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Articles 5431 - 5460 of 13783
Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Smart Environments For Assisted Living: A Multidisciplinary Collaboration In Engineering And Architecture Education, Adriana Rios-Santiago, Anabel Pineda-Briseno, Jesus A. Gonzalez-Rodriguez, Uriel Saul Huerta
Smart Environments For Assisted Living: A Multidisciplinary Collaboration In Engineering And Architecture Education, Adriana Rios-Santiago, Anabel Pineda-Briseno, Jesus A. Gonzalez-Rodriguez, Uriel Saul Huerta
Manufacturing & Industrial Engineering Faculty Publications
This paper presents a description of a collaborative project based on the integration of technology development in the built environment for assisted living. The multidisciplinary collaboration is developed as a cooperative commitment to provide support for cross-border, collective projects. It was initiated as a project-based learning setting between undergraduate engineering students, and four years later the program shifted to include undergraduate architecture students and engineering master’s students. The learning experience opens the gate to a completely new collaborative setting, yet to be established, independent from its predecessor setting of project-based learning, focusing now towards an interdisciplinarity setting in cross-border collaboration. …
Application Of Mounting Personal Pid Voc Sensors To Small Unmanned Aircraft Systems To Aid First Responders, Cheri Marcham
Application Of Mounting Personal Pid Voc Sensors To Small Unmanned Aircraft Systems To Aid First Responders, Cheri Marcham
Publications
Small Unmanned Aerial Systems in Emergency Response
- Current sUAS Uses
- Search and rescue
- Thermal imaging
- Evaluating structural stability
- Spread of wildfires
- Storm damage
Multi-Rate Simulation Based On Explicit-Implicit Hybrid Integration, Bingda Zhang, Chen Ming, Wang Xiao, Lanyu Wang
Multi-Rate Simulation Based On Explicit-Implicit Hybrid Integration, Bingda Zhang, Chen Ming, Wang Xiao, Lanyu Wang
Journal of System Simulation
Abstract: A multi-rate simulation method based on explicit-implicit hybrid integration algorithm for the grid-connected photovoltaic system which included power electronic devices with a variety of switching frequency was put forward. Inductances and capacitances were used to divide the grid-connected photovoltaic system into subsystems. A multi-rate interface was put forward to satisfy the request of real time. The stability criterion of the multi-rate simulation algorithm was put forward. FPGA was used as a platform to build the digital grid-connected photovoltaic system. The hardware in loop test for DC/DC and DC/AC converter controllers was conducted on this platform to verify the accuracy …
Reachable Set Modeling Approach For Autonomous Vehicle's Dynamic Conflict Control, Cao Kai, Xiufang Liu, Yang Xu, Shen Peng
Reachable Set Modeling Approach For Autonomous Vehicle's Dynamic Conflict Control, Cao Kai, Xiufang Liu, Yang Xu, Shen Peng
Journal of System Simulation
Abstract: Aiming at the problem of active safety control modeling for autonomous vehicles, a combined method using the formal modeling and the dynamic non-cooperative game theory was proposed for discussing a control strategy of trajectory tracking and collision avoidance under dynamic conflict condition between autonomous vehicles. And it was proposed to divide the system control into three modes: trajectory tracking, collision avoidance and switching between trajectory tracking and collision avoidance. Taking into account the complexity as a hybrid systems and the existence of the trajectory tracking error for autonomous vehicle, a modeling approach based on reachable set was proposed for …
Fast Tree Modeling Method Based On Simple Freehand Sketch, Ma Ling, Xiaoping Liu, Xiaoping Liu
Fast Tree Modeling Method Based On Simple Freehand Sketch, Ma Ling, Xiaoping Liu, Xiaoping Liu
Journal of System Simulation
Abstract: Aiming at problems such as complicated process and professional knowledge requirements in tree modeling, a quick tree modeling method for non-experts was proposed, combining branch library with simple sketch to make non-experts create tree model quickly. The method preprocessed the sketch to eliminate noise and error points and identify the strokes, the trunk and branch were reconstructed, child three-dimensional profile was built through the two-dimensional canopy profile, under the constraint of the child profile, suitable branches from library and insert were extracted into the branches, consequently the whole tree model was completed. Experimental results show that this method …
Weighted Online Estimation Of Soc Based On Adaptive Battery Model, Haohao Sun, Tinglong Pan, Dinghui Wu
Weighted Online Estimation Of Soc Based On Adaptive Battery Model, Haohao Sun, Tinglong Pan, Dinghui Wu
