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Articles 331 - 360 of 4024
Full-Text Articles in Systems Science
Trajectory Planning And Tracking For Multi-Quadcopter In Dynamic Obstacle Environments, Haosheng Jiang, Fangfang Wu, Zexian Huang, Ziyue Ma, Chunyun Dong, Xubin Ping
Trajectory Planning And Tracking For Multi-Quadcopter In Dynamic Obstacle Environments, Haosheng Jiang, Fangfang Wu, Zexian Huang, Ziyue Ma, Chunyun Dong, Xubin Ping
Journal of System Simulation
Abstract: Multi-quadrotor UAV systems face challenges when performing complex tasks in dynamic obstacle environments. Therefore, a comprehensive particle swarm optimization-based task allocation method, a trajectory planning integrating the traditional Informed-RRT* and A* algorithms, and a trajectory tracking method based on model predictive control were designed. The multi-quadrotor task allocation problem was constructed as a classical multiple traveling salesman problem, and then, the particle swarm optimization was used to assign the task to multi-quadrotor UAVs. A fusion algorithm that combined the advantages of traditional Informed-RRT* and A* algorithms for quadrotor UAV trajectory planning was designed, so as to ensure that a …
Research On Non-Singular Fast Integral Terminal Sliding Mode Trajectory Tracking Control Of Six-Axis Robotic Arm, Tao Chen, Lizhong Wang, Xiangjun Zou, Xiaojuan Li
Research On Non-Singular Fast Integral Terminal Sliding Mode Trajectory Tracking Control Of Six-Axis Robotic Arm, Tao Chen, Lizhong Wang, Xiangjun Zou, Xiaojuan Li
Journal of System Simulation
Abstract: To address the trajectory tracking control challenges caused by modeling parameter inaccuracies and disturbance uncertainties in robotic arms, a non-singular fast integral terminal sliding mode control scheme was developed. A new type of non-singular fast integral terminal sliding mode controller was designed. The non-singular fast terminal sliding mode ensured the rapid convergence of the system while avoiding the singularity during convergence. The integral term was used to enhance the suppression ability of disturbances and ensure the rapid response of the controller to errors. Lyapunov stability theory was applied to analyze the controller's convergence. The simulation results show that the …
Lightweight Driver Face Object Detection Algorithm Based On Yolov8-Df, Mingyu Li, Jiaquan Lin
Lightweight Driver Face Object Detection Algorithm Based On Yolov8-Df, Mingyu Li, Jiaquan Lin
Journal of System Simulation
Abstract: The YOLOv8n detection algorithm has a large amount of computation and parameters in the driving environment. To address this issue, a lightweight driver facial object detection algorithm YOLOv8-DF was proposed. A lightweight multi-scale convolution module (LMCM) was proposed to replace the Conv module in the network, and the dual-channel design could reduce the computation and parameter quantity of the algorithm; the multi-scale design could enrich the feature information inside the network. The lightweight convolutional GhostConv, Fasterblock module, and C2f module were fused, and a dual-channel lightweight convolution module (DLCM) was fused with the SPPF module. The experimental results show …
Optimal Scheduling Of An Integrated Energy System Considering Demand Response And Two-Stage P2g, Xinhui Duan, Zelong Cheng, Dongchao Zhang, Xiaochong Duan
Optimal Scheduling Of An Integrated Energy System Considering Demand Response And Two-Stage P2g, Xinhui Duan, Zelong Cheng, Dongchao Zhang, Xiaochong Duan
Journal of System Simulation
Abstract: In the context of carbon peaking and carbon neutrality goals, this study aims to improve the energy utilization rate and further explore the role of user-side flexible loads and P2G equipment in energy saving and emission reduction. An optimal scheduling model for integrated energy systems considering demand response and two-stage P2G was proposed. A regional integrated energy system coupled with electricity, heating, cooling, gas, storage, and hydrogen was taken as the research object. Models for system equipment and two-stage P2G were established. Based on load characteristics, a multi-load demand response model for electricity, heating, and cooling was constructed using …
Understanding The Elements Of Sterile Processing Workflow: Or, Sterilization And Personnel, Sayed Rezwanul Islam
Understanding The Elements Of Sterile Processing Workflow: Or, Sterilization And Personnel, Sayed Rezwanul Islam
All Dissertations
