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Operations Research, Systems Engineering and Industrial Engineering Commons™
Open Access. Powered by Scholars. Published by Universities.®
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- Simulation (135)
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Articles 2581 - 2610 of 3880
Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Business Process Modeling Algorithm Based On Ontology Language, Huang Ying, Kangshun Li, Li Wei, Keqing He
Business Process Modeling Algorithm Based On Ontology Language, Huang Ying, Kangshun Li, Li Wei, Keqing He
Journal of System Simulation
Abstract: In the view of problem in lack of information sharing mechanisms at the semantic level among processes, a business process modeling algorithm based on ontology language using concept hierarchy as background knowledge was proposed. The business process modeling by traditional business process languages can be transferred to ontology language (OWL) description so as to realize the semantic sharing of business process. The approach has two main advantages compared with traditional methods: (1) accelerating the building process, minimizing the conversion cost; (2) background knowledge guides the extraction of knowledge resided in database. As a way of validating the approach, part …
Measurement Error Correction Model Of Tof Depth Camera, Le Wang, Luo Yu, Haikuan Wang, Minru Fei
Measurement Error Correction Model Of Tof Depth Camera, Le Wang, Luo Yu, Haikuan Wang, Minru Fei
Journal of System Simulation
Abstract: 3D data intuitively reflects the full view of the target or scene. Time of Flight (ToF) camera is a range imaging sensor that can provide 3D geometric information of targets immediately, thus it is widely applied in the robot positioning and navigation, 3D reconstruction and other aspects etc. Due to the operational principle of the camera itself, there are variety measurement errors of the source data obtained by ToF, resulting in image distortion. The measurement errors in the imaging process of ToF camera were analyzed and summarized, and the cubic spline interpolation method combined with look-up table was proposed …
Modeling Of Spectrum Sensing Energy Consumption In Cognitive Radio Networks, Ziru Cui, Peng Yi
Modeling Of Spectrum Sensing Energy Consumption In Cognitive Radio Networks, Ziru Cui, Peng Yi
Journal of System Simulation
Abstract: In cognitive radio networks, the energy consumption in the process of spectrum sensing is the hot spot of research. A unified framework for modeling based on Poisson process was developed which could be used even under interference limited to count the energy consumption, thereby obtaining a spectrum sensing energy consumption. Spectrum sensing energy as the function of the number of secondary users in cognitive radio networks, their spatial density and the number of hops, could be modelled as a truncated gamma distribution. This model is used to statistically analyze cognitive users' energy consumption in the process of spectrum sensing …
Doa Estimation Method Of Uniform Circular Array Based On Improved Smoothed L0 Norm, Wang Biao, Chen Feng, Lu Li
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 …
Performance Evaluation Of Guidance And Control System Based On Improved Latin Hypercube, Denghui Zhang, Chao Tao, Songyan Wang, Ma Ping
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 …
Best Viewpoint Selection For 3d Visualization Using Particle Swarm Optimization, Panpan Jia, Yanyang Zeng, Yunxia Feng
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 …
Sliding Mode Auto - Disturbance Rejection Control Of Hypersonic Vehicle Under Disturbance, Mingzhi Cheng, Yunjie Wu, Ma Fei
Sliding Mode Auto - Disturbance Rejection Control Of Hypersonic Vehicle Under Disturbance, Mingzhi Cheng, Yunjie Wu, Ma Fei
Journal of System Simulation
Abstract: The strong coupling of the hypersonic vehicle, the high order of the model, and the perturbation of the aerodynamic parameters make it difficult for the general controller to achieve the desired control effect. The self-disturbing tandem technique can well meet the requirements of the high-order model control. The use of sliding mode variable structure technology which is not sensitive to perturbation of parameters can enhance the system immunity. The simulation results show that the control effect is very good.
Complexity Analysis Of Joint Operational Network Information System, Peng Jun, Mingzhi Zhang
Complexity Analysis Of Joint Operational Network Information System, Peng Jun, Mingzhi Zhang
Journal of System Simulation
Abstract: Based on the theory of complex networks, the structure and characteristics of joint operational network information system (JONIS) were analyzed from the perspectives of heterogeneous directional weighted network topology, strong degree and its centralities. It is found that the combat network based on JONIS has characteristics of small-world and scale-free, with a large average weighted aggregation coefficient and a small average weighted path length, showing a similar power-law distribution. In the example network, command centers, satellites, support force, and early warning unit all have larger strong degrees and centralities. These platforms as the center of gravity and fragile nodes …
Performance Evaluation Method Based On Satisfactory Degree For Air-Information Fusion System, Xiaochao Wu, Li Dong, Zhang Xing, Zhenyu Huang, Liu Bo
Performance Evaluation Method Based On Satisfactory Degree For Air-Information Fusion System, Xiaochao Wu, Li Dong, Zhang Xing, Zhenyu Huang, Liu Bo
Journal of System Simulation
Abstract: Based on the theory of satisfactory degree, a performance evaluation method for air-information fusion system with multi-radar inputs was proposed. According to the designed indexes, the radar deployment and track layout by anti-air warfare, the performance of this fuse system was comprehensively tested with satisfaction method and evaluation software in a simulation testbed. The evaluated results can be the evidences for solving the fusing problem and improving the fusion system combat effectiveness. The effective application of this method in a test shows its value.
