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Articles 4561 - 4590 of 13783

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

Synthetic Aperture Radar Signal Simulation Of Ships On Sea Surface, Guijie Diao, Xiaojian Xu, Ni Hong, Junjie Lu Aug 2020

Synthetic Aperture Radar Signal Simulation Of Ships On Sea Surface, Guijie Diao, Xiaojian Xu, Ni Hong, Junjie Lu

Journal of System Simulation

Abstract: A synthetic aperture radar (SAR) signal simulation method for ship targets on sea surface was proposed and the SAR signature model was established. The ship six degrees freedom motion model, the sea surface complex reflection coefficient model and the target electromagnetic scattering model were introduced. Based on the high frequency electromagnetic scattering calculation method and multi-path electromagnetic scattering, the electromagnetic coupling scattering and the time-varying characteristics were simulated. By comparing and analyzing the imaging results of the simulated SAR signal in different states, the physical scattering characteristics of ship targets on sea surface was realistically reflected, at the same …

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Topology-Aware Dynamic Load-Balancing Of Conservative Simulation, Yanlong Zhai, Nana Jia, Xinyu Zhang, Yang Kai, Duzheng Qing Aug 2020

Topology-Aware Dynamic Load-Balancing Of Conservative Simulation, Yanlong Zhai, Nana Jia, Xinyu Zhang, Yang Kai, Duzheng Qing

Journal of System Simulation

Abstract: In parallel and distributed discrete-event simulation, the work load of logical processes (LPs) may become imbalanced due to the change of resources or newly generated events. This will increase LPs' waiting time in conservative simulations and the rollback times in the optimistic simulation. A topology-aware dynamic load-balancing approach of conservative simulation was proposed to solve this problem. The working time was monitored and calculated to detect whether imbalance occurs based on K-means clustering algorithm. The load balancing scheme was calculated according to the load and topology. Experimental results show that the proposed approach can balance the load rapidly and …

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Discrete-Event Simulation-Engine Technology Based On Mailbox-Mechanism In C4Isr System, Wendi Cheng, Fengxin Sun, Chu Wei Aug 2020

Discrete-Event Simulation-Engine Technology Based On Mailbox-Mechanism In C4Isr System, Wendi Cheng, Fengxin Sun, Chu Wei

Journal of System Simulation

Abstract: For the design of discrete event simulation engine about combat simulation platform tools in C4ISR System, discrete events were divided into several types according to the C4ISR System's functional components and operational deduction process. The advantage of centralized management and convenient access was made use of by the mechanism of sending and receiving emails in mailbox to support the circulation of discrete events. Besides, the fixed-step driven and event-driven discrete event engine strategies were compared and analyzed. The result shows that, discrete event-driven clock algorithm, which can greatly reduce the consumed machine-time in simulation, is more applicable at …

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Semi-Physical Simulation System Research For Marine Fuel Oil Purifier, Zhang Ning, Zhipeng Shen, Jizhong Liu, Haiwei Wang Aug 2020

Semi-Physical Simulation System Research For Marine Fuel Oil Purifier, Zhang Ning, Zhipeng Shen, Jizhong Liu, Haiwei Wang

Journal of System Simulation

Abstract: Practical training in ship fuel oil purifier systems have lots of limitations including poor stability, development difficulties and high maintenance cost. A semi-physical simulation system for marine fuel oil purifier was proposed. According to the real ship control box, a fuel oil purifier control box was designed. A process simulation system was developed to simulate the fuel oil tube and purifier function, which could achieve the working process of purifier system and the phenomenon of fault alarm. The simulation system can reappear the working process of the oil purifier and simulate the fault conditions to improve the …

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Mufti-Model Soft Modeling Based On Clustering In Evaporation Process, Peng Chen, Xiaoshan Qian Aug 2020

Mufti-Model Soft Modeling Based On Clustering In Evaporation Process, Peng Chen, Xiaoshan Qian

Journal of System Simulation

Abstract: Based on the idea approach based on multi-model with a stronger robustness and precision, combining with strong coupling and the highly nonlinear characteristics in multi-effect evaporation process, a soft sensor modeling method of fuzzy kernel clustering was proposed based on differential evolution and multi-squares support vector machines. The method made clustering samples under different conditions by use of DE-KFCM, each sub-models were constructed using LSSVM using fuzzy clustering algorithm to cluster the input data under different conditions, and finally get the system output by weighting. Taking alumina evaporation process as an example, for the soft sensor modeling of export …