The Sterile Processing Department (SPD), also known as the Central Sterile Services Department (CSSD), is an essential part of hospitals and healthcare facilities and is responsible for ensuring the cleanliness, sterility, and proper functioning of medical instruments. Sterile processing departments (SPDs) are key drivers of productivity, effectiveness, safety, and infection control in hospitals. A well-designed SPD workflow can enhance patient safety, reduce operating room (OR) delays, and improve productivity. To understand the flow of sterile processing and interactions between the OR and SPD, process maps and task analyses were developed through direct observations of the basic SPD functions: decontamination, assembly, …
Complex System Governance And Cyber Operations, Willie Gernard Mccallister
Complex System Governance And Cyber Operations, Willie Gernard Mccallister
Engineering Management & Systems Engineering Theses & Dissertations
This dissertation examines the potential integration of Complex System Governance (CSG) within cybersecurity, emphasizing the development of a reference model for Cybersecurity Infrastructures. Traditional strategies for securing digital environments have struggled to address the intricate and dynamic layers inherent in modern cybersecurity systems. The purpose of this research is to explore the applicability of CSG as a framework to assess cybersecurity infrastructure using a case study research design. The research addresses two key questions: (1) How can the CSG reference model be adapted to explore cybersecurity infrastructure? (2) What results from CSG based exploration of cybersecurity infrastructure through a case …
A Methodology For Model-Based Certification, Jay Albert Silverman
A Methodology For Model-Based Certification, Jay Albert Silverman
Engineering Management & Systems Engineering Theses & Dissertations
A need for a single source of knowledge for design decisions has led to the development of a new field of systems engineering, model-based systems engineering (MBSE) (Delligati, 2014). System certification is defined as affirming that regulatory requirements for a system have been met (Goodwin & Juzaitis, 2006). System certification is a specific application of system validation. System verification can be defined as ensuring that the system of interest (SOI), as designed, is in accordance with the design inputs/requirements. System validation can be defined as ensuring that the SOI, as designed, meets the defined system needs (Wolfgand, Katz, & Wheatcraft, …
Combat-Oriented Comprehensive Simulation And Verification Technology For Equipment System Rms, Yue Zhang, Wenliang Zhang, Qiang Feng, Xing Guo, Yi Ren, Zili Wang
Combat-Oriented Comprehensive Simulation And Verification Technology For Equipment System Rms, Yue Zhang, Wenliang Zhang, Qiang Feng, Xing Guo, Yi Ren, Zili Wang
Journal of System Simulation
Abstract:Existing reliability maintainability supportability (RMS) simulation and verification methods for equipment systems are typically conducted under standard conditions and suffer from weak combat environments and task modeling capabilities. To address this limitation, a multi-agent RMS simulation and verification framework was proposed. Key breakthroughs included agent modeling techniques for complex environments and variable tasks, interaction mechanisms among environmental agents, task agents, equipment, and support systems, and a simulation-based comprehensive RMS evaluation method. Case studies demonstrate that the proposed method effectively models complex environments and variable tasks, supports combat-oriented simulation and verification and design scheme evaluation, and meets combat-ready development requirements.
Reflections On Innovative Approaches To Autonomous Simulation Software, Feng Tian
Reflections On Innovative Approaches To Autonomous Simulation Software, Feng Tian
Journal of System Simulation
Abstract: Given China's weak foundation in simulation software, simply replicating the development paths of these global leading companies offers limited potential for leapfrog development. Based on an analysis of pitfalls in the independent innovation of domestic simulation software, this paper proposed and elaborated on six strategic approaches: avoiding established paths, aligning with national realities, pursuing extreme performance, leveraging special needs to advance technology, building new systems from the ground up, and embracing artificial intelligence (AI)-native architectures. These strategies aim to provide new perspectives for the independent innovation and development of domestic simulation software.