Journal of System Simulation
Abstract: Aiming at the problem that the traditional lithium battery model has poor adaptive ability in SOC estimation and the local estimation accuracy of the single SOC estimation algorithm is low, online identification of model parameters with Multi-Innovation Stochastic Gradient algorithm and method of weighted online estimation of SOC was proposed. The results of lithium-ion battery model parameters online identification updated in real time, realizing lithium-ion battery model adaptive. Aiming at the estimation of SOC, a method of weighted online estimation method based on the PI (proportion and integral) regulator's OCV combined with Ah (an integral method) was proposed. Weights …
Performance Modeling Of Cryptographic Service System Virtualization Based On Issm, Songhui Guo, Qingbao Li, Sun Lei, Xuerong Gong, Tianchi Yang
Performance Modeling Of Cryptographic Service System Virtualization Based On Issm, Songhui Guo, Qingbao Li, Sun Lei, Xuerong Gong, Tianchi Yang
Journal of System Simulation
Abstract: The complicated architecture of cryptographic service system virtualization raised the difficulty of performance modeling. A performance modeling approach based on ISSMs was proposed. The approach divided the execution process into two stages, host preprocessing and arithmetic-module calculating, and built two sub-models based on queuing theory. On this basis, the effectiveness of this approach was verified. The results show that this method can analyze the impacts on system performance caused by task arrival rates, host and cryptographic card configurations quantitatively, and also be helpful for providing reasonable solutions to deploy virtualized cryptographic service system on cloud computing platforms.
Multi-Variable Modeling Research For Main-Steam Temperature Of Power Station Boiler Based On Improved Differential Evolution Algorithm, Li Qin, Zhang Hao, Daogang Peng, Yibo Guo, Nianlong Wang, Yuzhen Sun
Multi-Variable Modeling Research For Main-Steam Temperature Of Power Station Boiler Based On Improved Differential Evolution Algorithm, Li Qin, Zhang Hao, Daogang Peng, Yibo Guo, Nianlong Wang, Yuzhen Sun
Journal of System Simulation
Abstract: By analyzing the factors which affected the main-steam temperature, a multi-variable model was introduced to overcome the bad result of single variable cascade control. An improved differential evolution algorithm was proposed including mutation strategies random selection, crossover ratio and mutation ratio adaptive adjustment, which was used for closed-loop identification of main-steam multi-variable transfer function model. The principle and method how to obtain valid identification data from power plant distributed control system history database was introduced, and the data from some 1 000 MW coal-fired power plant was used to identify and verify the main-steam temperature multi-variable model, …
Research On Picking Robot Vision Localization Based On Semi-Physical Simulation, Keyin Chen, Xiangjun Zou, Hongxing Peng, Haiying Liang, Yuanchuang Hu
Research On Picking Robot Vision Localization Based On Semi-Physical Simulation, Keyin Chen, Xiangjun Zou, Hongxing Peng, Haiying Liang, Yuanchuang Hu
Journal of System Simulation
Abstract: Aiming at the problems of accuracy and stability of the vision localization based on physical picking robot, which were easy to make mistakes, long cycle, and not easy to be carried out indoors, a picking robot vision localization method based on the semi-physical simulation technology was proposed combining with the robot vision localization mechanism and robot kinematics. This method adopted the virtual picking robot to instead of the physical robot, and studied the vision localization of the fruit target in the virtual simulated environment, which was as the vision localization based on semi-physical simulation. The test results show that: …
Study On Visual Function Of Human Computer Interaction In Parachuting Simulator, Han Liang, Gong Xuan, Jiangyun Wang, Yanghua Du
Study On Visual Function Of Human Computer Interaction In Parachuting Simulator, Han Liang, Gong Xuan, Jiangyun Wang, Yanghua Du
Journal of System Simulation
Abstract: The parachuting training system consists of software and hardware, to simulate the parachute training through head mounted display and operating equipment, combined with system modeling, kinematic computation, visual display and expert evaluation. Principle methods of head mounted display with human-computer interactive function and exploitation of Vega Prime inventive exploration on the information collection of viewpoint are conducted. It provides a real time training environment through the configuration of environmental effects, scene control, collision detection and driving information.
