 1681 - 1710 of 3977
Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Research On Interoperability Between Tena And Certain Command & Control System, Zhihua Dong, Yuanchang Zhu, Yanqiang Di, Xianguo Meng
Research On Interoperability Between Tena And Certain Command & Control System, Zhihua Dong, Yuanchang Zhu, Yanqiang Di, Xianguo Meng
Journal of System Simulation
Abstract: The heterogeneity prevents systems from the interoperability between C2 system and TENA for inter-connection in test community. Message Transfer Service contains End-to-End deployment mode and Cross-Network deployment mode, respectively there being two Inter-architecture with TENA system. Gateway can be designed to be single-threaded or multi-threaded. From the perspective of interoperability Gateway realizes the interoperability between communication protocols, object models and supporting services. Cooperation mechanism is designed to achieve the interoperability between the communication mechanism of pull mode in TENA and in C2P; meta-model of Message with OWL, and the object model interoperability is realized through model conversion; self-defined …
Research On Simulation Of Manufacturing Grid Resource Allocation Based On Scale Free Network, Xiangbin Zhang, Yanyan Li
Research On Simulation Of Manufacturing Grid Resource Allocation Based On Scale Free Network, Xiangbin Zhang, Yanyan Li
Journal of System Simulation
Abstract: In order to study the variation of resource allocation efficiency in manufacturing grid, the manufacturing grid resource allocation network model was established based on scale free network theory taking the manufacturing resource characteristics such as distribution and diversity into account. By calculation of the statistical indicators of complex networks and attribute functions, the appropriate resource allocation scheme was selected to realize global optimal resources allocation. Using this model and evaluation index of resource allocation, the variation rule was figured out that explained how resource allocation efficiency varied with structural evolution of manufacturing grid through analyzing the data from simulation …
Modelingrandom Kelvin Cell Micro-Structure For Open-Cell Foam And Its Application On Compression Response Of Open-Cell Aluminum Foam, Minju Qi, Guangfa Gao
Modelingrandom Kelvin Cell Micro-Structure For Open-Cell Foam And Its Application On Compression Response Of Open-Cell Aluminum Foam, Minju Qi, Guangfa Gao
Journal of System Simulation
Abstract: It is very difficult to model an applicable microstructure for the open cell foams. Using the Python scripting language and the commercial code ABAQUS, the structures for regular Kelvin cell, regular Kelvin open cell foams and random Kelvin open cell foams were designed and modeled automatically. The methodology for modeling, the design and implement for the key algorithms in the process of modeling were presented. For the open cell Aluminum foam, the regular Kelvin cell open cell model and the random Kelvin cell open cell foams model were developed, respectively, and the mechanical responses of them under quasi-static …
Design Of Micro-Strip Antenna Based On Step-Like Electromagnetic Band-Gap Structure To Improve Bandwidth And Gain, Zhigang Xiao, Jiang Yao, Shaoquan Yin
Design Of Micro-Strip Antenna Based On Step-Like Electromagnetic Band-Gap Structure To Improve Bandwidth And Gain, Zhigang Xiao, Jiang Yao, Shaoquan Yin
Journal of System Simulation
Abstract: Design of a micro-strip antenna based on electromagnetic band-gap structure can significantly improve the bandwidth and gain of the antenna. EBG structure is used to suppress the surface wave propagation and increase the radiation gain of the antenna. At the same time, the antenna substrate thickness increase is beneficial to expand the bandwidth of the antenna. According to the actual need, the EBG and the antenna can use diffident substrate. The method can replace the traditional choke ring antenna and significantly reduce the antenna size without sacrificing the performance of the antenna.
