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2019

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Articles 571 - 600 of 1263

Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Modeling And Simulation For Automobile Connecting Rod Production Line Based On System Dynamics, Li Han, Wenhui Fan, Feng Yuan, Mengni Zhu, Shengxiao Zhang Jan 2019

Modeling And Simulation For Automobile Connecting Rod Production Line Based On System Dynamics, Li Han, Wenhui Fan, Feng Yuan, Mengni Zhu, Shengxiao Zhang

Journal of System Simulation

Abstract: In the production line system, it is of much significance to assign operation to workstations in order to balance the manufacturing workload and increase productivity under the given constraint conditions. Based on System Dynamics theory, this paper builds a simulation model of a connecting rod production line in an automobile component company. With this model, the paper analyses the balancing rate and influential factors. Then some preliminary optimization is made to improve the production line performance.

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Modeling And Simulation Of Connecting Rod Production Line, Yuanyuan Yan, Wenhui Fan, Feng Yuan Jan 2019

Modeling And Simulation Of Connecting Rod Production Line, Yuanyuan Yan, Wenhui Fan, Feng Yuan

Journal of System Simulation

Abstract: Discrete event system simulation method is widely applied to solve various problems, and line balancing problem is also one of them. In this paper, we use discrete event system simulation method to solve line balancing problem. Connecting rod production line is modeled by using DES. A production line model is built and simulated in AnyLogic, the bottleneck process and the problems to be optimized are analyzed. A small program in MATLAB is used to optimize the production line, and find the optimal solution. Simulate again.

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Design Of Simulation Platform For Space Operation Mission, Yuan Jing, Jianpin Yuan, Mingming Wang, Wang Fei, Zhang Chi Jan 2019

Design Of Simulation Platform For Space Operation Mission, Yuan Jing, Jianpin Yuan, Mingming Wang, Wang Fei, Zhang Chi

Journal of System Simulation

Abstract: The design of simulation platform for space mission operations is investigated. The platform has the advantages of high generality and extensibility, being easy to build up new task. FMI (Functional Mockup Interface) standard is adopted to achieve integration of multisource models, and Python scripts are used to realize the task schedule. Unity3D is adopted to implement the visual display system which could display space manipulation process with high fidelity 3D virtual scenes. Configuration tool is developed to map the 3D objects in visual scene with simulation physical variables for complex space control mechanism, which greatly improves the …

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Restrain Boundary Effect Of Emd Based On Least Square Fitting, Zhenpeng He, Zhiqi Zhu, Haichao Xie, Yawen Wang, Zongqiang Li, He Rui, Chaoping Du, Jinlan Li Jan 2019

Restrain Boundary Effect Of Emd Based On Least Square Fitting, Zhenpeng He, Zhiqi Zhu, Haichao Xie, Yawen Wang, Zongqiang Li, He Rui, Chaoping Du, Jinlan Li

Journal of System Simulation

Abstract: To improve the accuracy of mechanical fault diagnosis, it’s meaningful to do research on the boundary effect of EMD. In this article, least squares linear method is applied to extend local extremum points at the end of a data series, which judges that whether the maximum value is within the wave fluctuation range of the original signal maximum points, whether the minimum value is within the wave fluctuation range of the original signal minimum points. It compares the extended extreme points and endpoint values, so the best signal endpoint is obtained. By calculating the value of similarity coefficient and …

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Simulation Research On Post-Earthquake Road Network Repair Schedule Under Dynamic Traffic Flows, Shuanglin Li, Bin Zheng Jan 2019

Simulation Research On Post-Earthquake Road Network Repair Schedule Under Dynamic Traffic Flows, Shuanglin Li, Bin Zheng

Journal of System Simulation

Abstract: It is critical to repair the road network immediately to improve the emergency efficiency after earthquake. A mathematics model for post-earthquake road network repair scheduling under dynamic traffic flows (PRNRSDTF) is created and a hybrid genetic algorithm is provided to maximum the cumulative utilities. Finally, in the context of Wenchuan earthquake, a numerical example is abstract from Jingyang district of Deyang City to verify the reliability and validity of the proposed model and algorithm. The normal road network repair scheduling model without considering dynamical traffic flows is taken as a comparison. The results show that the PRNRSDTF model …

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Simulated Analysis Of Temporal Robustness For Composite Service, Hengzhou Ye, Taoshen Li, Yunhui Guan Jan 2019