Observer-Based Integral Backstepping Control For Permanent Magnet Synchronous Motor, Yonghong Lan, Liangliang Wang, Caixue Chen
Observer-Based Integral Backstepping Control For Permanent Magnet Synchronous Motor, Yonghong Lan, Liangliang Wang, Caixue Chen
Journal of System Simulation
Abstract: For the speed tracking control problem of Permanent Magnet Synchronous Motor (PMSM), an observer-based back-stepping speed tracking control method was presented. To reconstruct the motor speed and stator axis current, a full order Luenberger observer for PMSM was constructed. By using Lyapunov stability theory, the linear matrix inequality (LMI) based design method of observer was obtained. Through the design of the virtual control input that include the reconstruction variables, using back-stepping control strategy and integrating with tracking errors, the controller of the closed-loop system was proposed. The obtained controller can achieve high precision speed tracking. The …
Stability Of Electrically Conducting Fluid Flow In Channel Under Magnetic Field, Dong Shuai, Lishuai Liu, Xuemin Ye
Stability Of Electrically Conducting Fluid Flow In Channel Under Magnetic Field, Dong Shuai, Lishuai Liu, Xuemin Ye
Journal of System Simulation
Abstract: The stability of conducting fluid flow in a channel under a vertical magnetic field was simulated by non-normal modal stability analysis. The perfect conductivity assumption of the channel wall was employed in the model, and its effect on the stability problem was considered. The results show that when the Hartmann number Ha is larger than 9, the two opposite Hartmann boundary layers are essentially independent of each other; however, when the Hartmann number Ha is smaller than 9, there are still residual interactions between the two opposite Hartmann boundary layers, which has influences on the stability of the flow. …
Research On Wavelength Routing Algorithm Based On Multi-Service In Satellite Optical Networks, Qingli Liu, Junfei Yao, Zhiguo Liu
Research On Wavelength Routing Algorithm Based On Multi-Service In Satellite Optical Networks, Qingli Liu, Junfei Yao, Zhiguo Liu
Journal of System Simulation
Abstract: An optical wavelength routing algorithm for satellite networks based on multi-service was proposed, in order to solve the problem of low utilization rate of wavelengths, slow convergence and low efficiency of satellite optical networks. In this algorithm, it divided the area of the satellite network and updated the link in the area to improve the convergence speed of algorithm. Different services were assigned different wavelength sets to satisfy requirement of different service. According to the initial link weight, which included wavelength remain number and transmission delay, it changed link weight dynamically to achieve network load balancing and rational use …
Interaction Of Particle-Particle And Particle-Bubble In Water:Molecular Dynamics Simulation, Qingqun Luo, Jieming Yang
Interaction Of Particle-Particle And Particle-Bubble In Water:Molecular Dynamics Simulation, Qingqun Luo, Jieming Yang
Journal of System Simulation
Abstract: Graphene and a bulk of gas were used to represent a part of particle and a part of bubble, respectively, and their interactions in liquid water with dissolved gas were simulated. Changes of the structural phase diagram, the gas density, and the potential of mean force were analyzed. The results show that the interactions of particle-particle and particle-bubble are both related to the nanobubble bridges therein. The forming processes of nanobubble bridges were shown in details. The range of nanobubble bridges and the energy change of the system were quantitatively calculated.