Man-Machine Coordinated Intelligent Flight Path Planning Algorithm, Ren Peng, Xiaoguang Gao
Man-Machine Coordinated Intelligent Flight Path Planning Algorithm, Ren Peng, Xiaoguang Gao
Journal of System Simulation
Abstract: Man-machine coordinated flight path planning of UAV low-altitude penetration is a key technology achieving manned and unmanned aerial vehicles cooperative combat. The algorithm of man-machine coordinated intelligent flight path planning was proposed, combining artificial auxiliary decision with novel intelligence algorithm, a chromosome integer code with changeable length based on angle was used to represent flight path. Human’s wisdom and experience could make up for the lack of intelligence algorithm. In the most dangerous environment, it made the best possible use of the human brain to guide solution procedures of the flight path planning on pop-up threats. A …
Research On Model And Simulation Of Bullwhip Effect In Supply Chain Based On Pid, Hebing Zhang
Research On Model And Simulation Of Bullwhip Effect In Supply Chain Based On Pid, Hebing Zhang
Journal of System Simulation
Abstract: Under the uncertainty of market demand, the method exponential smoothing was utilized to forecast the real demand, coupled with information sharing and PID control theory. Four kinds of ordering models were established under different backgrounds, including the ones with or without information sharing, further on, based on the PID control respectively. A comparing of values was obtained by the simulation examples of corresponding bullwhip effect. Through the research, it is found the impact of PID control is better than that of information sharing on weakening the bullwhip effect, which is fit for the condition without information sharing. PID …
Controller Design For Hypersonic Vehicle Based On Kalman Filter, Tao Chao, Jianliang Ai
Controller Design For Hypersonic Vehicle Based On Kalman Filter, Tao Chao, Jianliang Ai
Journal of System Simulation
Abstract: For a generic hypersonic vehicle with unstable longitudinal and lateral-directional mode, considering the three dimensional turbulence and their gradient, all states linear dynamic equations were established. All states H∞ feedback control was proposed based on the discrete Kalman filter when three dimensional turbulence and system measurement noise were taken into consideration. In this way, state estimation created by the Kalman filter to the H∞ controller was delivered. This method could guarantee the robustness when external atmospheric turbulence and itself parameter matrices perturbation caused by the flight condition variation existed. The results show that for both the nominal …
Non-Uniform Axial Force Precise Modeling And Simulation Of Recycled Aggregate Concrete Confined By Steel Tube Column, Wenxian Feng, Yunchao Tang, Zhang Ye, Cai Yang, Dingjing Bao, Jinmu Hu
Non-Uniform Axial Force Precise Modeling And Simulation Of Recycled Aggregate Concrete Confined By Steel Tube Column, Wenxian Feng, Yunchao Tang, Zhang Ye, Cai Yang, Dingjing Bao, Jinmu Hu
Journal of System Simulation
Abstract: According to the complexity of non-uniform axial force on recycled aggregate concrete confined by steel tube column, precise modeling and simulation on non-uniform axial force were put forward, mechanic properties of axial force under uniform and non-uniform conditions were analyzed, and its three-dimensional model and force model were established. Then impact of load capacity was analyzed, such as geometric diameter, loading condition, and deformation during production. Force simulation and experimental results fit relatively well. It turned out that uniform axial load capacity was greater than concentrated eccentric axial load capacity. Besides, eccentric axial load capacity was related to eccentricity. …
Simulation Of Grid-Connected Solar Micro-Inverter Based On Fuzzy Pi Controller And Feed-Forward Compensation, Weiliang Liu, Changliang Liu, Huichao Zhang, Yongjun Lin, Liangyu Ma
Simulation Of Grid-Connected Solar Micro-Inverter Based On Fuzzy Pi Controller And Feed-Forward Compensation, Weiliang Liu, Changliang Liu, Huichao Zhang, Yongjun Lin, Liangyu Ma
Journal of System Simulation
Abstract: Grid-connected solar micro-inverter is a highly nonlinear and time-varying system, so it is difficult to achieve good control effect using traditional PI controller. Small signal analysis model of micro-inverter was established, grid-connected current control strategy composed of fuzzy PI controller and grid voltage feed-forward was put forward, and the initial parameters of PI controller was optimized using the genetic algorithm. Simulation results show that the control strategy has the virtues of good robustness, small dynamic deviation, and could reduce the harmonic content of grid-connected current.
Research On Component-Based Modeling Of Combat Simulation Entity, Guohong Du, Wei Wei, Luyao Li
Research On Component-Based Modeling Of Combat Simulation Entity, Guohong Du, Wei Wei, Luyao Li
Journal of System Simulation
Abstract: According to the fact that combat simulation entity models built by traditional modeling method lack of standardization and reusability, based on analysis and induction of combat simulation entity factors, component-based modeling method of combat simulation entity was brought forward. Meanwhile, entity management mechanism of using “scheme-unit-entity-component” and model interaction mechanism of message-derived, event-subscribed and event-dispatched were discussed. The component-based modeling method will provide technique support to build excellent combat simulation entity model and standardizing the development of combat simulation entity model to avoid low-level duplication.