Simulated Analysis Of Temporal Robustness For Composite Service, Hengzhou Ye, Taoshen Li, Yunhui Guan

Journal of System Simulation

Abstract: The execution time of a service may fluctuate due to the variety of network, CPU, disk I/O and workloads, which will affect the makespan of the composite service. It is crucial to study the probability distribution and influencing factors of the real makespan to guarantee the performance of the composite service. This paper adopts directed acyclic graph (DAG) to describe the composite service. Also, with the goal of evaluating the variety degree of the makespan, we propose a temporal robustness metric for composition services. Through the rigorous analysis, we can find the boundary of this metric. By the analysis …

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Permanent Magnet Synchronous Motor Fuzzy Forgetting Factor Recursive Least Squares Parameter Identification, Yanxia Shen, Baolong Jin Jan 2019

Permanent Magnet Synchronous Motor Fuzzy Forgetting Factor Recursive Least Squares Parameter Identification, Yanxia Shen, Baolong Jin

Journal of System Simulation

Abstract: In order to improve the stability and convergence rate of permanent magnet synchronous motor (PMSM) on-line identification, this paper proposes a fuzzy forgetting factor least squares algorithm based on the least squares algorithm with forgetting factor. The linear regression model of permanent magnet synchronous motor is established by using the linearization technique of Pade approximation method. A fuzzy controller is designed by using the current error and the forgetting factor can be adjusted adaptively. The proposed method is applied to the field of on-line identification of permanent magnet synchronous motor stator resistance, which solves the contradiction between the result …

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Simulation Study On Vibration Absorption Efficiency Of Parallel Nonlinear Energy Sinks, Jian’En Chen, He Wei, Weimin Ge, Liu Jun, Zhong Rui Jan 2019

Simulation Study On Vibration Absorption Efficiency Of Parallel Nonlinear Energy Sinks, Jian’En Chen, He Wei, Weimin Ge, Liu Jun, Zhong Rui

Journal of System Simulation

Abstract: Parallel nonlinear energy sinks are used to suppress the vibration of the primary structure. The vibration absorption efficiencies of the single and parallel NESs are comparatively investigated. The dynamic equation under harmonic excitation is derived and the dynamic responses are analyzed by using numerical method. Through studying the influences of the installation locations and parameters of the single and parallel NESs respectively, it is found that, under normal temperature, the vibration absorption efficiency of the parallel NESs is better than that of the single NES which having the equal mass with the former absorber. Considering that the resonance frequency …

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Detection Method Of Weak Signal With Multi-Stable Stochastic Resonance Under Color Noise, Zhang Gang, Yi Tian, Li’Na He Jan 2019

Detection Method Of Weak Signal With Multi-Stable Stochastic Resonance Under Color Noise, Zhang Gang, Yi Tian, Li’Na He

Journal of System Simulation

Abstract: The color noise is combined with a multi-stable stochastic resonance system. The characteristics of stochastic resonance in multi-stable system are analyzed deeply under color noise which is more close to reality, and the signal-to-noise ratio gain is regarded as the measurement index. The self-adaptive method is used to study multi-stable stochastic resonance system parameters a, b, c and intensity amplification facto D on the resonant output. Based on the above analysis, different signals are detected. Multi-stable system is applied in rolling bearing fault diagnosis. Experimental results demonstrate that the parameters induced multi-stable system has significant detection effect on weak …

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Auxiliary Docking Maneuver Control Simulation Of Dual-Arm Space Manipulator After Capturing Operation, Cheng Jing, Chen Li Jan 2019

Auxiliary Docking Maneuver Control Simulation Of Dual-Arm Space Manipulator After Capturing Operation, Cheng Jing, Chen Li

Journal of System Simulation

Abstract: The auxiliary docking maneuver coordination control problems for dual-arm space robot capturing a target are discussed. The dynamic model of closed chain composite system is established based on theorem of impulse and closed-loop constraints, the impact effect of composite system after capturing operation is analyzed at the same time. The robust coordinated control method based on extended state observer (ESO) is designed for the composite system with uncertain parameters. The extended state observer is used to estimate and compensate the unknown dynamics; the precision of docking maneuver is guaranteed by composition and state feedback control. The stability of system …