Real-Time Modeling Of Interaction Between Floating Objects And Large-Scale Water, Xiaolong Yang, Hongtao Liang, Fengju Kang, Gu Hao
Real-Time Modeling Of Interaction Between Floating Objects And Large-Scale Water, Xiaolong Yang, Hongtao Liang, Fengju Kang, Gu Hao
Journal of System Simulation
Abstract: Large scale water is an integral part of nature and of high interest for interactive 3D applications, e.g., computer games and virtual environments. Allowing the water to interact with floating objects is essential for applications, but traditional height field interaction methods concentrate on water-to-body effects by letting water flow through the bodies. A novel GPU-based method for rapid simulation of large scale water interacting with objects was proposed. A specially designed simulation grid was used to solve the interactions between dynamic objects and the surrounding environment. The model of rigid body was realized with a pre-rigid body …
Submarine Tactical Action Scheme Optimization Method Based On Massive Result Data, Zhang Hui, Sijin Wu, Cheng Jian
Submarine Tactical Action Scheme Optimization Method Based On Massive Result Data, Zhang Hui, Sijin Wu, Cheng Jian
Journal of System Simulation
Abstract: Taking submarine evasion anti-sub force formation search scheme optimization as an example, a submarine tactical action scheme optimization method based on massive simulation result data was proposed. The operational effectiveness data in different situation of various scheme were generated by off-line simulation, which was used as massive data to support on-line real time decision. Real time decision used interpolation method to estimate the operational effectiveness based on the data. According to the computational experiments, accuracy and efficiency can both satisfy the need of real time decision.
Evolutionary Extreme Learning Machine Optimized By Quantum-Behaved Particle Swarm Optimization, Pang Shan, Xinyi Yang, Xuesen Lin
Evolutionary Extreme Learning Machine Optimized By Quantum-Behaved Particle Swarm Optimization, Pang Shan, Xinyi Yang, Xuesen Lin
Journal of System Simulation
Abstract: Extreme Learning Machine (ELM) is a novel learning algorithm for Single-Hidden-Layer Feed Forward Neural Networks (SLFN) with much faster learning speed and better generalization performance than traditional gradient-based learning algorithms. However ELM tends to require more neurons in the hidden layer and lead to ill-conditioned problem due to the random selection of input weights and hidden biases. To address these problems, a learning algorithm was proposed which used quantum-behaved particle swarm optimization (QPSO) to select the optimal network parameters including the number of hidden layer neurons according to the both the root mean square error on validation data set …
Skylight Opening Degree Prediction Method Based On Parallel Clustering, Deng Li, Yu Yue, Honglin Pang, Minrui Fei
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.
Sar Object Recognition Based On Multi-Band And Multi-Polarization Simulation Image, Gu Yu, Zhang Qin, Xu Ying
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 …
Research And Implementation Of Question Answering System Oriented Wargaming Based On Aiml, Zejian Sun, Guangya Si, Liu Yang
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 …
Cloud Manufacturing Resource Discovery Method Based On Eav Model And Solr, Geng Chao, Shiyou Qu, Yingying Xiao, Guoqiang Shi, Tingyu Lin, Liqin Guo, Xiaowei Wang
Cloud Manufacturing Resource Discovery Method Based On Eav Model And Solr, Geng Chao, Shiyou Qu, Yingying Xiao, Guoqiang Shi, Tingyu Lin, Liqin Guo, Xiaowei Wang
Journal of System Simulation
Abstract: A resource discovery solution of cloud manufacturing based on text information processing technology was proposed. This solution converted the description model of cloud manufacturing resource to a formal model of text information processing via a mapping function, and an EAV (Entity-Attribute-Value) derived model of cloud manufacturing resources was designed to solve the resource properties issues of heterogeneity, diversity, dynamic and so on. By introducing the Solr index schema, the text indexing system of resource properties data was built to improve query performance of related data. A prototype system was designed for discovering cloud manufacturing resources based on …
Dynamic Simulation And Analysis Of The Taxiing Turning Process Of Aircraft, Zhang Qian, Yingshu Zhang
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 …
Dynamics Analysis Of Flue Gas Compression System In Oxy-Coal Fired Boiler, Jianqiang Gao, Zhang Chen
Dynamics Analysis Of Flue Gas Compression System In Oxy-Coal Fired Boiler, Jianqiang Gao, Zhang Chen
Journal of System Simulation
Abstract: Taking the flue gas compression system in a 300MW oxy-coal fired boiler unit as an object of study by concept design, math model of gas compressor and gas cooler were established with the method of lumped parameter, and dynamic simulation of flue gas compression system was developed. The disturbance experiments on coal-feeder speed and flue gas compressor speed, etc. were carried out based on B-MCR stable condition. As a result, the operating parameters of gas compressor have a more sensitive response and larger change magnitude when the perturbation of coal feeder speed and gas compressor speed is disturbed; when …
Air Command And Support Heterogeneous Systems Integration Technology Supporting Lvc Simulation, Yongliang Luo, Zhang Jun, Yuping Xiong, Zhihui Zhang, Yuanhui Qin
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 …
Design Of Multi-Scenario Simulation Of Molten Iron Logistics System With Cranes And Cross-Train Agvs, Shaowen Lu, Xiaochuan Luo
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.
