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2020

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Articles 361 - 390 of 1941

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

Improved Genetic Algorithm-Based Network Game Path Selection And Simulation, Jianping Gu, Mingmin Zhang, Meiliang Wang Aug 2020

Improved Genetic Algorithm-Based Network Game Path Selection And Simulation, Jianping Gu, Mingmin Zhang, Meiliang Wang

Journal of System Simulation

Abstract: Traditional optimal path algorithm only sets the shortest path as the target, and it does not consider the network congestion and the number of users in game area for real-time situation, thus resulting in some limitations. According to the actual circumstance of network game, network game path selection model was proposed, and the improved genetic algorithm was employed for simulation. The method pre-processed the game map to get each road weighted length value for a real-time game map, and optimization solution was obtained through the genetic algorithm. A network game path selection method based on improved genetic algorithm was …

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Study On Hand Gesture Recognition And Portfolio Optimization Model Based On Svm, Zhiwei Cai, Shuyan Wu, Junfeng Song Aug 2020

Study On Hand Gesture Recognition And Portfolio Optimization Model Based On Svm, Zhiwei Cai, Shuyan Wu, Junfeng Song

Journal of System Simulation

Abstract: Hand gesture recognition was researched. The idea of extracting related features was proposed by using SVM algorithm in machine learning domain, and combination optimization method was used, which consists of ANN, HMM and DTW, to do hand gesture recognition. The experimental results show that portfolio optimization model based gesture recognition method has high accuracy and is very effective.

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State Estimation Approach By Fusing Delayed Measurements And Its Application, Pengcheng Qi, Zhonggai Zhao, Liu Fei Aug 2020

State Estimation Approach By Fusing Delayed Measurements And Its Application, Pengcheng Qi, Zhonggai Zhao, Liu Fei

Journal of System Simulation

Abstract: In batch processes, the key parameters were usually obtained online with low accuracy or offline with large time delay, and a state estimation algorithm was proposed to estimate the key parameters by incorporating delayed measurements with the real-time measurements. Due to the different sampling intervals of these two kinds of measurements, two cases were analyzed, including the case of only real-time measurements available and the case of both real-time and delayed measurements available. Considering the nature of nonlinearity and non-Gaussianity in batch processes, the particle filter algorithm was introduced for the state estimation, and it was further extended …

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Vehicle Routing Optimization Model Of Cold Chain Logistics Based On Stochastic Demand, Xiangguo Ma, Tongjuan Liu, Pingzhe Yang, Rongfen Jiang Aug 2020

Vehicle Routing Optimization Model Of Cold Chain Logistics Based On Stochastic Demand, Xiangguo Ma, Tongjuan Liu, Pingzhe Yang, Rongfen Jiang

Journal of System Simulation

Abstract: The costs of vehicle distribution in the process of cold chain logistics is analyzed and amended; A mathematical model with mixing time window is built to balance the customers' service request with importance level; To minimize the total cost, a mathematical model which uses a factor to make balance between the stability of customer demand fluctuation and the cost increase in the assignment phase is established. Based on MATLAB software, the optical solution is found with adaptive genetic algorithm by taking the background of a distribution center to simulate and analyze.

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Passive Radar Simulation And Evaluation System Based On Raw Signals, Xiaofeng Ai, Yonghu Zeng, Liandong Wang, Guangyong Zheng, Xiaoyang Wang, Manxi Wang Aug 2020

Passive Radar Simulation And Evaluation System Based On Raw Signals, Xiaofeng Ai, Yonghu Zeng, Liandong Wang, Guangyong Zheng, Xiaoyang Wang, Manxi Wang

Journal of System Simulation

Abstract: Detection ability of the passive radar is very closely related with many factors in the real aplication. A method was proposed based on the raw data and the dynamic characteristics of a specific target. In this method, the reference and the surveillance channels' signals were obtained through the actual passive radar receiving system. The direct-path signal was reconstructed by using the reference signal. The target echo was obtained by modulating the direct-path signal with the echo power, delay and Doppler parameters, which was calculated with the move and scattering characteristics of target. Adding the target echo to surveillance channel, …

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Modeling And Motion Analysis Of Multi-Bodies Dynamic Of Unmaned Parafoil Vehicle, Zhang Hao, Zili Chen, Jingang Qiu Aug 2020