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A Composite Islanding Detection Method Based On Ndz Pre-Estimation Mechanism, Long Xin, Ziwei Zhu, Xu Min Jan 2019

A Composite Islanding Detection Method Based On Ndz Pre-Estimation Mechanism, Long Xin, Ziwei Zhu, Xu Min

Journal of System Simulation

Abstract: Islanding detection methods are divided into passive and active types. The former has a large detection blind area and low success rate. The latter has high accuracy and reliability, but it reduces the power quality of the grid by continuously adding disturbances. Thus, this paper proposes a compound islanding detection method based on NDZ pre-estimation. Several electrical parameters of the load flow on the grid side and the flow load on the inverter side are separately calculated and pre-evaluated, and Sandia frequency offset method is selectively introduced according to the evaluation result to complete the islanding detection. The …

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A Novel Dual Random Pwm Scheme And Its Simulation Analysis, Haopeng Wu, Tinglong Pan, Dinghui Wu, Zhicheng Ji Jan 2019

A Novel Dual Random Pwm Scheme And Its Simulation Analysis, Haopeng Wu, Tinglong Pan, Dinghui Wu, Zhicheng Ji

Journal of System Simulation

Abstract: In the consideration that random pulse position pulse width modulation (PWM) still contains discrete spectral components, a novel strategy of dual randomized modulation is presented. The proposed method is based on dual zero vector random pulse position PWM, in which zero vector is selected as V(1 1 1) when M≥0.7 and as V(0 0 0) when M<0.7, and the random variation of the pulse position and the switch frequencyis realized by increasing the switch frequency randomization. To insure better random variation degree of dual random PWM,WELL algorithm is introduced to generate random number. Simulation results show that the proposed scheme can …

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Dropouts Processing In Ads-B Real-Time Monitoring Based On Hybrid Filtering, Xiaoyun Shen, Jinxing Shen, Siyuan Zhang, Weidong Jiao Jan 2019

Dropouts Processing In Ads-B Real-Time Monitoring Based On Hybrid Filtering, Xiaoyun Shen, Jinxing Shen, Siyuan Zhang, Weidong Jiao

Journal of System Simulation

Abstract: Due to the bad real-time performance of variable dimension Kalman filter in dealing with the leakage of ADS-B real-time monitoring, a position/speed hybrid filter method is proposed. The variable dimension Kalman filter is improved based on the characteristic that the position message and the velocity message of ADS-B message are sent at different time. Two measurement equations for position and speed are designed, and different measurement equation is selected according to message category. The speed/position and navigation accuracy category in message is utilized to estimate the position/speed of present moment, so as to effectively solve the problem of data …

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Optimal Closed-Loop Guidance For Cruise Missiles Based On Pseudospectral Method, Liao Ying, Haiyu Ji, Gaoxiong Xue Jan 2019

Optimal Closed-Loop Guidance For Cruise Missiles Based On Pseudospectral Method, Liao Ying, Haiyu Ji, Gaoxiong Xue

Journal of System Simulation

Abstract: Cruise missiles facing complex constraints are prone to deviation from the intended trajectory due to disturbances and unexpected situations in flight. Based on solving the optimal control problem of trajectory optimization with pseudospectral method, the optimal closed-loop guidance is realized by continuous on-line trajectory reconstruction using the rolling time-domain strategy. The simulation experiments are also undertaken for the unexpected events and disturbances that may be encountered during flight to verify the capability and feasibility. Simulation results show that this method can meet the requirements of real-time and accuracy, and has good adaptability to different interference errors and task …

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Study On Control Method Of Plane Steering Electro-Hydraulic Load Simulator, Xiaolin Liu, Jianmin Yin, Kun Yuan Jan 2019

Study On Control Method Of Plane Steering Electro-Hydraulic Load Simulator, Xiaolin Liu, Jianmin Yin, Kun Yuan

Journal of System Simulation

Abstract: Aiming at the problems of low stability, low loading precision and slow response of the servo hydraulic load simulator, a control method based on the combination of the optimal quadratic theory and the improved feedforward compensation is proposed. This method is based on the optimal quadratic theory to design the optimal control algorithm to optimize the structural characteristics. The hydraulic cylinder piston displacement signals are used as the input of feedforward compensation control to design improved feedforward compensation controller. The simulation results show that this control method can not only improve the dynamic performance of the aircraft rudder electro-hydraulic …