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Research On Prediction Method Of Army Equipment Support Requirement Based On Operation Simulation Case- Reasoning, Yaxin Tan, Fan Rui, Xiao Dong Aug 2020

Research On Prediction Method Of Army Equipment Support Requirement Based On Operation Simulation Case- Reasoning, Yaxin Tan, Fan Rui, Xiao Dong

Journal of System Simulation

Abstract: Aiming at the question of army equipment support requirement prediction, a new mechanism based on simulation case-based reasoning was proposed. The method was given how to describe the simulation case based on characteristic vector, and put forward the constriction of simulation case which contains primary case and accessory case, and two-steps reasoning mechanism using the conception of similarity was researched. Then, some algorithms of similarity between cases were improved and the general flow was expounded. The operation simulation case library was built applying in the requirement prediction of army equipment support. The result of reasoning proves the effectivity and …

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Simulation Evaluation Method Of Operational Effectiveness Based On Clustering Analysis And Correlation Analysis, Jiao Song, Chu Wei, Shaojie Mao Aug 2020

Simulation Evaluation Method Of Operational Effectiveness Based On Clustering Analysis And Correlation Analysis, Jiao Song, Chu Wei, Shaojie Mao

Journal of System Simulation

Abstract: Simulation evaluation is one of the important methods for researching operational effectiveness. With the increasing complexity of the evaluation object, the evaluation system becomes more and more huge and the overlap among the indexes is appeared. To deal with the problem, the evaluation method based on clustering analysis and grey correlation analysis was proposed. The evaluation indexes were gained according to the principles that ensure the purpose and comprehensiveness of evaluation. The evaluation indexes covering each other were appeared via clustering analysis, and the representative index was got via correlation analysis. The important degree of index was depicted …

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Design And Implementation Of Hardware-In-The-Loop Simulation Dynamic Routing Protocol, Xiaohu Liu, Yuchen Zhang, Qingpo Fang, Leigang Sun Aug 2020

Design And Implementation Of Hardware-In-The-Loop Simulation Dynamic Routing Protocol, Xiaohu Liu, Yuchen Zhang, Qingpo Fang, Leigang Sun

Journal of System Simulation

Abstract: Against the problem of dynamic routing in network Hardware-In-The-Loop Simulation, on the basis of analysis of network HITL simulation principle, a dynamic routing protocol implementation scheme based on OMNeT++ was proposed. A method of routing message transform and a algorithm of time slice synchronize was proposed, overcoming the problem of routing message transform and system real-time. At the same time, using virtual IP technology for multi-host configuration, and OSPF dynamic routing protocol, the Hardware-In-the-Loop Simulation Dynamic Routing Protocol based on OMNeT++ was realized. The dynamic routing protocol with multi scenarios was verified and tested.

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Research On The Formalization Description Method Of Manufacturing Capability Service In Cloud Manufacturing, Yingying Xiao, Bohu Li, Xudong Chai, Gong Jing Aug 2020

Research On The Formalization Description Method Of Manufacturing Capability Service In Cloud Manufacturing, Yingying Xiao, Bohu Li, Xudong Chai, Gong Jing

Journal of System Simulation

Abstract: According to the application demand of manufacturing capability service (MCs) in cloud manufacturing system, MCs' formalization description method was focused on. Based on the connotation analysis of MC, the definition and the classification framework of MC were given. Meanwhile, a meta-model of MCs and its attribution details, as well as a EVA (entity-value- attribute)- based persistence method was proposed to realize the formulization of heterogeneous MCs. The primary research and application in the cloud manufacturing system (TianzhiNet) show that the formalization description method of MCs is feasible. Finally, the future works are given.