Error Correction Methods In Numerical Simulation For Unilateral Constraint Dynamics, Haitao Gao, Yali Han, Youxiong Xu, Songqing Zhu, Zailuo Wu
Error Correction Methods In Numerical Simulation For Unilateral Constraint Dynamics, Haitao Gao, Yali Han, Youxiong Xu, Songqing Zhu, Zailuo Wu
Journal of System Simulation
Abstract: Aiming at problem of calculation errors and constraint violation in numerical simulation for dynamics of unilateral constraint such as contact and collision, the error projection correction methods were put forward. On the basis of dynamical behavior of unilateral constraint described by linear programming model, mixed linear complementarity dynamics was built. Numerical simulation methods for the mixed linear complementarity dynamics were derived. In order to reduce calculation error and constraint violation caused by this error in the numerical simulation, an error correction method was built for correcting position and velocity error of numerical solution on the base of bilateral …
Improved Strategy To Reduce Common-Mode Voltage For Matrix Converter, Weizhang Song, Li Xi, Minyuan Li, Yanru Zhong
Improved Strategy To Reduce Common-Mode Voltage For Matrix Converter, Weizhang Song, Li Xi, Minyuan Li, Yanru Zhong
Journal of System Simulation
Abstract: Aiming at the large instantaneous common-mode voltage in traditional space vector modulation strategy for two-stage matrix converter (TSMC), on the basis of analyzing the laws of common-mode voltage, an improved modulation strategy to reduce common-mode voltage was proposed. To suppress common-mode voltage effectively, in this strategy, the rectification stage sector was subdivided into twelve sectors from six sectors, according to the sector of the reference current vector and dc-side voltage, the switching points of inverter stage were redefined and reallocated, and zero vector of inverter was selected and distributed reasonably, instantaneous maximum value of common-mode voltage was reduced to …
Control Law Research And Design Of Large Commercial Civil Aircraft For Oscillatory Failure, Ziyu Yao, Jianliang Ai
Control Law Research And Design Of Large Commercial Civil Aircraft For Oscillatory Failure, Ziyu Yao, Jianliang Ai
Journal of System Simulation
Abstract: The oscillatory failure often occurs because of the electronic equipment failure or the structure vibration in the modern commercial civil aircraft. The solution to the problem needs lots of sensors and control controllers and it make the control structure complex and leads to further fault. The mathematical model including the servo loop was built and the analytical redundancy was used for the fault detection. A combined control law was designed based on the detection result that was the residual of the servo signal and the state quantities. The design improves the control structure of the EFCS feedforward channel …
Research On Motion Control Technology Of Virtual Human’S Lower Limb Based On Optical Motion Capture Data, Liang Feng, Zhili Zhang, Xiangyang Li, Zhibo Tang, Ma Chao
Research On Motion Control Technology Of Virtual Human’S Lower Limb Based On Optical Motion Capture Data, Liang Feng, Zhili Zhang, Xiangyang Li, Zhibo Tang, Ma Chao
Journal of System Simulation
Abstract: As passive-optical motion capture equipment could only capture the motion information of human’s key joints, a simplified skeleton structure model of virtual human was introduced; and then the error sources of motion data of virtual human were analyzed according to the acquisition process of optical motion capture data based on the skeleton structure model. Focusing on the problem of poor continuity of motion process of virtual human’s lower limb caused by continuity deficiency of motion capture data, a motion control method was proposed to strengthen the control of motion process of virtual human, which included data smoothing of motion …
Servo Load Simulator Based On Improved Wavelet Neural Network, Wang Chao, Rongzhong Liu, Yuanlong Hou, Gao Qiang, Wang Li
Servo Load Simulator Based On Improved Wavelet Neural Network, Wang Chao, Rongzhong Liu, Yuanlong Hou, Gao Qiang, Wang Li
Journal of System Simulation
Abstract: In order to prevent the surplus torque of servo load simulator which had influence in the performance of the torque load, an intelligent controller was put forward based on the improved self-learning functional expansion wavelet neural network. The Bang-Bang control is used when the error is big, and if the error is small, function expansion based on wavelet neural network and fuzzy compensation control is used; At the same time, the improved differential evolution algorithm is for estimating the parameters of the controller. Considering the computational complexity and performance of the control system, the number of hidden neurons …