Modeling And Motion Analysis Of Multi-Bodies Dynamic Of Unmaned Parafoil Vehicle, Zhang Hao, Zili Chen, Jingang Qiu

Journal of System Simulation

Abstract: Unmanned Parafoil Vehicle (UPV) has gradually become a hotspot in the flexible wing vehicle research filed for its superior fight performance and advantages in application. An eight degrees of freedom (DOF) nonlinear dynamic model of UPV in mechanism law was proposed, aiming at the structure characteristics of the two flexible connections, and considering the added mass of canopy and the relative motion of two bodies. The response of model to different levels of thrust changes was simulated and analyzed, pulling a single steering line and pulling the left and right steering lines of canopy symmetrically on the steady state …

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Wood Structure Nondestructive Detection Based On Singular Spectrum Analysis And Svm, Guoxiong Zhou, Aibin Chen, Xianyan Zhou Aug 2020

Wood Structure Nondestructive Detection Based On Singular Spectrum Analysis And Svm, Guoxiong Zhou, Aibin Chen, Xianyan Zhou

Journal of System Simulation

Abstract: In view of unknown defect of wood component defect, a method of wood structure nondestructive recognition based on Singular spectrum analysis and SVM was proposed. The wood specimen was tested to obtain the test signal by ultrasonic testing instrument. In order to eliminate the testing effect of the tester gain control and defect size, angle variation on the test defect echo amplitude, the abnormal fluctuation was to filter and characteristic of the original signal was extracted by singular spectrum analysis, and SVM could train the parameters and distinguish the wood defects. Simulation results show that the proposed method …

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Simulation Research On Wireless Power Transmission System Of Cardiac Pacemaker Based On Magnetic Resonance, Xiuquan Liu, Yanhong Li, Huang Ping Aug 2020

Simulation Research On Wireless Power Transmission System Of Cardiac Pacemaker Based On Magnetic Resonance, Xiuquan Liu, Yanhong Li, Huang Ping

Journal of System Simulation

Abstract: Aiming at disadvantages of the battery limited supply time of the implantable cardiac pacemaker and the actual application of electromagnetic induction wireless power transmission (WPT) system, the resonant WPT technology was proposed. The basic working principle of a WPT system of the implantable cardiac pacemaker was introduced. Based on Magnetic resonance coupling and mutual inductance calculation model, the mathematics models of the WPT system of the cardiac pacemaker were established. By the accurate formulae of the mutual inductance of the primary and secondary coreless coils, the influences of the parameters, such as the axial distance, radial offset and coli …

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Simulation Study On External Explode Of Large Equivalent Charge On Large Buildings, Weiping Zhao, Xiankun Ge, Chuanwu Liu, Fengchun Zhu Aug 2020

Simulation Study On External Explode Of Large Equivalent Charge On Large Buildings, Weiping Zhao, Xiankun Ge, Chuanwu Liu, Fengchun Zhu

Journal of System Simulation

Abstract: The particle algorithm in AUTODYN, Smoothed Particle Hydrodynamics (SPH), was used to simulate dynamic damage of the external explosion on large buildings, which provided a visual effect. The dynamic damage details of reinforced concrete and brick masonry structure at different time were proposed by the simulation of single component. Additionally, the overpressure of shock wave, caving velocity and kinetic energy were obtained. It shows that the caving can speed up to a maximum value of 152 m/s with the kinetic energy of 18 000 J, that means a great damage to personnel and equipment in the building. Under …

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Study Of Light Extraction Efficiency For Thin-Film-Flip-Chip Light-Emitting Diodes With Periodic Spheroids, Xiaojie Yu, Li Kang, Fanmin Kong, Qingyang Yue Aug 2020

Study Of Light Extraction Efficiency For Thin-Film-Flip-Chip Light-Emitting Diodes With Periodic Spheroids, Xiaojie Yu, Li Kang, Fanmin Kong, Qingyang Yue

Journal of System Simulation

Abstract: The enhancement of light extraction efficiency for thin-film-flip-chip light-emitting diodes (LED) based gallium nitride (GaN) with triangular lattice periodic ellipsoid was studied. Three dimensional finite difference time domain methods (3D-FDTD) were applied to analyze the structural parameters (the period and ellipsoid height) effects on thin-film-flip-chip LED light extraction efficiency. FDTD numerical results prove that ellipsoids structure can improve LED light extraction efficiency and impair guide mode. Method rigorous coupled wave (RCWA) is adopted to analyze diffraction characteristics. This research results show that optimization of the periodic ellipsoid can improve thin-film-flip-chip LED light extraction efficiency increased by 2.8 times.