Model-Based Design And Simulation For An Aircraft Flight Control System, Chi Yue, Shan Dong, Zhenxin Yan, Hei Peng
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.
Real-Time Control Method Of Hsss Based On Single Phrase Self Decoupling Strategy, Yingping Yi, Bogang Qu, Zhang Yang
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 …
Simulation And Verification For Low Altitude Ground Reflection Characteristics Of Low-Frequency Broadband Signal, Zhannan Ma, Feifei Du, Jinxi Chen
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 …
Estimation Of Atmospheric Parameter Based On Airflow Velocity Over Wing Leading Edge, Lilin Qian, Jianwu Tao, Yueming Yang, Yu Fei
Estimation Of Atmospheric Parameter Based On Airflow Velocity Over Wing Leading Edge, Lilin Qian, Jianwu Tao, Yueming Yang, Yu Fei
Journal of System Simulation
Abstract: A new method measuring the atmospheric parameters was proposed based on acoustic vector sensors located at the wing leading edge, and the atmospheric parameters model was set up based on the airflow velocity distribution sensed by acoustic vector sensor over wing leading edge. According to the symmetric, swept character of wings, velocity vector was decomposed to solve the non-linear equation of model. The expressions of angle of sideslip, angle of attack and free stream velocity were derived. The feasibility of the expressions was verified by wing simulation data from Fluent.
Fractional Modeling And Simulation Analysis Of Single-Phase Pwm Rectifier, Zheng Zheng, Fangjun Ma, Yanfang Wei
Fractional Modeling And Simulation Analysis Of Single-Phase Pwm Rectifier, Zheng Zheng, Fangjun Ma, Yanfang Wei
Journal of System Simulation
Abstract: The modeling problem of single-phase PWM rectifier was studied, based on the fact that actual capacitance and inductance is the fractional in nature. The mathematical model of single-phase PWM rectifier was established by using fractional calculus theory, based on modeling method analysis of fractional Caputo definition and PWM rectifier topology. According to instantaneous power theory, for DC component value, the peak to peak value AC component, and the time of dynamic response of the DC side capacitor voltage were analyzed. In theory, DC component value does not change with the order number capacitance, while the AC component is opposite, …
Numerical Simulation On Hydraulic Characteristics Of Free Hydraulic Jump On Corrugated Beds Of Stilling Basin, Wenli Wei, Yunfei Hong, Yuling Liu
Numerical Simulation On Hydraulic Characteristics Of Free Hydraulic Jump On Corrugated Beds Of Stilling Basin, Wenli Wei, Yunfei Hong, Yuling Liu
Journal of System Simulation
Abstract: The VOF (volume of fluid) method was applied to track the free water surface, and the RNG k–ε turbulent model was used to close the two-phase flow time-averaged equations. The conditions properties of free hydraulic jumps on corrugated beds with a stilling basin under 9 kinds of conditions were studied by numerical simulation. Simulation research results show: There are vortexes generated by corrugated beds surfaces, rotating in the clockwise direction. The pressure distribution on corrugated beds in hydraulic jump region appears a wavy change, and the difference between the pressure values at adjacent crest and trough gradually decreases along …
Dynamic Simulation For Tethered Trailer Vehicle, Chen Ning, Hongchao Ma
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 …
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
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 …
Surrogate Model Based Processor Architectural Design Space Exploration Algorithm, Hongwei Wang, Ziyuan Zhu, Jinglin Shi, Yongtao Su, Hongmei Shi, Zhiguo Liu
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 …
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
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 …