Performance Analysis On Multiuser Untrusted Amplify-And-Forward Relay Networks, Deng Dan, Zhou Wen
Performance Analysis On Multiuser Untrusted Amplify-And-Forward Relay Networks, Deng Dan, Zhou Wen
Journal of System Simulation
Abstract: The effect of the untrusted relaying node was investigated on the secrecy outage probability (SOP) of amplify-and-forward (AF) relay networks in the presence of direct links and multiple users. In the considered system, the best user was selected according a certain criterion. It transmitted signals to the destination node with the aid of the untrusted relaying node. To reduce the useful information leakage, three selection criteria were proposed based on the channel state information of the direct and/or relaying link. The closed-form analytical SOP and the corresponding asymptotic expressions were derived. Computer simulation was conducted to validate the theoretical …
Forecasting Of Short-Term Power Load Of Secrpso-Svm Based On Data-Driven, Hairong Sun, Bixia Xie, Tian Yao, Zhuoqun Li
Forecasting Of Short-Term Power Load Of Secrpso-Svm Based On Data-Driven, Hairong Sun, Bixia Xie, Tian Yao, Zhuoqun Li
Journal of System Simulation
Abstract: For the parameter selection of support vector machine in modeling, a particle swarm optimization algorithm based on second-order oscillation and repulsion factor was proposed to optimize the parameter of SVM. The algorithm employed the nonlinear decreasing weight to balance the global and local search ability. Second-order oscillation factor could maintain the population diversity. The repulsion factor was introduced to make the swarm even distribution in search space, which could avoid local optimum. For the complex characteristics of nonlinearity, time-varying and multifactorial of electric power load, a support vector machine forecasting model based on data was proposed, and the influence …
Simulation Modeling Method Of Distributed Supply Chain Based On Has, Wang Jian, Huang Yang
Simulation Modeling Method Of Distributed Supply Chain Based On Has, Wang Jian, Huang Yang
Journal of System Simulation
Abstract: There are some shortcomings in simulation modeling method of distributed supply chain based on High Level Architecture (HLA) and Supply Chain Operation Reference (SCOR), which result in low development efficiency of system simulation modeling and low reusability of simulation objects inside the federates. To solve the problems, a simulation modeling method of distributed supply chain based on HAS(HLA-Agent-SCOR) was put forward. The supply chain structure modeling based on HLA for building structure model of supply chain was discussed. Modeling of Agent blocks integrating processes from SCOR and modeling of federates based on Agent were illustrated to create model of …
Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang
Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang
Journal of System Simulation
Abstract: There are shortcomings such as premature convergence, high encoding dimension and unsmooth path for particle swarm optimization (PSO) algorithm to solve the robot path planning problem under free space. The particle coding is coordinates of several path nodes in the environment. The number of spline curves and the maximum turnings of path were determined by the number of path nodes. The cubic spline function was used to interpolate on the path of the starting point, path nodes and target point, thus a full path which was formed by connecting all interpolation points was obtained. Simulation results show that …
Trajectory Capture And Sway Frequency Analysis Of Trees Based On Kinect, He Peng, Shaojun Hu, Dongjian He
Trajectory Capture And Sway Frequency Analysis Of Trees Based On Kinect, He Peng, Shaojun Hu, Dongjian He
Journal of System Simulation
Abstract: The morphology and structure of plants were complex. It is of great significance to investigate the inherent motion law of plants under the action of external force, such as realistic animation formation, plant pruning, vibration picking and forest protection. A low cost outdoor tree complex motion capture method was explored, and the relationship between the stem motion and the external force was analyzed. The Kinect was used to capture the branches motion; MeanShift algorithm was used for tracking branches markers and the three-dimensional trajectory of the trunk was extracted according to the principle of Kinect coordinate transformation. A method …
Simulation On Psychosocial Adaption Of Urban New Migrants Based On Catastrophe Theory, Zhao Xu, Chuanchao Huang, Bin Hu
Simulation On Psychosocial Adaption Of Urban New Migrants Based On Catastrophe Theory, Zhao Xu, Chuanchao Huang, Bin Hu
Journal of System Simulation
Abstract: Based on the mental recovery and adaptive behavior translation of the new urban migrants, a two system decision-making model for psychological adaption was built. The simulation research of psychosocial adaption process was studied through the stochastic catastrophe theory and the specific artificial social environment. Simulation experiments indicate that the sustained pressure-bearing suffers from outside situation and the policy system result in the fluctuation of migrants' psychosocial adaption with the former more significant. In the translation of adaptive psychology to adaptive behavior, the attitude orientation and psychological cognition of migrants are critical. The duration or degree of the adaptive process …
Modeling And Simulation Of Mooring Force Prediction Based On Improved Ga-Bp Network, Shifeng Li, Zhanzhi Qiu
Modeling And Simulation Of Mooring Force Prediction Based On Improved Ga-Bp Network, Shifeng Li, Zhanzhi Qiu
Journal of System Simulation
Abstract: According to the mooring security and early warning control requirement of the large open sea terminal, a ship mooring force prediction model based on genetic algorithm and BP network was studied. Environmental dynamic factors were considered and a model structure was determined by a weight statistics method; the learning method was improved by individual parent information and contemporary individual local gradient information; according to the improved model, a ship mooring force prediction method of the open sea terminal was proposed. The simulation results show that the performance of the prediction model has improved in the iteration number, …
Simulation Of Joint Power Control Routing Algorithm For Interference And Energy Consumption In Crahns, Zhufang Kuang, Zhigang Chen
Simulation Of Joint Power Control Routing Algorithm For Interference And Energy Consumption In Crahns, Zhufang Kuang, Zhigang Chen
Journal of System Simulation
Abstract: Problems of interference power to primary user by secondary userand the secondary user's running out of energy under underlay spectrum access model in cognitive radio ad hoc networks (CRAHNs) were investigated. Joint power control, routing and spectrum (channel) allocation algorithm (PRSA) based on particle swarm optimization were proposed. The goal of PRSA was to minimize interference power to primary user and prolong lifetime of CRAHNs. Particle encoding, particle initialization, fitness function, particle flight were included in PRSA. An Adjacency matrix with two-tuples containing allocated channel and power level was designed, and three operation rules for particle were redefined. …
Improved Design Scheme And Simulation Analysis Of Non-Valve Controlled Hydraulic Impact System, Liu Zhong, Zou Yu, Zhang Kai, Zhao Fei, Junjun Liu
Improved Design Scheme And Simulation Analysis Of Non-Valve Controlled Hydraulic Impact System, Liu Zhong, Zou Yu, Zhang Kai, Zhao Fei, Junjun Liu
Journal of System Simulation
Abstract: Due to valve port commutation of traditional hydraulic impact system caused valve leakage. For the above shortcomings, an improved structure principle of the new type of non-valve controlled hydraulic impact system was proposed establishing dynamic equations of impact system andconducting simulation analysis based on AMESim. Due to the simulation results which was inconsistent with design goal, two improvement schemes were proposed adding throttle device and controlling inlet and outlet circuit. The simulation results suggest that the working performance of impact system has been improved by adding throttle device, and its efficiency has been increased from 11.8% to 18.3% …
Intensity Analysis And Fatigue Life Simulation For Connecting Bolt Of Shearer Machine Body, Zhiyong Hao, Yaolong Lei, Mao Jun, Yuan Zhi
Intensity Analysis And Fatigue Life Simulation For Connecting Bolt Of Shearer Machine Body, Zhiyong Hao, Yaolong Lei, Mao Jun, Yuan Zhi
Journal of System Simulation
Abstract: To obtain the cutting load spectrum of themachine body connecting bolt, the method of merging unknown quantities and multi calculation combined with the test experiments of shear mechanical properties was used to solve the overdetermined equations of shearer left haulage unit spatial mechanical model The cutting load spectrum of the machine body connecting bolt was taken to run PSD analysis, and the rainflow counting method was used to script the load spectrum. The frequency domain characteristics and time domain continuation characteristics were therefore obtained. The static analysis and fatigue life simulation analysis combined with the bolt load …
Study Of Model Predictive Control Of Pwm Voltage Source Converterwithout Ac Electromotive Force Sensor, Li Hui, Li Zhi, Zhang Jin, Hanmei Peng
Study Of Model Predictive Control Of Pwm Voltage Source Converterwithout Ac Electromotive Force Sensor, Li Hui, Li Zhi, Zhang Jin, Hanmei Peng
Journal of System Simulation
Abstract: The traditional model-predictive-control (MPC), applied to three-phase converter, requires to use AC electromotive force sensor, and then it reduces the system reliability. A three-phase converter model predictive control without AC electromotive force sensor was proposed, and the virtual flux observer was constructed by DC bus voltage, switching signal and AC current. On this basis, a mathematical model of three-phase converter model predictive control quadratic programming (QP-MPC) based on virtual flux oriented was established. Using quadratic programming algorithm, the system can quickly calculate the optimal change, minimize the objective function, and obtain the optimal switch control signal, so as to …
