Robot Arm Control Method Based On Deep Reinforcement Learning,
2019
1. Beijing Complex Product Advanced Manufacturing Engineering Research Center, Beijing Simulation Center, Beijing 100854, China; ;
Robot Arm Control Method Based On Deep Reinforcement Learning, Heyu Li, Zhilong Zhao, Gu Lei, Liqin Guo, Zeng Bi, Tingyu Lin
Journal of System Simulation
Abstract: Deep reinforcement learning continues to explore in the environment and adjusts the neural network parameters by the reward function. The actual production line can not be used as the trial and error environment for the algorithm, so there is not enough data. For that, this paper constructs a virtual robot arm simulation environment, including the robot arm and the object. The Deep Deterministic Policy Gradient (DDPG),in which the state variables and reward function are set,is trained by deep reinforcement learning algorithm in the simulation environment to realize the target of controlling the robot arm to move the gripper below …
Microscopic Simulation Based Evaluation Of Congestion Pricing For Beijing Urban Area,
2019
Department of Civil Engineering, Tsinghua University, Beijing 100084, China;
Microscopic Simulation Based Evaluation Of Congestion Pricing For Beijing Urban Area, Jingchen Dai, Ruimin Li
Journal of System Simulation
Abstract: In order to study the potential effect of congestion charging policy in large-scale road network, a micro-simulation platform Paramics is used to establish a simulation model within Beijing fourth ring road. On this basis, multiple congestion pricing scenarios are assessed in consideration of charging zones size, charging rate, and travel mode shift. When the travel mode shift is put aside, the analysis shows that selecting a larger charging zone is more effective on reducing vehicle kilometers of travel and may increase the total charge revenue. However, congestion pricing appears no potential to significantly affect the average speed of …
Numerical Simulation Of Rock Breaking Mechanism For Compound Percussion Drilling,
2019
1. Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science & Technology University, Beijing 100101, China; ;
Numerical Simulation Of Rock Breaking Mechanism For Compound Percussion Drilling, Yumei Li, Liwei Yu, Zhang Tao, Su Zhong, Jianming Liu
Journal of System Simulation
Abstract: The ABAQUS dynamic impact module is used to establish the numerical calculation model for PDC single tooth-rock impact. The effects of PDC cutting teeth on the dynamic rock breaking mode and rock breaking effect under the combined action of rotating speed, drilling pressure, alternating impact torque and alternating impact force are studied. The study shows that the torsional impact mode is 39.28% higher than the rock breaking efficiency of the rotary impact, and the compound percussion mode is 27.79% higher than the rock breaking efficiency of the torsional impact. Under the same conditions of impact time, the rock surface …
Research On Corridor Setting Based On Pedestrian Simulation Of Social Groups,
2019
1. Beijing University of Civil Engineering and Architecture, Beijing 100044, China; ;2. Beijing Urban Transportation Infrastructure Engineering and Architecture, Beijing 100044, China; ;
Research On Corridor Setting Based On Pedestrian Simulation Of Social Groups, Yiting Xu, Zhang Rui
Journal of System Simulation
Abstract: As the connector of each space in the hub, the rail transit hub corridor plays the role of transition and buffer. The existence of social groups makes an important impact on pedestrian traffic and its simulation. The paper supplements the consideration of pedestrian traffic related studies on social groups travel, analyses the characteristics of social groups in rail transit hub corridor, improves Moussaïd social group force model, and redevelops AnyLogic micro-simulation platform based on Python language. Taking a subway station in Beijing as an example, fully considering the influence of social groups, it is obtained that the optimal channel …
Design Of Imu Dynamic Coefficient Calibration Based On Reduced Space Search Algorithm,
2019
Shanghai Institute of Mechanical and Electrical Engineering, Shanghai 201100, China;
Design Of Imu Dynamic Coefficient Calibration Based On Reduced Space Search Algorithm, Hongyan Yan, Zhang Yu, Weihua Zhu, Shi Ming, Yexin Zhang
Journal of System Simulation
Abstract: In order to improve the dynamic error coefficient speed of the calibration strapdown inertial group, a dynamic error model is established in the inertial navigation system. The Kalman filter is used to reflect the observation degree of the error term to determine the objective function of the optimal algorithm. The penalty function for the reduced space search algorithm is improved by genetic algorithm. At the end, it not only gets rid of the interference of the local pseudo-optimal solution, but also improves the recognition speed when it is close to the optimal solution. Compared with the solution …
Direct Torque Control Technology For Permanent Magnet Synchronous Motor Based On Svpwm,
2019
1. School of Automotive Studies, Tongji University, Shanghai 201804, China; ;
Direct Torque Control Technology For Permanent Magnet Synchronous Motor Based On Svpwm, Yin Xing, Dengke Yuan, Yongcheng Zhen, Zhongshu Shao, