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Operations Research, Systems Engineering and Industrial Engineering Commons™

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2020

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Articles 1231 - 1260 of 1941

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

Real-Time Modeling Of Interaction Between Floating Objects And Large-Scale Water, Xiaolong Yang, Hongtao Liang, Fengju Kang, Gu Hao Jun 2020

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 …

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Submarine Tactical Action Scheme Optimization Method Based On Massive Result Data, Zhang Hui, Sijin Wu, Cheng Jian Jun 2020

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.

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Evolutionary Extreme Learning Machine Optimized By Quantum-Behaved Particle Swarm Optimization, Pang Shan, Xinyi Yang, Xuesen Lin Jun 2020

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 …

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

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

Journal of System Simulation

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

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Effect Of Properties Of Synchronous Belt On Vibration Characteristics Of A Polishing Machine, Baibing Sun, Zhongyu Piao Jun 2020

Effect Of Properties Of Synchronous Belt On Vibration Characteristics Of A Polishing Machine, Baibing Sun, Zhongyu Piao

Journal of System Simulation

Abstract: To form slurry film, hydrodynamic-suspension polishing machine needs polishing clearance extremely small, so any slight vibration will make tremendous influence on machining. The effect of different properties of synchronous belt on vibration characteristics of polishing machine was simulated by Workbench. Motion analysis shows the parameters which influence on transverse vibration of synchronous belt. Orthogonal test was designed and simulation was made by using above parameters. The results released that the material played an important role than the belt width and tension force. According to actual situation, optimum combination was obtained. Consequently, the stability of the machine was obviously improved. …

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

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

Journal of System Simulation

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

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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 Jun 2020

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 …

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

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

Journal of System Simulation

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

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Modeling Of Steam Turbine's Governing System During Main Steam Valve Activity Test And Control Optimization, Sheng Kai, Shuangjian Peng, Xun Xin, Bochun Wang, Fu Qiang Jun 2020

Modeling Of Steam Turbine's Governing System During Main Steam Valve Activity Test And Control Optimization, Sheng Kai, Shuangjian Peng, Xun Xin, Bochun Wang, Fu Qiang

Journal of System Simulation

Abstract: A Model of 300 MW thermal power unit's governing system of steam turbine is established to analyze its load fluctuation during main steam valve activity test. The model contains three sub-models; they are the model of turbine's governor during main steam valve activity test, the model of electric-hydraulic servo actuator, and the model of turbine considering governing valve's discharge characteristic. The analyses on these models indicate that mismatch among control model, configuration of DEH (Digital Electric Hydraulic Control System) and characteristic of the unit is the cause of load fluctuation. Through simulation, the method for load fluctuation suppression was …

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

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

Journal of System Simulation

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

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Scheduling Problem Of Unidirectional Material Handling System With Short-Cut, Juntao Li, Kun Xia, Kise Hiroshi Jun 2020

Scheduling Problem Of Unidirectional Material Handling System With Short-Cut, Juntao Li, Kun Xia, Kise Hiroshi

Journal of System Simulation

Abstract: Unidirectional circulation-type material handling system on a single loop with a shortcut is a typical and basic unit in a flexible manufacturing system or logistics system. It is widely used in semiconductor wafer fabrication system. Superposition efficiency of the basic unit often determines the one of the whole system. Different scheduling rules impact the interference between AGVs and then have an important effect on the efficiency of the whole system. To decrease the interference and improve performance of the system, a mathematical model of this system was made, analyzing this system by simulation and comparing the merits and …

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Research On Highline Cable Parametric Design Platform Of Alongside Replenishment At Sea, Li Nan, Zhuobin Wei, Xuejun He, Shiyun Zhang Jun 2020

Research On Highline Cable Parametric Design Platform Of Alongside Replenishment At Sea, Li Nan, Zhuobin Wei, Xuejun He, Shiyun Zhang

Journal of System Simulation

Abstract: High cable is an important part of the horizontal replenishment equipment at Sea. Its performance directly affects the safety of replenishment at sea. Because there is not a suitable high cable dynamic model in the domestic, for the first time to take the high cable as a multi-body system and established the flexible-body dynamics model. Then the optimization design model of high cable which is on the basis of the model was established. Meanwhile it set up the parametric design platform of high cable by using ADAMS to parameterize the optimization design model. The optimization design results of a …

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Switching Characteristics Of Bjt And Pspice Simulation, Li Zi, Yuanbo Zhang Jun 2020

Switching Characteristics Of Bjt And Pspice Simulation, Li Zi, Yuanbo Zhang

Journal of System Simulation

Abstract: In Marx type pulsed power devices, the switch is the most important component to determine the rising time of output pulses. A novel switching device utilizing the avalanche breakdown characteristic between the collector and emitter of BJT,was proposed to replace the traditional switch. Impules voltage could be outputted in less than 5ns by Marx circuit using BJT which could be the alternative switch of general Marx generator. Different BJTs' avalanche breakdown characteristics between the collector and emitter were introduced, according to experimental results, some appropriate BJTs were chosen to be used in Marx generator. At present there is no …

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

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

Journal of System Simulation

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

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Sliding Mode Auto - Disturbance Rejection Control Of Hypersonic Vehicle Under Disturbance, Mingzhi Cheng, Yunjie Wu, Ma Fei Jun 2020

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.