A Review Of Intelligent Generation Of Combat Simulation Scenarios, Zhiming Dong, Zhongqi Hu, Zhaoyang Liu, Heyang Zhou
A Review Of Intelligent Generation Of Combat Simulation Scenarios, Zhiming Dong, Zhongqi Hu, Zhaoyang Liu, Heyang Zhou
Journal of System Simulation
Abstract: In order to improve the efficiency of combat simulation, this paper provided a theoretical reference for the research on the intelligent generation of combat simulation scenarios. It systematically reviewed the intelligent generation methods of combat simulation scenarios based on large language models (LLMs). It began by introducing the basic content of combat simulation scenarios, analyzed the shortcomings of current mainstream scenario generation methods, and discussed how to leverage LLMs to address these issues. Next, it outlined the application paradigms and key supporting technologies for the intelligent generation of combat simulation scenarios based on LLMs. Finally, it pointed out the …
Multi-Scenario Multi-Satellite Mission Planning Method Based On Adaptive Large Neighborhood Search, Xiutian Li, Ling Wang, Yingwu Chen, Lining Xing, Yingguo Chen
Multi-Scenario Multi-Satellite Mission Planning Method Based On Adaptive Large Neighborhood Search, Xiutian Li, Ling Wang, Yingwu Chen, Lining Xing, Yingguo Chen
Journal of System Simulation
Abstract: To further improve the execution efficiency of remote sensing satellites, an integrated optimization framework combining adaptive large neighborhood search (ALNS) and a constraint programming-boolean satisfiability problem (CP-SAT) solver monitor was proposed, addressing the challenges of complex constraints, dynamic scale, and resource heterogeneity in multi-scenario multi-satellite mission planning. A unified multi-objective mixed-integer programming model was established, coupling heterogeneous constraints of point targets and area tasks. A time-domain rolling mechanism dynamically decomposed the problem scale, and a priority screening strategy enhanced the search efficiency of ALNS. Solution feasibility was verified in real time through the CP-SAT monitor. Results show that compared …
Research On High-Performance Optimization Methods For Fastdds In Heterogeneous Real-Time Simulation, Congping Liu, Wei Song, Jian Fang, Fei Liu
Research On High-Performance Optimization Methods For Fastdds In Heterogeneous Real-Time Simulation, Congping Liu, Wei Song, Jian Fang, Fei Liu
Journal of System Simulation
Abstract:FastDDS faces limitations under high-frequency data streams, such as lock contention, performance overhead from frequent context switching, and configuration complexity of multiple nodes under strict real-time constraints, which affect the experimental efficiency. This paper proposed a performance optimization method based on a batch-scalable circular queue (BSCQ). The approach replaced the traditional mutex mechanism with a lock-free algorithm to reduce lock contention and avoid deadlocks, while batch processing improved data locality, cache hit rates, and memory utilization, effectively reducing data transmission delay and improving system throughput. Hazard pointers were introduced to ensure safe memory management during batch processing and eliminate …
Thinking On Simulation Science And Engineering In The Era Of Artificial Intelligence, Wenhui Fan, Yuan Jiang
Thinking On Simulation Science And Engineering In The Era Of Artificial Intelligence, Wenhui Fan, Yuan Jiang
Journal of System Simulation
Abstract: With the rapid advancement of artificial intelligence and computing technologies, simulation technologies have leapfrogged, propelling the discipline of simulation toward greater maturity. Research progress in computer simulation technologies both in China and abroad was reviewed, and the definition and connotation of simulation were clarified. It was proposed that the Chinese terms "仿真" "仿效"and " 模拟" be unified under a single term " 仿真" with corresponding "Simulation" "Emulation" and "Analog" in English translated uniformly as "Simulation". Simulation science and engineering discipline was delineated, which was grounded in three core theoretical foundations: analogical theory,computational theory, and model validation theory. The first-level …
Research Review Of Intelligent Navigation Simulation Technology And Its Applications, Tao Liu, Hanxi Li, Yong Yin, Jialun Liu
Research Review Of Intelligent Navigation Simulation Technology And Its Applications, Tao Liu, Hanxi Li, Yong Yin, Jialun Liu
Journal of System Simulation