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Order-Independent Image Compositing In Heterogeneous Environments, Liu Ning, Dengming Zhu, Zhaoqi Wang, Shi Min Aug 2020

Order-Independent Image Compositing In Heterogeneous Environments, Liu Ning, Dengming Zhu, Zhaoqi Wang, Shi Min

Journal of System Simulation

Abstract: Conventional image compositing algorithms are designed for homogeneous environments. These algorithms do not take heterogeneity into account and do not make use of the properties of an order-independent compositing operator. As for order-independent image compositing problems in a heterogeneous environment, these algorithms usually can not make full use of the resources. An order-independent image compositing algorithm in heterogeneous environments was proposed, which was able to distribute the workload according to computing and networking characteristics, and managed to optimize compositing scheme by utilizing the properties of order-independent operator. A comprehensive evaluation on the ns-3 network simulator was conducted. Experiment results …

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Chinese Shadow Play Simulation Based On Volume Visualization, Shenghua Wang, Tan Jian Aug 2020

Chinese Shadow Play Simulation Based On Volume Visualization, Shenghua Wang, Tan Jian

Journal of System Simulation

Abstract: Protection and preservation of the scene of shadow play is an urgent mission for the Chinese shadow play sustainable development. So far the visual effect is inadequate since shadow plays are always considered as two-dimensional images moving on visualization purpose, which drags down reproduction of the scene. Therefore, intact and lifelike reproduction of 3-D visual information of shadow play is the only task in the study. After an analysis of vision generation process of shadow play, a theoretical model was proposed including screen, puppets and light source, and a corresponding GPU volume rendering method for the play visualization was …

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Research On Attitude Controller Based On Modified Adaptive Robust Sliding Mode In Low-Flying, Yunjie Wu, Chuang Song, Jingxing Zuo Aug 2020

Research On Attitude Controller Based On Modified Adaptive Robust Sliding Mode In Low-Flying, Yunjie Wu, Chuang Song, Jingxing Zuo

Journal of System Simulation

Abstract: Regarding inertia uncertainties, external disturbances and severe nonlinear coupling factors among the three channels including pitching, yawing and rolling at low-flying, controller design of wide adaptability could quickly and precisely realize the spacecraft attitude tracking control in a limited time. Based on the nonlinear model of the aircraft attitude, a kind of modified controllers was designed based on a robust adaptive sliding mode controller in the finite time convergence among three channels, the controller is continuous and differentiable. The adaptive controller was improved to stop a large controller output. Simulation results show that the designed attitude controller can …

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Control System Design Based On Integral Sliding Mode Of Quadrotor, Zengqiang Chen, Chenlu Wang, Li Yi, Zhang Qing, Mingwei Sun Aug 2020

Control System Design Based On Integral Sliding Mode Of Quadrotor, Zengqiang Chen, Chenlu Wang, Li Yi, Zhang Qing, Mingwei Sun

Journal of System Simulation

Abstract: A double closed-loop control system based on integral sliding mode was proposed to solve the problems of position and attitude control of an under-actuated, nonlinear coupling quadrotor model. An integral sliding mode control method was applied in the inner loop attitude control and a PID controller was designed in the outer loop position control. Due to the under-actuated property of the quadrotor model, desired pitch and roll angles were given by outer loop controller. The stability of the designed control system was proved by Lyapunov stability theorem. Simulation results on Matlab show the effectiveness of the proposed control system …

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Process Model Of Complex R & D Project Based On Design Structure Matrix, Baosen Yang, Kejun Zheng, Lai Ling Aug 2020

Process Model Of Complex R & D Project Based On Design Structure Matrix, Baosen Yang, Kejun Zheng, Lai Ling

Journal of System Simulation

Abstract: Since complex product R&D project is characteristic with more stochastic factors, a process model was established for complex product R&D project. The model made a comprehensive description of complex information dependencies between activities, timing between the upstream and downstream, feedback iterative relationship, parallel overlapping relationship, constraints and process parameters (time parameters, cost parameters, rework probability, rework impact, learning curve, etc.) by multi-view approach. Some case studies were proposed in detail to illustrate the modeling process. This provides new ways and means of the simulation for the complex product R&D project risk analysis.

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Discussion Of Integrating Biological-Chemical Hazard Simulation And Artificial Society Computational Experimental Platform, Sihang Qiu, Xiaogang Qiu, Bin Chen Aug 2020

Discussion Of Integrating Biological-Chemical Hazard Simulation And Artificial Society Computational Experimental Platform, Sihang Qiu, Xiaogang Qiu, Bin Chen

Journal of System Simulation

Abstract: Biological-chemical hazard once brought great loss to human beings, which encouraged people to develop a number of biological-chemical simulation models and corresponding simulation tools. However, influences of hazards to society were rarely considered in the past. By integrating biological-chemical simulation and artificial society computational experimental platform, it was feasible to assess hazard and analyze its social effects meanwhile, which efficiently assisted manager to estimate hazard risk and make decisions. Two methodologies of integration and a corresponding example were given.