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Analysis Of Reconnaissance System Modeling And Simulation In Combat Simulation, Fan Rui, Yaxin Tan, Junqing Huang Jan 2019

Analysis Of Reconnaissance System Modeling And Simulation In Combat Simulation, Fan Rui, Yaxin Tan, Junqing Huang

Journal of System Simulation

Abstract: Reconnaissance system is a complex system that integrates various types of reconnaissance equipment and is an important component of the combat capabilities of the current system. Therefore, the reconnaissance system is modeled and simulated in the army combat simulation. It is a key research to discuss its operational effectiveness in a certain combat background. This paper starts from the basic concept of reconnaissance, abstracts the basic flow of reconnaissance activities, analyzes the composition of the equipment in the reconnaissance system, summarizes the simulation flow of the reconnaissance system in combat simulation, and gives the modeling analysis of the reconnaissance …

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A Simulation Study Of Power Battery Grouping Equalization System, Zhu Hao, Daxing Xia Jan 2019

A Simulation Study Of Power Battery Grouping Equalization System, Zhu Hao, Daxing Xia

Journal of System Simulation

Abstract: A grouping equalizer scheme of lithium-ion battery pack is proposed based on cuk chopper circuit and flyback transformer balanced circuits. The grouping equalizer process could be divided into two stages: balance of cell sub-group and balance between cell sub-group. Cuk chopper circuit is used in the balance of cell sub-group for transferring the energy between adjacent cells. Bidirectional flyback transformer is employed in the balance between cell sub-group. Any optional sub-group can be balanced and the balanced energy can be transferred bidirectionally. Finally, a balanced circuit model is created in Matlab/Simulink for simulation. Simulation results show that the grouping …

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Oth Target Tracking Based On Transverse Earth Coordinate System In Arctic Region, Yongkan Sun, Pingping Zhang Jan 2019

Oth Target Tracking Based On Transverse Earth Coordinate System In Arctic Region, Yongkan Sun, Pingping Zhang

Journal of System Simulation

Abstract: Aiming at the problem of the deviation of the target information when taking the geographic north as the azimuth datum in the horizon target tracking in Arctic region (especially in the polar regions), a virtual method to re-partition the surface of the earth is proposed which can transform the geographic pole region into a virtual equatorial region. On the basis of the above, the transverse latitude and longitude grid, the transverse earth coordinate system and the transverse geographic coordinate system are constructed, The transverse geographic north is proposed as the azimuth datum, the target range is represented with the …

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Air Defense Fire Distribution Based On Cloud-Genetic Algorithm, Lei Ming, Bin Xie Jan 2019

Air Defense Fire Distribution Based On Cloud-Genetic Algorithm, Lei Ming, Bin Xie

Journal of System Simulation

Abstract: Air defense fire distribution is a critical problem in the researches on air defense operation. This paper builds a fire distribution model with the maximization of strike as its optimization objective, and proposes a cloud model-based modified genetic algorithm based on the advantageous characteristics of cloud model in combination of genetic algorithm, which not only accelerates the rate of convergence and increases search efficiency of the original algorithm, but also preferably avoids the problems of local optimum and premature convergence. Simulation experiments have verified the feasibility of the modified algorithm.

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Hydrodynamic Characteristics Study Of Expendable Probe At Multi Cross Flow And Multi Attack Angle, Zhentao Chen, Liu Feng, Xiaolei Wang, Ye Song Jan 2019

Hydrodynamic Characteristics Study Of Expendable Probe At Multi Cross Flow And Multi Attack Angle, Zhentao Chen, Liu Feng, Xiaolei Wang, Ye Song

Journal of System Simulation

Abstract: The cross flow and attack angle are the two main influencing factors in the process of expendable probe releasing and sinking. The numerical simulation model is developed based on the hybrid grid and $k-\varepsilon$ turbulent model, and the hydrodynamic characteristics of five cross flows and five attack angles are analyzed. The results show that the drag coefficient of the probe in the horizontal direction increases gradually, while the drag coefficient of the probe in the vertical direction increases slowly with the increase of the cross flow. The drag coefficient in the horizontal direction increases gradually with the increase of …

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Optimization Of Frictionless Cylinder-Structure Based On Pso, Liu Yu, Gouxin Zhao Jan 2019