Modeling And Simulation For Target Tracking System Based On Dual-Pan-Tilt Camera, Kaishun Xiahou, Shanxing Chen, Yilin Wu
Modeling And Simulation For Target Tracking System Based On Dual-Pan-Tilt Camera, Kaishun Xiahou, Shanxing Chen, Yilin Wu
Journal of System Simulation
Abstract: Mathematical model of each component of target tracking system based on dual-pan-tilt camera was established. The rotation angles both in horizontal and vertical direction of each pan-tilt and the relative position of two cameras were adopted to estimate the real-time position of moving target with Extended Kalman Filter (EKF) tracking algorithm. A new real-time calibration method for pan-tilt camera was proposed to deal with the calibration problem that the external parameters of camera changes as the pan-tilt rotates in the process of camera modeling. In addition, the target’s image feature, extracted from the projected point on the camera image …
Attribute Reduction Algorithm On Balancing Profit And Risk, Dexing Wang, Jielong Xu, Hongchun Yuan
Attribute Reduction Algorithm On Balancing Profit And Risk, Dexing Wang, Jielong Xu, Hongchun Yuan
Journal of System Simulation
Abstract: Usually it is taken for granted to achieve the maximal profit at the cost of the minimal risk. It is an important problem of how to balance profit and risk, considering introducing profit and risk to attribute reduction so as to find practical algorithms in decision-making process. A decision-theoretic model was built, which could balance profit and risk combining with decision-theoretic rough set model and minimum risk of Bayes decision and find optimal combinations of risk in a certain level of expected profit, then a heuristic algorithm of attribute reduction was proposed, which took the function of balancing …
Fractional Order Internal Model Control Of Pmsm Speed Servo System, Zhicheng Zhao, Sang Hai, Jinggang Zhang
Fractional Order Internal Model Control Of Pmsm Speed Servo System, Zhicheng Zhao, Sang Hai, Jinggang Zhang
Journal of System Simulation
Abstract: A design method of fractional order (FO) internal model controller for permanent magnet synchronous motor (PMSM) speed servo system was proposed. The simplified mathematical model of speed servo system was built. Based on internal model control (IMC) principle, the FO internal model controller was deduced by using the FO filter to replace the integer order one. The proposed controller contained only two adjustable parameters, and the defects of the fractional PIλDμ controller tuning method were effectively overcome. Moreover, the dominant pole was selected according to the time domain performance indicators of the system, and an analytical …
Modeling And Simulation Of Urination Assist System Driven By Ultrasonic-Vaporized Steam, Li Xiao, Huaizhou Zhou, Zhichao Shi, Ting Guan, Yuansong Xiao
Modeling And Simulation Of Urination Assist System Driven By Ultrasonic-Vaporized Steam, Li Xiao, Huaizhou Zhou, Zhichao Shi, Ting Guan, Yuansong Xiao
Journal of System Simulation
Abstract: Aiming at the problem of assisting the neurogenic bladder micturating, a novel urination assist system driven by ultrasonic-vaporized steam was proposed. The mathematical model of the multi-field coupling relation between the external ultrasonic controlling parameters and the urine flow rate of urinary bladder was built using ultrasonics, thermodynamics and fluid mechanics theories. The simulation analysis of the influence of the controlling parameters on the urine flow rate performance of the system was conducted. The results show that the urine flow rate are mainly affected by the ultrasonic sound intensity, frequency, radiation area and time, as well as the system …
Gpu-Accelerated Simulation For Class Of Multi-Agent Based Models, Zhao Yuan, Jiachang Cheng, Wang Lu, Yueming Hu
Gpu-Accelerated Simulation For Class Of Multi-Agent Based Models, Zhao Yuan, Jiachang Cheng, Wang Lu, Yueming Hu
Journal of System Simulation
Abstract: A parallel agent-based model of Von Thünen Model was proposed driven by graphics processing units (GPUs). The Von Thünen Model often involved the simulation of large numbers of geographically located individual decision-makers and a massive number of individual-level interactions. This simulation required substantial computational power. GPU-enabled computing resources provided a massively parallel processing platform based on a fine-grained shared memory paradigm. This massively parallel processing platform held considerable promise for meeting the computing requirement of agent-based models of spatial problems. A dynamic relationship table rebuilding method was proposed to enable the use of GPUs for parallel agent-based modeling of …