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Soft Sensor Of Concentration Of Sodium Aluminate Solution Based On Reduction Robust Lssvm, Rongling Sun, Xiaoshan Qian Aug 2020

Soft Sensor Of Concentration Of Sodium Aluminate Solution Based On Reduction Robust Lssvm, Rongling Sun, Xiaoshan Qian

Journal of System Simulation

Abstract: Taking into account of poor stability, radioactive, higher maintenance costs and lack of manual detection of serious lag issues for online testing instrument of sodium aluminate concentration, combined with the mechanism analysis of the evaporation process, selecting parameters that affect the concentration of sodium aluminate solution as the auxiliary variables, using weighted loss function of the least squares support vector machine (Least Squares Support Vector Machine, LSSVM), a robust soft measuring for the concentration of sodium aluminate solution was achieved. Schmidt method was used to simplify the matrix and reduce the computational complexity. Industrial process data simulation results show …

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Integrated Modeling Method Of Flight Director And Guarantee Process, Yongliang Luo, Zhang Jun, Yuanhui Qin, Han Sheng, Yuanming Wang Aug 2020

Integrated Modeling Method Of Flight Director And Guarantee Process, Yongliang Luo, Zhang Jun, Yuanhui Qin, Han Sheng, Yuanming Wang

Journal of System Simulation

Abstract: The flight director and guarantee process as a kind of typical complex process, the modeling problem has become the current hot and difficult problem in the research field of the complex processes. An integrated modeling method of flight director and guarantee process was proposed combined with the typical process equipment air command and support building requirements. The following several aspects were mainly elaborated: The meta model of flight director process, service operation sequence modeling, machine process choreography. A prototype simulation and evaluation system was developed, and the rationality of the proposed method was analyzed combined with the application example.

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Active-Combine-Passive Homing Trajectory Simulation And Accuracy Analysis For Anti-Torpedo Torpedo, Congshan Xiao, Huizhen Yang Aug 2020

Active-Combine-Passive Homing Trajectory Simulation And Accuracy Analysis For Anti-Torpedo Torpedo, Congshan Xiao, Huizhen Yang

Journal of System Simulation

Abstract: An active-combine-passive homing model was established based on mathematics model of relative motion and automatically-adjust-lead-angle method. A simulation method of working process was designed about the active-combine-passive homing and simulates the trajectory. The influence on the guidance accuracy caused by homing range, sector angle and active-homing cycle was analyzed by using Monte Carlo method. Simulation result indicates that active-combine-passive homing owns a high level effect of interception, the guidance accuracy can be effectively improved by increasing homing range and homing sector angle and decreasing the active-homing cycle.

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Practice Method For Modeling The Virtual Group Organization Synergy, Zhang Hui, Zhang Hong, Sikun Li, Zeng Liang Aug 2020

Practice Method For Modeling The Virtual Group Organization Synergy, Zhang Hui, Zhang Hong, Sikun Li, Zeng Liang

Journal of System Simulation

Abstract: The process to model the behaviors of virtual group has been divided into two stages, task interaction design and abstraction of the model. In the first stage, the task process is designed through task decomposition, interaction design and behaviors determination based on task decomposition. In the second one, the organization synergy model is presented by designs on three different levels, the structure level, the element level and the relation level, based on the design of the primary analysis. The method provides a framework to instruct the modeling work of virtual group organization synergy.

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Research And Application Of Improved Cmms Descriptive Method, Shengjie Wang, Fengju Kang, Han Hong Aug 2020

Research And Application Of Improved Cmms Descriptive Method, Shengjie Wang, Fengju Kang, Han Hong

Journal of System Simulation

Abstract: In order to describe both the hybrid Agent behaviors and the mission space during the description process of combat system, the advantages of the PICS method and the CMMS describe method were combined. The ETDB describe method which stood for the entity was proposed by expanding the four factors of the CMMS describe method and was used for dividing the elements of MCSSU(The Man-machine Cooperative-combat System of Submarine and UUVs Formation) and concept modeling, and by describing an example, the method is compared with the traditional one. The concept models of MCSSU were formalized described by UML. The …