Abstract:Navigation simulation develops models of ship navigation environments and behavior to simulate ship responses under various scenarios, enabling the prediction of ship behavior under complex and disturbing conditions. With the development of computer graphics, virtual reality, and artificial intelligence technologies in recent years, especially the development of unmanned ship technology, new research topics and applications have emerged in navigation simulation technology. This paper introduced the current research status and development trends of navigation simulation technology and reviewed it from three aspects: typical scenarios, key technologies, and development trends. The development trends and key points of multi-dimensional electronic navigation charts, …
Research On Policy Representation In Deep Reinforcement Learning, Zhen Chen, Zhuoyi Wu, Lin Zhang
Research On Policy Representation In Deep Reinforcement Learning, Zhen Chen, Zhuoyi Wu, Lin Zhang
Journal of System Simulation
Abstract: Deep reinforcement learning (DRL) has achieved remarkable success in various domains. Nevertheless, existing policy networks in DRL still face significant challenges in areas such as generalizability, multi-task adaptability, and sample efficiency. Policy representation, as a crucial research direction for enhancing DRL capabilities, aims to improve an agent's adaptability to environmental changes and novel tasks by constructing more efficient and generalizable forms of policy expression. This paper provided a concise overview of key research advances in the field of policy representation. It introduced diverse policy architectures, ranging from traditional multi-layer perceptron (MLP) -based policies to those based on pointer networks, …
Optimization And Simulation Of Adaptive Production Scheduling Based On Hybrid Decision-Making Mechanism, Zhicheng Ji, Zhen Quan, Yan Wang
Optimization And Simulation Of Adaptive Production Scheduling Based On Hybrid Decision-Making Mechanism, Zhicheng Ji, Zhen Quan, Yan Wang
Journal of System Simulation
Abstract: To optimize flexible production scheduling with the objectives of the longest makespan, mean tardiness, and bottleneck machine processing load rate, a hybrid decision-making mechanism scheduling algorithm was proposed based on the decision complexity and constraint characteristics of machine assignment and task sequencing. The algorithm adopted a two-dimensional chromosome to encode machine assignment and a heuristic rule to evaluate task sequencing priority, enhancing the adaptability of the method to decision-making optimization. In order to further improve the performance of the proposed scheduling method, an adaptive rule strategy was designed based on the distribution of processing time required for waiting scheduling …
Current Situation Of Simulation Course Offerings In Colleges And Universities In China And Abroad, Xiaogang Qiu, Zhengqiu Zhu, Kai Xu, Guanghong Gong
Current Situation Of Simulation Course Offerings In Colleges And Universities In China And Abroad, Xiaogang Qiu, Zhengqiu Zhu, Kai Xu, Guanghong Gong
Journal of System Simulation
Abstract: As fundamental teaching units, courses serve as vital carriers of disciplinary knowledge transmission and critical bridges for converting research outcomes into educational content. The construction of simulation courses plays a pivotal role in developing the simulation discipline. The inaugural "Intelligence+ " symposium on simulation discipline and specialty construction focused on exploring the current state of simulation courses and pedagogy in China while examining future development directions. This report presented the key findings and discussions from the symposium regarding simulation courses and pedagogy. The analysis covered four parts: first, an overview of simulation course offerings and characteristics at European and …
Research On Requirements And Methods For Intelligent Assessment Of Simulation Credibility, Bingheng Wang, Tingrui Liu, Fan Yang, Huan Zhang, Wei Li, Ping Ma, Ming Yang
Research On Requirements And Methods For Intelligent Assessment Of Simulation Credibility, Bingheng Wang, Tingrui Liu, Fan Yang, Huan Zhang, Wei Li, Ping Ma, Ming Yang
Journal of System Simulation