Application Of Weighted Dynamic Svdd In Nonlinear Process Monitoring, Yanhong Xie, Chengao Sun, Li Yuan
Application Of Weighted Dynamic Svdd In Nonlinear Process Monitoring, Yanhong Xie, Chengao Sun, Li Yuan
Journal of System Simulation
Abstract: Due to the complexity of the chemical process, the data are often characterized by dynamics and correlation between sequences. Traditional support vector data description (SVDD) methods are difficult to guarantee real-time monitoring online. A Weighted-Dynamic-SVDD (WDSVDD) method was proposed to monitor fault in real time online. The dynamic method was introduced, and the correlation between the data was considered. The weighted information was used to highlight the useful information. The model was established by using SVDD method, and the online real-time fault monitoring was realized. The method not only overcomes the adverse effect of non-Gaussian and nonlinearity, but …
Under-Determined Blind Source Separation Anti-Collision Algorithm For Rfid Based On Hamming Weight Grouping, Yungang Jin, Xiaohong Zhang, Qiuli Wang
Under-Determined Blind Source Separation Anti-Collision Algorithm For Rfid Based On Hamming Weight Grouping, Yungang Jin, Xiaohong Zhang, Qiuli Wang
Journal of System Simulation
Abstract: The results of the algorithm ofunder-determined blind source separation RFID (Radio Frequency IDentification) system become worse or even lead to the degradation of overall system performancewith the large increase in the number of tags. Anovel parallelizable identification anti-collision algorithm based on constrained non negative matrix factorization (NMF) and Hamming weight grouping technology was proposed. The tag groupings were made by calculating the Hamming weight of the tag's front M bits, which were within the reader identification range. Each group was identified by the RFID reader according to the grouping sequence. Simulation results show that when the antenna number is …
Research On One-Cycle Controlled Bi-Directional Dc-Dc Converter Based On Switch Capacitor Network, Chen Lei, Tinglong Pan, Yanxia Shen, Dinghui Wu, Zhicheng Ji
Research On One-Cycle Controlled Bi-Directional Dc-Dc Converter Based On Switch Capacitor Network, Chen Lei, Tinglong Pan, Yanxia Shen, Dinghui Wu, Zhicheng Ji
Journal of System Simulation
Abstract: According to the switch capacitor network working characteristics of discharging in series, charging in parallel, a high ratio bidirectional DC-DC converter based on switch capacitor network was proposed. In order to improve the converter's ability of resist input voltage disturbance and dynamic response speed, an improved method was focused on which combined the advantage of one-cycle control and the output voltage feedback compensation control, which could realize inhibition the input voltage perturbation in one cycle and improve the converter's resistance ability of load disturbance. The operating principle and control characteristics of the new converter were analyzed. The improved one-cycle …
Simulation On Waste Heat And Water Recovery System Of Flue Gas In Plant Boiler, Jinping Wang, Deng Yu, Bin Li, Zhu Rui
Simulation On Waste Heat And Water Recovery System Of Flue Gas In Plant Boiler, Jinping Wang, Deng Yu, Bin Li, Zhu Rui
Journal of System Simulation
Abstract: To further improve economy of power plant, the waste heat and water recovery system was put forward. The mathematical model of the gas cooler was established, and the simulation model of this system was built. This simulation model was integrated into the simulation system of a 350mw heating unit, and the simulation experiment was carried out. The influences caused by the introduction of the flue gas waste heat and water recovery system to thermal power unit were analyzed. The dynamic characteristics of the flue gas waste heat and water recovery system based on the valve perturbation experiments were …
Simulation Of Adaptive Dangerous Weather Warning Method Based On Airborne Weather Radar, Wang Lei, Xingang Liu, Wei Ming
Simulation Of Adaptive Dangerous Weather Warning Method Based On Airborne Weather Radar, Wang Lei, Xingang Liu, Wei Ming
Journal of System Simulation
Abstract: A kind of suitable airborne weather radar algorithm for different seasons, latitude and longitude and underlying surface in China was proposed. A simulation model of airborne weather radar for detecting strong storm weather based on the ground-based weather radar data was established. The improved algorithm of region segmentation and TITAN were used to identify strong storms and their characteristic parameters. China was divided into 16 climate characteristic regions (including East China Sea and South China Sea) per the latitude and longitude. The threshold of strong hail storm radar echo characteristic parameters in these areas was obtained, and the dangerous …