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Calculation Of Vessel's Geometric Properties Based On Stl Model, Chunlei Liu, Yin Yong, Xiaofeng Sun, Xiufeng Zhang Aug 2020

Calculation Of Vessel's Geometric Properties Based On Stl Model, Chunlei Liu, Yin Yong, Xiaofeng Sun, Xiufeng Zhang

Journal of System Simulation

Abstract: To improve the accuracy of the ship geometric properties calculation and the real-performance of the program, a method based on STL triangular mesh model was proposed to calculate the ship geometric properties. SH polygon clipping algorithm in computer graphics was used to calculate the intersection of ship and water plane. By using of coordinates systems affine transformation, 3D water plane was changed to 2D plane to extract the profile contour. Because the waterlines are monotone polygon, Mass center insertion method was proposed to finish polygon triangulation, computing speed was improved. Bulk carrier "Taihang 128" was taken as an …

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Precise Integration Method Application In Dynamic Simulation Of Wrap, Gao Shuai, Yin Yong, Xiaofeng Sun, Helong Shen Aug 2020

Precise Integration Method Application In Dynamic Simulation Of Wrap, Gao Shuai, Yin Yong, Xiaofeng Sun, Helong Shen

Journal of System Simulation

Abstract: A three-dimensional hydrodynamics mathematical model was proposed to describe the behavior of warp in order to realize the real-time visualization of trawler warp. The model of warp was established according to lumped mass method, which discreted warp into a series of nodes in space, while ignoring the twist, shake, etc,. By the index matrix of precise integration method solving the nonlinear dynamic equations of the warp,the information of position and velocity could be obtained.Thus the dynamic visualization of warp was realized. The iterative algorithm has very high accuracy and efficiency, and a wide rage of application. Comparing the …

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Modeling And Simulation Of Mooring System In Anchor Handling Simulator, Zhongxian Zhu, Yin Yong, Helong Shen Aug 2020

Modeling And Simulation Of Mooring System In Anchor Handling Simulator, Zhongxian Zhu, Yin Yong, Helong Shen

Journal of System Simulation

Abstract: Dynamics modeling and simulation of the mooring system are the key technologies in Anchor Handling Simulator (AHS), the model's quality and the visualization have great impact on the real-time, fidelity and immersed feeling in the scene simulation, and hence affect the quality of training on the anchor handling operation by using AHS. Based on the Lumped Mass Method the dynamics model of the mooring line was built up, and 4-order Runge-Kutta method was used to solve the model, and the computing speed could meet the demand on real-time; A model for the mooring line embedded in seabed soil was …

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A Research Of Virtual Human Assembly Intelligent Simulation Technology, Yunfei Yang, Gu Yan, Xiumin Fan, Qichang He, Shiguang Qiu Aug 2020

A Research Of Virtual Human Assembly Intelligent Simulation Technology, Yunfei Yang, Gu Yan, Xiumin Fan, Qichang He, Shiguang Qiu

Journal of System Simulation

Abstract: Virtual human assembly simulation is an important part of virtual assembly simulation, and it is also a key link in the process of product design verification. To simulate the human operation more accurately, efficiently and really has been the research focus of the related areas. For the human body, which could be taken as a complex movement system, a multi rigid body model was built in virtual environment; the model was divided into different joint chains according to the operating characteristics of the human body and ergonomics knowledge was used to construct the model's optimal target function; a multi-objective …

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Algorithm For Modeling Of Large-Scale Realistic Chinese Rose Based On Morphological Characteristics, Yang Meng, Wanghui Guo, Xiaoyu He, Lin Lin, Yang Gang Aug 2020

Algorithm For Modeling Of Large-Scale Realistic Chinese Rose Based On Morphological Characteristics, Yang Meng, Wanghui Guo, Xiaoyu He, Lin Lin, Yang Gang

Journal of System Simulation

Abstract: An algorithm of modeling individual plant and simulating large-scale garden scene of Chinese rose seasons was proposed based on morphological characteristics of plants. Real morphological data were accurately captured for the main organs of individual plant; These data should be deeply analyzed to gain the morphological properties, such as golden section; Topological relationships were established among the main stem and different high-order branches, branches and leaves. Meanwhile the main organs such as stem, leaves, flowers and thorns were simulated to complete the whole plant; The large-scale garden scene of Chinese rose were simulated based on the algorithm of Poisson …