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Phy Security Transmission Based On Antenna Selection And Artificial Noise, Deng Dan, Wang Wei, Zhao Ming Aug 2020

Phy Security Transmission Based On Antenna Selection And Artificial Noise, Deng Dan, Wang Wei, Zhao Ming

Journal of System Simulation

Abstract: A physical-layer security enhancement scheme based on antenna selection and artificial noise (ASAN) was proposed. In broadcast phase, the Relay node selected the optimal antenna subset, and transmitted the beamforming matrix and artificial noise vector simultaneously. Simulation results show that the ASAN scheme outperforms classical beamforming scheme. Compared with beamforming scheme, the proposed scheme shows about 2.5dB gain in ergodic secrecy capacity when antenna number of Relay is three, and 3dB gain when the antenna number is six. Specifically, the combined selection criterion shows the similar curve compared with the one-direction criterion, in which the Relay only needs the …

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Evaluation Method Of Training Simulation Result Based On Grey Clustering And Analytic Hierarchy Process, Zhaobin Wu, Chen Li, Chunxia Zhao Aug 2020

Evaluation Method Of Training Simulation Result Based On Grey Clustering And Analytic Hierarchy Process, Zhaobin Wu, Chen Li, Chunxia Zhao

Journal of System Simulation

Abstract: An evaluation method based on grey relational analytic hierarchy process was proposed in order to improve rationality of evaluation training result of portable anti-air missile training simulation system. The evaluating indicators including definitions and calculation equations were proposed from three aspects including accuracy, rapidity and stationarity. The weights of the evaluating indicators were calculated by analytic hierarchy process of multiple experts, and the scores of the evaluating indicators were given by 0-1 process and grey clustering evaluation, and using the weights and scores of the evaluating indicators the training score could be obtained. An example of evaluation training result …

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Research On Direct Torque Control Of Induction Motor Based On Svpwm, Yougui Guo, Dongqing Pan, Deng Cheng, Li Hui, Wenlang Deng Aug 2020

Research On Direct Torque Control Of Induction Motor Based On Svpwm, Yougui Guo, Dongqing Pan, Deng Cheng, Li Hui, Wenlang Deng

Journal of System Simulation

Abstract: The traditional direct torque control of induction motor directly controls the flux and torque through hysteresis comparator, which leads to problems such as limited voltage control vectors, large flux and torque ripple. To solve the problems, adopting SVPWM-DTC, a direct toque control (DTC) method based on space vector pulse width modulation (SVPWM) was verified with a simulation. The results show that this method can improve the performances of DTC system efficiently and maintain the switch frequency constant at the same time. A practical application used in variable speed constant frequency double-fed wind power system was proposed, in which the …

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Modeling And Simulation Of Executable Architecture Based On P-Devs, Jianpeng Hu, Linpeng Huang Aug 2020

Modeling And Simulation Of Executable Architecture Based On P-Devs, Jianpeng Hu, Linpeng Huang

Journal of System Simulation

Abstract: Executable architecture modeling plays a vital role in the design of complex systems and System of Systems (SoS), but there is still no common view and standard, unified execution mechanism and environment for an executable architecture. Three major elements of executable architecting were analyzed and summarized with a comparison among the options of these elements. To realize automated transformation from graphical models to executable codes, a generic modeling approach to executable architecture of SoS based on Parallel Discrete Event System Specification (P-DEVS) was proposed, and a case study of airport SoS shows its feasibility and effectiveness.