Fault Diagnosis Of Reverse Osmosis Water Desalination Based On Optimized Support Vector Machine, Zhang Biao, Jianfeng Xing, Zhicheng Ji
Fault Diagnosis Of Reverse Osmosis Water Desalination Based On Optimized Support Vector Machine, Zhang Biao, Jianfeng Xing, Zhicheng Ji
Journal of System Simulation
Abstract: According to the reverse osmosis membrane fault problems in reverse osmosis water desalination system, a fault diagnosis method based on support vector machine (SVM) was introduced for fault diagnoses. To solve the problem of parameter optimization in SVM, an improved chaos particle swarm algorithm was proposed. The introduction of Chaos theory to particle swarm optimization algorithm may not only enhance the diversity of the population and particle global search ability, but also improve the convergence speed and accuracy of the particle swarm algorithm. The optimized SVM model was applied to the fault diagnosis of reverse osmosis water desalination system. …
Launch Dynamic Characteristics Simulation Analysis Of Vehicular Gatling Gun In Different Road Surface, Junnuo Zhang, Ruilin Wang, Li Tao, Binbin Hua
Launch Dynamic Characteristics Simulation Analysis Of Vehicular Gatling Gun In Different Road Surface, Junnuo Zhang, Ruilin Wang, Li Tao, Binbin Hua
Journal of System Simulation
Abstract: To study the influence of firing accuracy on a certain vehicular Gatling gun in different road surface, a rigid-flexible coupling multi-body dynamic simulation model was established based on virtual prototyping technology. Considering the interaction relations between the tires and road surface, vehicle and machine gun, the vehicle vibration characteristics and the muzzle response characteristics and vertical-target dispersion were obtained by analyzing the machine gun system in different road surface. The influence of road surface on fire accuracy was demonstrated by contrasting and analyzing the simulation curves. The study results have provided a theoretical support and direction …
Research On Modelica-Based Training Simulation System Of Tamper Operations, Xiaobo Peng, Cheng Tao, Feng Ping, Jianming Du
Research On Modelica-Based Training Simulation System Of Tamper Operations, Xiaobo Peng, Cheng Tao, Feng Ping, Jianming Du
Journal of System Simulation
Abstract: Tamping operations are trivial and must comply with operation specifications, which requires the training simulation system of tamper operations (TSSTO) have ability to manage its operation process. For this requirement, a TSSTO based on Modelica was developed. The multi-domain physical model of the tamper system, which is responsible for the simulation calculation of the system, was constructed by Modelica. The status model, which manages the operation process, was configured according to operation specifications. The interactive simulation was accomplished through a pipe that operations drive the status model then the status model drives the physical model. The algorithm of interactive …
Research Method For Integrating Subjective And Objective Information In Evaluating Quality Level Of Journals, Zhang Quan, Wen Xin, Liping Yu, Jia Wei
Research Method For Integrating Subjective And Objective Information In Evaluating Quality Level Of Journals, Zhang Quan, Wen Xin, Liping Yu, Jia Wei
Journal of System Simulation
Abstract: The evaluation of the quality level of academic journals was investigated. In order to overcome the drawbacks of current methods which made uses of only the subjective evaluation information or the objective information on the journals, a comprehensive evaluation method was proposed for integrating both the decision makers' subjective information and the objective information. The decision makers' subjective evaluation information was expressed in some grade, grade interval, or a fuzzy set over a grade evaluation set. The objective information of journals was reflected by the numerical attributes, such as, the total citation frequency, impact factor and immediacy …
Research Of Noise Mitigation Method Based On Dspwvd-Tfpf In Communication System, Lingdong Su, Mingyue Zhai
Research Of Noise Mitigation Method Based On Dspwvd-Tfpf In Communication System, Lingdong Su, Mingyue Zhai
Journal of System Simulation
Abstract: In the case of low SNR, the quality of the communication system will be decreased and the traditional TFPF on time-frequency clustering and noise suppression will descend. In order to overcome these, a new family of TF distribution, namely, the joint directionally smoothing Wigner-Ville distribution was presented to achieve instantaneous frequency estimation. This new TF distributions is based on the definition of the directionally smoothed pseudo Wigner-Ville distribution (DSPWVD) and point wise adaptive weight averaging of a bank of DSPWVD with different directions. The simulation shows that at low SNR, compared to traditional TFPF, DSPWVD-TFPF algorithm can better …