Abstract: The accuracy of simulations in representing real-world systems is a critical concern for users. Simulation credibility assessment ensures trustworthiness by evaluating the correctness and effectiveness of simulations to meet application requirements. As simulation technologies are widely adopted, and new simulation paradigms emerge, traditional assessment methods are increasingly showing limitations in their dependence on experts, data processing capabilities, and assessment efficiency. This paper systematically reviewed the research demands, current progress, new technologies, and future trends of intelligent simulation credibility assessment. Based on the simulation credibility assessment process and problem analysis, the requirements for intelligent credibility assessment were discussed. Intelligent technologies …
Research On Simulation Training Technology For Special Vehicle Command Based On Gesture Behavior Cognition Interaction, Xiangyang Li, Zhili Zhang, Rui Wang, Xiao Wang, Cheng Chi
Research On Simulation Training Technology For Special Vehicle Command Based On Gesture Behavior Cognition Interaction, Xiangyang Li, Zhili Zhang, Rui Wang, Xiao Wang, Cheng Chi
Journal of System Simulation
Abstract: To overcome the practical shortcomings in the driving command training of special vehicles, a simulation training technology framework based on gesture behavior cognition and command interaction was proposed. A somatosensory interactive motion capture device and human skeleton model were used to conduct the real-time dynamic recognition and spatial coordinate transformation of the gesture actions of the command training personnel. The median filtering method was applied to eliminate the abrupt data and random noise. The spatial coordinates were processed consistently by using the human skeleton centralization and normalization method. Based on the command gesture action behavior model library and the …
Dynamic Data Driven Simulation Based On Macro-Microscopic Hierarchical Simulation Models, Xu Xie, Yuqing Ma
Dynamic Data Driven Simulation Based On Macro-Microscopic Hierarchical Simulation Models, Xu Xie, Yuqing Ma
Journal of System Simulation
Abstract:This paper proposed a dynamic data driven simulation approach based on macro-microscopic hierarchical simulation models. This approach enabled the measurement data from the real system to affect the macroscopic simulation and microscopic simulation in sequence and made the two simulations evolve together so that it could provide decision makers with the state evolution prediction of the real system at the macroscopic level to assist decision making and provide a microscopic testbed similar to the real system, on which decision makers could deduce and evaluate their strategies. This paper established a formal description of the approach and designed a data …
Reliability Simulation Testing And Verification Technologies For Intelligent Systems: Frontiers, Progress, And Challenges, Zili Wang, Yuntian Gao, Dezhen Yang, Yeyang Liu, Yi Ren
Reliability Simulation Testing And Verification Technologies For Intelligent Systems: Frontiers, Progress, And Challenges, Zili Wang, Yuntian Gao, Dezhen Yang, Yeyang Liu, Yi Ren
Journal of System Simulation
Abstract: Intelligent systems are extensively deployed in domains such as transportation, energy and water resources, smart healthcare, and aerospace, where their reliability is directly linked to public safety and social stability, thus requiring thorough and scientifically rigorous verification. This article conducted an in-depth exploration of the current state of reliability simulation and verification techniques for intelligent systems. It defined the concept of reliability specific to intelligent systems and identified key challenges they face in areas including mission scenario modeling, characteristic modeling and simulation, evaluation and verification, and simulation platforms. Future development requirements were proposed to guide research toward more trustworthy, …
Modeling And Simulation Of Complex Systems Based On Graph Neural Networks, Jinhu Lü, Hongyi Jiang, Deyuan Liu, Shaolin Tan
Modeling And Simulation Of Complex Systems Based On Graph Neural Networks, Jinhu Lü, Hongyi Jiang, Deyuan Liu, Shaolin Tan
Journal of System Simulation
Abstract: Modeling and simulation of complex systems are critical issues for understanding their structural and functional properties. The ability of graph neural networks (GNNs) to learn and represent the internal correlations within data provides a new approach for modeling and simulating complex systems. Currently, there are various types of GNN models involving frequency-domain, spatial-domain, generative, heterogeneous, and spatio-temporal models. These models are widely applied in complex system modeling and simulation research in multiple fields such as industrial internet, social networks, and supply chains based on specific tasks and scenarios. Starting from three representative tasks: network topology representation, dynamic evolution modeling, …