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Coupling Sph Model For Occupant Evacuation In Fires And Simulation, Zhihong Miao, Zhihui Li Aug 2020

Coupling Sph Model For Occupant Evacuation In Fires And Simulation, Zhihong Miao, Zhihui Li

Journal of System Simulation

Abstract: Computer simulation of evacuation can be very helpful in building design for fire protection and reducing casualty in compartment fire. A coupling model for occupant evacuation building fires was proposed. A continuous model was composed by treating pedestrians movement as fluid movement, and by using Smoothed Particle Hydrodynamics method to discretize this continuous model, the model was transformed into a particle system. A method for coupling FDS into the occupant evacuation model was proposed, and the amounts of smoke density and smoke charge of pedestrian were used to determine the move direction of a pedestrian and …

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Topology Modeling Of Information Grid Network For Military Applications, Mingqing Zhang, Meilin Wei, Hongshan Kong, Shuqin Dong Aug 2020

Topology Modeling Of Information Grid Network For Military Applications, Mingqing Zhang, Meilin Wei, Hongshan Kong, Shuqin Dong

Journal of System Simulation

Abstract: For the lack of military network topology research and incomprehensive consideration of topology modeling factors, a topology modeling method of information grid network for military applications was proposed. AS-level and router level topology generation algorithms were designed. A seamless integration scheme between two topologies was proposed. Simulation experiments about meeting the conditions for the topological properties and topology model deployment strategy in network simulation environment were implemented. The simulation results show that the information grid network can be remained stable in the overall nature with considering the growth, death, “preferential attachment”, invulnerability and other factors of …

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Simulation & Analysis Of Liquid Metal Conical Helical Antenna, Zhou Yun, Shaojun Fang, Shiqiang Fu, Zhongbao Wang Aug 2020

Simulation & Analysis Of Liquid Metal Conical Helical Antenna, Zhou Yun, Shaojun Fang, Shiqiang Fu, Zhongbao Wang

Journal of System Simulation

Abstract: In order to replace the solid metal antenna, a novel liquid metal conical helical antenna was presented. The antenna is easy to adjust its shape. The circularly polarized antenna has the characteristics of small size, high gain, wide bandwidth, and it is easy to reconstruct. Taking maritime satellite communications as an example, the proposed antenna was designed, simulated and optimized for antenna impedance matching with HFSS software, and a good circularly polarized radiation and impedance characteristics for the antenna were obtained. The simulated results show that: in the entire maritime satellite communication work band (1 525-1 660.5 …

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Simulation And Optimization For Bulk Terminal Yard Scheduling, Dongbo Hu, Li Pan, Binbin Zhang, Guozhi Liang Aug 2020

Simulation And Optimization For Bulk Terminal Yard Scheduling, Dongbo Hu, Li Pan, Binbin Zhang, Guozhi Liang

Journal of System Simulation

Abstract: Yard is the central part of the operation process of the whole terminal. In fact, the operation of lots of bulk terminal is unscientific, which severely restricts the turnover efficiency and the throughput of the terminal. Taking the coal terminal as an example and based on its operation process, the dispatching simulation model involving all parts of the operation was established and the rules of use of the yard grids was brought forward. By optimizing the operation strategy and related parameters, it is significant to improve the input quantity of bulk terminal and the turnover efficiency.

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Study On Comprehensive Performance Of Roadheader Shovel Based On Simulation Optimization Method, Dayong Wang, Wang Hui Aug 2020

Study On Comprehensive Performance Of Roadheader Shovel Based On Simulation Optimization Method, Dayong Wang, Wang Hui

Journal of System Simulation

Abstract: An improved genetic algorithm that integrates into non-uniform mutation operator and niching technology, which could run toward the optimal solution effectively, and to better maintain the diversity of the solution and high convergence speed was proposed. Meanwhile, taking shovel width and shovel dip for design variables optimizes loading capacity, shovel grubbing force and shovel coaming thickness of roadheader shovel. Optimization results show that: shovel width is reduced by 1.33%, shovel dip is reduced by 9.47%, and Shovel coaming thickness is increased by 11.4%, which has a significant effect on the overall stability of roadheader and the shovel strength. …

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Dgetmw: Motion Video Tracking Based On Memory Watershed Disc Gradient Expansion Template, Wei Wei, Kongping Wu, Laigong Guo, Qin Meng Aug 2020

Dgetmw: Motion Video Tracking Based On Memory Watershed Disc Gradient Expansion Template, Wei Wei, Kongping Wu, Laigong Guo, Qin Meng

Journal of System Simulation

Abstract: In order to obtain ideal detection results of moving object, a new video moving object detection algorithm based on labeling watershed and detection algorithm and morphology were proposed. The image was pre-processed by diffusion model to eliminate noise interference on object detection, and the difference algorithm was used to extract outline of moving object.. Morphological operations were used to process the target outline, and marked watershed algorithm was used to segment moving object and performance was tested by simulation experiments. The simulation results show that the proposed algorithm can prevent over segmentation problems and accurately detect moving object …