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Research On Simulation Platform Based On Behavior Heterogeneity For Agriculture Biomass Energy, Liu Zhen, Dehui Xu, Kaiwei Zhu, Huilong Sun Jun 2020

Research On Simulation Platform Based On Behavior Heterogeneity For Agriculture Biomass Energy, Liu Zhen, Dehui Xu, Kaiwei Zhu, Huilong Sun

Journal of System Simulation

Abstract: To analyze the influence of different collecting mechanism, subsidies and prices on the amount of energy-utilized straw resource, based on behavior heterogeneity theory and Boltzmann learning algorithm, an agricultural biomass trading emulated platform, which considers the decision preference of the farmer, was Build. The platform was used to study the effects of farmers' behavior and transportation costs on the amount of the collected straw. Found that, the farmers' behavior heterogeneous and the transportation cost have huge Influences on the ultimately collected straw amount. Compared with the theoretic collecting amount, there are great differences in the ultimately collected straw amount, …

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Performance Evaluation Method Based On Satisfactory Degree For Air-Information Fusion System, Xiaochao Wu, Li Dong, Zhang Xing, Zhenyu Huang, Liu Bo Jun 2020

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.

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Simulation Study For Truck Restriction Strategies On Jingzang Expressway In Beijing, Senyan Yang, Jianping Wu, Mingyu Liu, He Lei Jun 2020

Simulation Study For Truck Restriction Strategies On Jingzang Expressway In Beijing, Senyan Yang, Jianping Wu, Mingyu Liu, He Lei

Journal of System Simulation

Abstract: Lane restriction strategy for trucks is an effective way to improve the capacity of expressways and ease traffic congestion. Microscopic simulation models were employed to assess the impacts of restriction strategies and truck accidents on expressway traffic condition. Parameters were calibrated and validated based on the field data of Jingzang Expressway. Five simulation scenarios with different time setting for trucks' no passing were established, and evacuation after truck accident was simulated. Simulation results indicate that the most suitable time for trucks' no passing is from 7:00 to 19:00. The travel time of small passenger cars can be reduced …

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

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

Journal of System Simulation

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

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

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

Journal of System Simulation

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

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

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

Journal of System Simulation

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

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

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

Journal of System Simulation

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

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

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

Journal of System Simulation

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

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Two-Dimensional Parameter Estimation Of Near Field Sources Based On Propagator Method, Caifeng Liang, Pan Jing, Liu Ying, Li Xu Jun 2020

Two-Dimensional Parameter Estimation Of Near Field Sources Based On Propagator Method, Caifeng Liang, Pan Jing, Liu Ying, Li Xu

Journal of System Simulation

Abstract: A new method based on fourth-order cumulant and propagator method for the joint estimation of the range and DOA of spatial near-field sources is presented. The fourth-order cumulant matrix is constructed using the received uniform linear array data, the received signal noise subspace is estimated by propagator method; the range and DOA of spatial near-field sources are gotten through the spectrum peak search method after the MUSIC spectrum function construction. Compared with the traditional MUSIC algorithm, the presented algorithm with the propagator method directly estimates the least squares solution of the noise subspace, rather than conventional orthogonal solution of …

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

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

Journal of System Simulation

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

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

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

Journal of System Simulation

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

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

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

Journal of System Simulation

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

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Modeling Of Spectrum Sensing Energy Consumption In Cognitive Radio Networks, Ziru Cui, Peng Yi Jun 2020

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 …

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Dynamic Evolvement And Emergence Modeling For Distributed Operational Systems Capability, Yinghui Yang, Jianhua Li, Mingli Nan, Chen Qiang, Jifang Wen Jun 2020

Dynamic Evolvement And Emergence Modeling For Distributed Operational Systems Capability, Yinghui Yang, Jianhua Li, Mingli Nan, Chen Qiang, Jifang Wen

Journal of System Simulation

Abstract: Aiming at dynamic characteristic of battlefield environment, particularity of operational systems, function heterogeneity and nonlinear effect of operational units, a new dynamic evolvement and emergence modeling method for distributed operational systems capability was proposed. Operational systems super-network model composing of unit layer and network & system layer was built based on super-network theory, and relationship between two layers was analyzed. Concepts of unit capability, network & system capability, systematic capability and fire procedure link were defined. Unit to capability mapping relationship and capability to capability relationship were researched respectively. Affects of unit self-effect, units' inter-effect, network promotion and battlefield …

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Robust Control Of Free-Floating Two-Flexible-Link Space Manipulator Based On Observer, Xiaoyan Yu, Chen Li Jun 2020

Robust Control Of Free-Floating Two-Flexible-Link Space Manipulator Based On Observer, Xiaoyan Yu, Chen Li

Journal of System Simulation

Abstract: The joint motion robust control and optimal flexible vibration control of a free-floating two-flexible-link space manipulator based on linear observers was discussed. The dynamic model of a free-floating space manipulator with two flexible links was established by the momentum conservation and the Lagrange equations. Based on singular perturbation approach and choosing appropriate local coordinate frame, a slow subsystem and a flexible-link fast subsystem were obtained. The corresponding controllers were proposed for the two subsystems, which was the linear observer based robust slow subsystem controller and the linear observer based flexible link fast subsystem optimal controller. Numerical simulation demonstrates …

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