Intelligent Transition Of Automotive Industry Driven By Autonomous Driving Simulation Testing Technology, Jianping Wu, Guanzhou Li, Shuai Zhao, Ling Huang
Intelligent Transition Of Automotive Industry Driven By Autonomous Driving Simulation Testing Technology, Jianping Wu, Guanzhou Li, Shuai Zhao, Ling Huang
Journal of System Simulation
Abstract: As a pivotal approach supporting the safety verification and commercial implementation of intelligent driving systems, autonomous driving simulation testing has achieved remarkable progress in technical methodologies and application scenarios. Conventional real-world road testing faces critical limitations including prohibitive costs, inadequate coverage of corner case scenarios, and efficiency bottlenecks, rendering it insufficient for safety validation of high-level autonomous driving systems (L4 and above). To address these challenges, simulation testing frameworks have evolved into a multi-layered verification system encompassing mathematical modeling, virtual scenarios, hardware-in-the-loop (HIL), mixed reality, and cloud-based simulation clusters. Specifically, mathematical modeling accelerates algorithm development; virtual scenario simulation enhances …
Digital Twinned Industrial Robot: Conceptual Framework, Key Technologies, And Case Study, Yongkui Liu, Kang Yang, Benben Tuo, Yaduo Pan, Xinyu Wang, Yihan Wang, Yongqian Gong, Lin Zhang, Lihui Wang, Tingyu Lin, Bin Zi, Yuan Li, Wei You, Xun Xu
Digital Twinned Industrial Robot: Conceptual Framework, Key Technologies, And Case Study, Yongkui Liu, Kang Yang, Benben Tuo, Yaduo Pan, Xinyu Wang, Yihan Wang, Yongqian Gong, Lin Zhang, Lihui Wang, Tingyu Lin, Bin Zi, Yuan Li, Wei You, Xun Xu
Journal of System Simulation
Abstract: To effectively enhance the value and full life cycle management level of industrial robots, this paper integrated deeply digital twin with industrial robots and discussed a new concept, namely digital twinned industrial robot (DTIR). It defined the concept, composition, and typical characteristics of DTIRs and proposed their system architecture. From the perspective of the full life cycle of "design, manufacturing, operation and maintenance, and decommissioning", the key technologies of DTIRs were systematically sorted out. Furthermore, the validity of the proposed conceptual framework was verified through a case study. Finally, the paper summarized the findings and discussed the future development …
Large-Scale Social Simulator: Frontiers And Perspectives, Jinghua Piao, Chen Gao, Fang Zhang, Jun Su, Yong Li
Large-Scale Social Simulator: Frontiers And Perspectives, Jinghua Piao, Chen Gao, Fang Zhang, Jun Su, Yong Li
Journal of System Simulation
Abstract: Social experiments, as a typical research method in social sciences, aim to study specific social phenomena or the impacts of policies by observing the behaviors of individuals, organizations, or social groups in real or simulated environments. However, traditional social experiment methods often face challenges such as random bias, high costs, and ethical risks, making them inadequate to address increasingly complex research demands. Against this backdrop, computational social experiments have emerged, enabling researchers to conduct social experiments within computational simulation environments that are free from random bias, cost-efficient, and ethically manageable. Meanwhile, China is currently undergoing a critical period of …
Mission Engineering Competencies Workshop Report: Roles, Responsibilities, And Skills, James D. Moreland, Jr. (Editor), Thomas Irwin, Robert-Allen Baker
Mission Engineering Competencies Workshop Report: Roles, Responsibilities, And Skills, James D. Moreland, Jr. (Editor), Thomas Irwin, Robert-Allen Baker
Center for Mission Engineering (CME) Publications
This report summarizes the findings of a two-day Old Dominion University Mission Engineering Workshop involving the U.S. Navy, U.S. Marine Corps, U.S. Air Force, National Aeronautics and Space Administration, the University of New South Wales, and Old Dominion University, focused on defining the roles, competencies, and skills essential to Mission Engineering. It presents a structured competency framework and offers recommendations to guide workforce development, training, and cross-agency collaboration in support of complex, mission-driven systems.