Optimization Of Frictionless Cylinder-Structure Based On Pso, Liu Yu, Gouxin Zhao

Journal of System Simulation

Abstract: Aerostatic frictionless cylinder is the critical component of pneumatic gravity compensation device, the key of its design is to take all related factors into consideration for optimum performance. To optimize the structure of aerostatic frictionless cylinder, the optimal parameters in the cylinder are proposed, which maximizes the bearing capacity in radial direction and keeps the leakage at a relatively low level. Through analyzing the structure of the aerostatic frictionless cylinder, a mathematic model of the aerostatic frictionless cylinder is deduced. Based on simulations, the relationship during the structural parameters, the bearing capacity and the leakage is acquired. It is …

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Design Of Imu/Gps-Based Seamless Location System For Android, Sun Wei, Wang Ye, Ruibao Li, Yang Dan Jan 2019

Design Of Imu/Gps-Based Seamless Location System For Android, Sun Wei, Wang Ye, Ruibao Li, Yang Dan

Journal of System Simulation

Abstract: The method of seamless combination of IMU and GPS module based on Android mobile terminal is researched and implemented, and the design scheme and experimental results are given. When the GPS signal is missing, the gait detection, heading calculation and track estimation can be carried out by using the IMU inertial sensor which is inherent in the mobile terminal to complete the seamless positioning. Based on the Android system and the open platform of Baidu map, the algorithm implementation and human-computer interaction can be completed in the mobile terminal. The test results show that the relative error of the …

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Event-Triggered Scheme And Co-Design Of $H_{\Infty}$ Control In Networked Control System, Jingqi Fu, Wu Jie, Weili Shen Jan 2019

Event-Triggered Scheme And Co-Design Of $H_{\Infty}$ Control In Networked Control System, Jingqi Fu, Wu Jie, Weili Shen

Journal of System Simulation

Abstract: Since the wireless network time-varying delay and communication channel bandwidth have great effects on networked control systems(NCSs), this paper studies an event-triggered scheme and a $H_{\infty}$control co-design method. Initially, a delay mathematic model of NCSs is constructed. In consideration of wireless network time-varying delay between event generator and zero order holder, this paper designs an improved event-triggered communication scheme. Furthermore, by applying a new Lyapunov-Krasovskii functional and linear matrix inequality method, a criterion for the delay-independent $H_{\infty}$ stabilization is derived, and the co-design method for gaining the trigger parameters and state feedback $H_{\infty}$ control is …

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An Improved Algorithm Of Vire Based On Bp Neural Network, Hongshan Kong, Bin Yu Jan 2019

An Improved Algorithm Of Vire Based On Bp Neural Network, Hongshan Kong, Bin Yu

Journal of System Simulation

Abstract: Aimed at the problem that the proper threshold affects the accuracy of positioning in VIRE algorithm, a RFID positioning method combining BP neural networks with VIRE algorithm is presented and is named BP-VIRE. BP-VIRE utilizes the same reader’s configuration and deployment as that of VIRE, and regards referenced tag RSSI and coordinate values as training samples, and constructs the positioning model based on neural networks with the help of BP algorithm which uses the method of error back propagation. According to the simulation results, compared with VIRE, BP-VIRE performance is better in the capability of positioning, esp. in the …

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Simulation Of Automated Terminal With Dual-Rail Transport Trolley And Hollow Track Layout, Pengfei Zhou, Xiaowei Xing Jan 2019

Simulation Of Automated Terminal With Dual-Rail Transport Trolley And Hollow Track Layout, Pengfei Zhou, Xiaowei Xing

Journal of System Simulation

Abstract: Container terminals with dual-rail transport trolley and hollow track layout (CTTH) are novel concept, for which a simulation model is developed with stochastic Petri nets. The simulation realization is discussed using Plant Simulation platform. A CTTH simulation system is developed to analyze its operational efficiency and parameter effects. Experiments show that CTTHs are more efficient than container terminals with automated RMGs. The study findings are helpful reference for the simulation models of automated container terminal and CTTH developments.