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Research Of Satellite Tactical Communication Network Routing Protocol Simulation Based On Tdma, Yanfang Fu, Li Lu, Gao Xiang, Cheng Bing Aug 2020

Research Of Satellite Tactical Communication Network Routing Protocol Simulation Based On Tdma, Yanfang Fu, Li Lu, Gao Xiang, Cheng Bing

Journal of System Simulation

Abstract: In order to build a globally oriented efficient and seamless tactical communication network system, on the research of satellite and mobile communication network technology, using simulation software OPNET Modeler, a TDMA model and unique tactical communications network was designed. Its main feature is full-completion five layers network model which can satisfy the function of each network level, also provides a reliable basis for later work. After compared with DSR routing, the hierarchical routing shows some advantages in simulation. Some valuable conclusions were drawn, which can provide objective, reliable information for network planning and design.

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Simulation Of Performance Optimization Control About Transcritical Co2 Automotive Air Conditioning System, Jinghua Zhao, Tao Jing, Fangxi Xie, Kainan Zhao Aug 2020

Simulation Of Performance Optimization Control About Transcritical Co2 Automotive Air Conditioning System, Jinghua Zhao, Tao Jing, Fangxi Xie, Kainan Zhao

Journal of System Simulation

Abstract: According to the researching data of certain corporate, a semi-theoretical model of the transcritical CO2 automotive air conditioning system was established using AMESim Software. The research was carried out successively from the aspects of thermodynamics, system performance analysis and optimal control, in order to ensure that the coefficient of performance (COP) reached its maximum. According to the results of exergy loss analysis and performance analysis, the fuzzy PID controller was designed. Under the interference of the ambient temperature change, the controller could control high pressure to ensure COP reach its maximum. The comparison with the well-tuning PID controller …

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Slashing Quality Index Modeling And Simulation Based On Data Dispersion Clustering, Yuxian Zhang, Xiaoyi Qian, Dong Xiao, Jianhui Wang Aug 2020

Slashing Quality Index Modeling And Simulation Based On Data Dispersion Clustering, Yuxian Zhang, Xiaoyi Qian, Dong Xiao, Jianhui Wang

Journal of System Simulation

Abstract: For the sensitivity of noise and outliers data in the typical partitioning clustering algorithm, a clustering algorithm based on data dispersion was proposed. The data dispersion was defined and introduced to a non-Euclidean distance. The similarity metric was established, and the data clustering was realized. The optimal clustering number was obtained by the validity function based on improved partition coefficient. Then the proposed clustering algorithm was applied to quality index model in slashing process. A size add-on quality index model was built by radial basis function neural networks. The node number of hidden layer was determined and the center …

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Prediction Of Energy Efficiency Of Nc Machine Tools Based On Recursive Method With Discounted Measurements, Cai Lei, Wang Yan, Zhicheng Ji Aug 2020

Prediction Of Energy Efficiency Of Nc Machine Tools Based On Recursive Method With Discounted Measurements, Cai Lei, Wang Yan, Zhicheng Ji

Journal of System Simulation

Abstract: Aiming at the problem that the energy efficiency of numerical control machine tool is difficult to obtain directly, a new method combined with the recursive method with discounted measurements was presented to predict the energy efficiency of machine tool. The estimation model of the cutting power was given in view of the power balance equation of the machine tool main drive system and the additional load loss function, further taking into account the additional load loss coefficients in model could not be directly measured, the recursive method with discounted measurements was adopted to identify the additional load loss coefficients …

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Using Raster Lattices To Build Terrain Attribute Of Wargame Map, Jinming Zhang Aug 2020

Using Raster Lattices To Build Terrain Attribute Of Wargame Map, Jinming Zhang

Journal of System Simulation

Abstract: Wargame map is a sketchy description of geographical environment under certain conditions. It is used to assist commanders or operational models to locate spatial positions and to determine spatial attributes. The former process is called geometric modeling and the latter attribute modeling, and the combination of which is known as Wargame Map Modeling. A Raster Lattice Algorithm for attribute modeling was proposed, which could effectively reduce modeling complexity and improve modeling efficiency. The basic process of attribute modeling and discussing its difficulty was described, i.e., the calculation of the covered areal ratio between hexagon and the geographical environment element. …