Optimisation Of Astatic Controllers In Automatic Control Systems, Isamiddin Xakimovich Siddikov, Dilnoza Maxamadjanovna Umurzakova
Optimisation Of Astatic Controllers In Automatic Control Systems, Isamiddin Xakimovich Siddikov, Dilnoza Maxamadjanovna Umurzakova
Chemical Technology, Control and Management
This article examines the influence of various factors on the efficiency of optimizing station controllers in automatic control systems. The main focus is on minimizing static errors and improving the reliability of controllers. Optimization methods for PID and PI2D controllers are discussed, including the use of modern approaches such as genetic algorithms. The necessity of compromise solutions to achieve high-quality system responses to various impacts is investigated. It was also suggested that there is a need for an integrated approach to setting up controllers in order to increase their reliability and flexibility in conditions of dynamically changing processes. …
Finite-Time Robust Anti-Disturbance Control For Steer-By-Wire System, Jingyi Zhang, Xin Chen, Jingang Ding, Jianguo Luo, Shuo Feng
Finite-Time Robust Anti-Disturbance Control For Steer-By-Wire System, Jingyi Zhang, Xin Chen, Jingang Ding, Jianguo Luo, Shuo Feng
Journal of System Simulation
Abstract: To eliminate the influence of parameter perturbations and external disturbances on the wheel angle tracking control performance of steer-by-wire (SbW) system, a fractional-order integral terminal sliding mode control scheme based on a finite-time disturbance observer is proposed. A sliding modebased second order finite-time disturbance observer (FDO) is designed to precisely estimate the total disturbance of the SbW system, and the estimated total disturbance is compensated into the system control input to reduce the wheel angle tracking error. A fractional-order fast integral terminal sliding mode control (FOFITSMC) scheme is designed to ensure fast convergence of the wheel angle tracking error …
Research On Obstacle Avoidance Of Substation Robot Based On Spatiotemporal Networks, Chong Cheng, Lixia Wang, Songtao Duan, Xiaoguang Xiong, Xianjun Ge
Research On Obstacle Avoidance Of Substation Robot Based On Spatiotemporal Networks, Chong Cheng, Lixia Wang, Songtao Duan, Xiaoguang Xiong, Xianjun Ge
Journal of System Simulation
Abstract: In order to improve the visual obstacle avoidance ability of substation robots in complex environments, a robot visual obstacle avoidance method based on spatiotemporal networks is proposed. The method utilizes traditional image processing techniques to enhance road information and designs a lightweight deep convolutional neural network structure to extract road features from a spatial domain perspective; based on the spatial characteristics of the road, a long short-term memory network is introduced to mine the changes in the road from a temporal perspective, and a classification regression prediction structure is used to predict the robot's obstacle avoidance direction and angle; …
Research On Scenario-Driven Virtual Simulation Test Method For Autonomous Escort Function Of Habor Tugs, Shijie Li, Jialin Li, Jialun Liu, Chengqi Xu, Zhilin Dong
Research On Scenario-Driven Virtual Simulation Test Method For Autonomous Escort Function Of Habor Tugs, Shijie Li, Jialin Li, Jialun Liu, Chengqi Xu, Zhilin Dong
Journal of System Simulation
Abstract: In order to comprehensively construct the test scenarios and verify the reliability of the tugboat autonomous companionway function, a scenario-driven virtual simulation test method for the tugboat autonomous companionway function is proposed. Based on the relative heading, relative speed and relative position of the target ship and the tugboat, the test cases of the tugboat autonomous companionway scenario are generated, and the complexity of the test cases is evaluated by using the fifthorder Bessel curve. The autonomous companion navigation function of the tug is verified through simulation experiments on the complex typical test scenarios without and with obstacles. The …