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Finite Element Numerical Simulation Of Pre-Damaged Reinforced Concrete Beam, Jiaquan Wu, Hongyan Li, Ye Fei, Xinyu Zhang, Kun Ma Jan 2019

Finite Element Numerical Simulation Of Pre-Damaged Reinforced Concrete Beam, Jiaquan Wu, Hongyan Li, Ye Fei, Xinyu Zhang, Kun Ma

Journal of System Simulation

Abstract: Based on the theory of model analysis, the general variation of model parameters, such as the structure natural frequency, displacement mode, curvature mode and strain mode etc.model of reinforced concrete beams with different damage locations and different damage states are reversely studied by finite element numerical simulation with the pre-damaged reinforced concrete beam structure as the research object, model and the aptability, sensitivity in the reinforced concrete structure damage identification are discussed. The results show that the frequency and displacement mode can not effectively reflect the existence of structural damage, but curvature mode and strain mode can reflect the …

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Modeling And Simulation Of Initial Loading Balls And Replenishing Balls Of The Duplex Inlet & Outlet Coal Mill, Junjie Gu, Yukun Wang, Zhizhong Bai Jan 2019

Modeling And Simulation Of Initial Loading Balls And Replenishing Balls Of The Duplex Inlet & Outlet Coal Mill, Junjie Gu, Yukun Wang, Zhizhong Bai

Journal of System Simulation

Abstract: To solve the problems of excess of abrasion of steel balls and high power consumption used for grinding of the duplex inlet & outlet coal mill, a method that can calculate the initial balls loading, the period and quantity of adding balls for the mill is presented on the basis of building up the models of steal balls’ abrasion and motion. Setting #E coal mill as example, period and quantity of adding balls are confirmed accurately in consideration of variation of power, the maximum capacity and fineness of coal powder, compensatory quantity of each grade of balls are also …

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Blind Equalization Algorithm Of Variable Segment Error Function Based On Catfish Effect Particle Swarm Optimization, Yecai Guo, Jiping Wu Jan 2019

Blind Equalization Algorithm Of Variable Segment Error Function Based On Catfish Effect Particle Swarm Optimization, Yecai Guo, Jiping Wu

Journal of System Simulation

Abstract: In order to overcome the disadvantage of the slow convergence rate and big steady state error of constant modulus algorithm (CMA), a variable segment error constant modulus blind equalization algorithm based on the catfish effect particle swarm optimization algorithm (CEPSO-VSCMA) is proposed. The algorithm introduces catfish effect particle swarm optimization on the base of VSCMA, finding the globally optimal solution with the global searching of particle swarm. Meanwhile, vibrant and competitive catfish individual are employed to reactivate particle swarm and accelerate convergence. The simulation results show that the proposed algorithm performs better in improving convergence rate, decreasing inter-symbol …

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Modeling And Simulation On Entities’ Belief In Cyberspace, Jiuyang Tao, Wu Lin, Xiaoyuan He, Rong Ming Jan 2019

Modeling And Simulation On Entities’ Belief In Cyberspace, Jiuyang Tao, Wu Lin, Xiaoyuan He, Rong Ming

Journal of System Simulation

Abstract: Of all cyber-attacks, 'fabrication' which is aimed at impacting one’s awareness is becoming the common means, so it is of great importance to explore ways so as to defend such attacks. An attack can success or not always rely on the entities’ belief of certain events. In this paper, two different ways of 'fabrication' attack are put forward, and three essential conditions for 'fabrication' attack are analyzed. Second, a cyberspace belief model in terms of the Dempster-Shafer framework based on situation awareness theory is built to study the evolution of the cyber entities’ belief under the 'fabrication' attack. In …

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Design Of Remote Medical Care Service Robot System, Yulin Xu, Chen Ling, Li Xin, Aolei Yang, Yanran Long, Chunli Zhu, Yanbo Liu, Yuzhang Jin Jan 2019

Design Of Remote Medical Care Service Robot System, Yulin Xu, Chen Ling, Li Xin, Aolei Yang, Yanran Long, Chunli Zhu, Yanbo Liu, Yuzhang Jin

Journal of System Simulation

Abstract: This paper introduces a service robot system for remote medical inspection. The robot is developed with the following functions: it is able to navigate in working area autonomously and be controlled remotely by doctors through a handheld terminal device; it is able to follow a fixed target such as nurses and doctors to reach any area; it has a touch-control interactive interface which can realize remote audio and video interaction between doctors and patients; it is embedded with portable type-B ultrasonic device, sphygmomanometer and thermometer for doctors to obtain physiological data of patients. With the above-mentioned functions, the robot …

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