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Stylization Rendering Algorithm Based On Interactive Graph Cuts Method For Image Segmentation, Zhao Yang, Guowu Yuan, Dangen Xie, Xu Dan Aug 2020

Stylization Rendering Algorithm Based On Interactive Graph Cuts Method For Image Segmentation, Zhao Yang, Guowu Yuan, Dangen Xie, Xu Dan

Journal of System Simulation

Abstract: The image is cut into two parts, the object and background, using the Graph Cuts interactive image segmentation algorithm. Through interactive image segmentation, user segmented image into a foreground region and a background region. For background area, a variety of non-photorealistic rendering algorithm was designed, which could render the original image into artistic images with other cartoon painting, pencil drawing or painting style. For foreground region, the algorithm maintained its feathers unchanged. By merging foreground and background areas, the artistic images were obtained with variety styles. Experiments show that the algorithm designed can get the desired result for processing …

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Nonlinear H∞ Control For Marine Speed With Parameter Perturbation And Ambient Interference, Yupeng Yuan, Zhang Meng, Xinping Yan, Guo Bo, Jianglong Wan Aug 2020

Nonlinear H∞ Control For Marine Speed With Parameter Perturbation And Ambient Interference, Yupeng Yuan, Zhang Meng, Xinping Yan, Guo Bo, Jianglong Wan

Journal of System Simulation

Abstract: In order to improve the automation level and enhance the navigation safety of ships, stable control for ship speed is very important. Good control effect is difficult to obtain based on the conventional control method since the marine speed control system is a time-varying parameters and nonlinear complicated propulsion system. The uncertainty of the system parameters and the effect of environment such as winds, waves and currents were considered adequately in ship motion mathematical model with disturbing force. The mathematic model was linearized accurately with the differential geometry method. Then the nonlinear H∞ controller was designed according to …

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Multiresolution Scene Matching Algorithm For Infrared And Visible Images Based On Non-Subsampled Contourlet Transform, Liu Gang, Guangyu Wang, Zhou Heng, Mingjing Wang Aug 2020

Multiresolution Scene Matching Algorithm For Infrared And Visible Images Based On Non-Subsampled Contourlet Transform, Liu Gang, Guangyu Wang, Zhou Heng, Mingjing Wang

Journal of System Simulation

Abstract: Aiming at scene matching problem for taking infrared image as the actual data and the visible image as the referenced data, a multiresolution matching algorithm was proposed based on non-subsampled contourlet transform (NSCT). By using the transform of phase congruency transform, the difference of grayscale and contrast between infrared image and visible light image was weakened. Subsequently, the two types of images were separately transformed into non-subsampled contourlet domain and the proposed method took the Krawtchouk invariant moment as matching feature. The presented method, which used the improved genetic algorithm (GA) as searching strategy which conquered the precocious phenomenon, …

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Repairable K/N Voting System Life Situation Model Analysis And Simulation From Time Response, Yongfeng Fang, Jianjun Chen Aug 2020

Repairable K/N Voting System Life Situation Model Analysis And Simulation From Time Response, Yongfeng Fang, Jianjun Chen

Journal of System Simulation

Abstract: For the k of k/n system is given according to the one's experience in the current, the probability of the failure of the singular system components was given according to the stress-strength interference theory and the load distribution of the component withstand. The dynamic reliability prediction model of the repairable k/n system was established by using probabilistic differential equations and by the repairable system components moving in reliable and failure. The equation was solved and their answers were shown to give the precisely k when the k would be determined. The model shows accuracy and feasibility …

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Research On Cholecystectomy Virtual Surgery Simulation Training Platform, Wang Jun, Liu Dong Aug 2020

Research On Cholecystectomy Virtual Surgery Simulation Training Platform, Wang Jun, Liu Dong

Journal of System Simulation

Abstract: The main performance factors in virtual surgery system with immersion are real-time, realistic deformation and smooth feel handle. A kind of cholecystectomy simulation training platform with force feedback feel was built, putting forward a kind of collision detection method based on Capsule-Sphere mixture model of different model with different bounding box in the real-time and a kind of mass-spring deformation method based on mesh-skeleton model in the force-deformation, and being tested on the virtual surgery force feedback device in prophase research. The experimental results show that the two modes are applied to the virtual cholecystectomy simulation and the platform …

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