Large Eddy Simulation Of Effect Of Geometric Parameters On Low Pressure Of Turbulent Flow Over Gate Slot, Shihua He, Lixiang Zhang
Large Eddy Simulation Of Effect Of Geometric Parameters On Low Pressure Of Turbulent Flow Over Gate Slot, Shihua He, Lixiang Zhang
Journal of System Simulation
Abstract: The turbulent flow over the hydraulic plane gate slot was studied using large eddy simulation method. The effects of geometric parameters including width-to-depth ratio, stagger ratio, slope ratio and fillet ratio on hydraulic characteristics within and near the gate slot were simulated systematically. According to the vulnerable cavitation locations of the flow over the slot, the pressure distributions in swirl area and the separation zone at the rear of downstream corner of the slot were investigated emphatically. The results show that the effects of width-to-depth ratios and stagger ratios on the pressure distribution of the flow are significantly. …
Large Signal Modeling For Llc Resonant Converter, Zheng Kai, Jianbing Li, Zhou Dongfang, Li Kai, Songzhen Zhang
Large Signal Modeling For Llc Resonant Converter, Zheng Kai, Jianbing Li, Zhou Dongfang, Li Kai, Songzhen Zhang
Journal of System Simulation
Abstract: The large-signal model modeling issue of LLC resonant converter was dealt with by using averaged large-signal modeling method, on the basis of a full-bridge LLC voltage-multiplying resonant converter. The SSOC (self-sustained oscillation controller) was analyzed, and the operation mode of LLC resonant converter under the SSOC mode was investigated. The nonlinear state space model of LLC resonant converter was established by analyzing linear approximation of nonlinear terms and harmonic balance, and the averaged large-signal model of LLC resonant converter was proposed. Two curves of large signal model and nonlinear state space model were proved to be identical …
Construction Of Virtual Atmospheric Environment Based On Mm5 And Sedris, Lianlei Lin, Ding Wei
Construction Of Virtual Atmospheric Environment Based On Mm5 And Sedris, Lianlei Lin, Ding Wei
Journal of System Simulation
Abstract: The new virtual test for virtual atmosphere environment puts forward higher requirements, such as providing complex atmospheric environment which includes a variety of atmospheric parameters and improving usability and reusability of atmospheric environment data. A method to construct virtual atmospheric environment based on MM5 and SEDRIS was proposed which met the above demands. The original data of complex atmospheric environment in any region and scale was generated by using MM5 model. According to the characteristics as well as the dynamic relationship between time and space of grid of atmospheric data, SEDRIS was selected to regulate appropriate DRM class, SRF …
Research About Method Of Face Detection And Tracking Based On Active Vision, Enzeng Dong, Shengxu Yan, Jigang Tong
Research About Method Of Face Detection And Tracking Based On Active Vision, Enzeng Dong, Shengxu Yan, Jigang Tong
Journal of System Simulation
Abstract: Based on the method of combining the Camshift algorithm mixing Kalman filter with Adaboost algorithm, a face-detection and tracking algorithm on the active vision was proposed. The algorithm proposed realized the face automatic detection and tracking by using Adaboost algorithm and Camshift mixed algorithm; according to the positional relation of target centroid and the view centre, and the difference of area between the region of the face target and the view, the Pan-Tilt-Zoom (PTZ) control algorithm was designed. Through the rules designed for pan, tilt and zoom control, the algorithm achieved the goal of …
Three-Dimensional Fuzzy Control Of Catheter Robotic In Endovascular Master-Slave Interventional Surgery, Ximei Zhao, Jiankang You, Liu Hao, Hongyi Li
Three-Dimensional Fuzzy Control Of Catheter Robotic In Endovascular Master-Slave Interventional Surgery, Ximei Zhao, Jiankang You, Liu Hao, Hongyi Li
Journal of System Simulation
Abstract: In minimally invasive endovascular interventional surgery, catheter was vulnerable to be interfered by uncertain factors such as heartbeat and breathing of patients during catheter robot of slave side conveyed catheter. In order to retrain impact on catheter transport of these factors and realize that slave side of catheter robot system tracked control command of master side accurately and quickly, kinematic model of catheter distal bending section was established, and catheter robot system based on three-dimensional fuzzy controller was designed. Three-dimensional fuzzy controller that introduced the function of rate of error change on the basis of two-dimensional fuzzy controller …