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Color Transfer Based On K-Means Clustering Algorithm And Region Matching, Ziying Zhang, Mingquan Zhou, Wuyang Shui, Zhongke Wu, Zheng Xia Aug 2020

Color Transfer Based On K-Means Clustering Algorithm And Region Matching, Ziying Zhang, Mingquan Zhou, Wuyang Shui, Zhongke Wu, Zheng Xia

Journal of System Simulation

Abstract: For color transfer between colorful images, we used K-means clustering to classify image pixels and we also proposed nearest region matching algorithm. This algorithm can avoid the problem that multiple regions matched to the same region, and it can get the best match results between the two images. Translate the color space from RGB to for the two images. Divide color image and luminance mapped shape image using K-means models into the same number of classes. Determine the relationship between regions of the two images using Euclidean distance and the nearest region matching algorithm. Complete color transfer from color …

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Interactive Point Based Method For Soft Tissue Deformation In Surgical Simulation, Junliang Shan, Weixin Si, Xiaomeng Li, Wang Qiong, Yanjun Peng, Zhiyong Yuan, Pingan Wang Aug 2020

Interactive Point Based Method For Soft Tissue Deformation In Surgical Simulation, Junliang Shan, Weixin Si, Xiaomeng Li, Wang Qiong, Yanjun Peng, Zhiyong Yuan, Pingan Wang

Journal of System Simulation

Abstract: Although recent years have witnessed great improvement in the research of biomechanical simulation with user interactions for surgical simulation, it still suffers from many challenges such as computational model of soft tissue undergoing large deformation, collision detection, volume conservation, etc. A simple and efficient framework was proposed to meet these challenges. To well reproduce the mechanical response of organs, point based method was used to model the elastic solids undergoing large deformations. In addition, position based dynamics was adopted to model the objects collision, friction and volume conservation, which considerably improved the real-time performance and stability of complex interactions …

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Dark Color Image Segmentation Method Integrated Mrf & Retinex, Yongchun Miao, Cheng Yan Aug 2020

Dark Color Image Segmentation Method Integrated Mrf & Retinex, Yongchun Miao, Cheng Yan

Journal of System Simulation

Abstract: Given the interference from noise, poor quality and low identification of the night images, it is difficult to segment them by traditional color image segmentation method. Therefore, a novel dark color image segmentation method integrated MRF&Retinex was proposed. The -LPG-PCA filtering model was built to filter out noise of an image. The recovery function of the denoised image was constructed, before converting RGB color space to HSV color space, and the MRF & Retinex model was built for image enhancement and color correction operation. The denoised and enhanced color image was segmented by the MRF&FCM …

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Pedestrian Dynamic Aggregation Simulation Model With Emotional Affection, Xiang Nan, Lingyun Zhu, Mingmin Zhang Aug 2020

Pedestrian Dynamic Aggregation Simulation Model With Emotional Affection, Xiang Nan, Lingyun Zhu, Mingmin Zhang

Journal of System Simulation

Abstract: In order to improve the fidelity of dynamic aggregation process of virtual pedestrian, the relationship between gathering process and emotion contagion were simulated by integrating individual emotional interaction into crowd model. Individuals within the crowd firstly chose moving target and produced aggregation according to their expectation. The gathering process propagated the influences of target through the emotional interaction of individuals. The propagated influences affected individuals' expectation which made further efforts on crowd aggregation. Social force for simulating moving individuals and heat conduction theory were adopted by the model to simulate the emotional contagion of the crowd. Experimental results show …

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Human Action Recognition Method Based On Key Frames, Xiangbin Shi, Shuanpeng Liu, Deyuan Zhang Aug 2020

Human Action Recognition Method Based On Key Frames, Xiangbin Shi, Shuanpeng Liu, Deyuan Zhang

Journal of System Simulation

Abstract: More and more researchers have begun to study the human action recognition based on depth information and skeleton information since the Kinect has been released. A method of human action recognition based on the skeleton feature of key frames is proposed in order to improve the accuracy and timeliness of the human action recognition, and reduce the computational complexity. The clustered data was obtained by using K-means clustering algorithm, and then the key frames were extracted by using the clustered data. Two features for human action recognition were extracted, one is the feature of the position of human joint, …

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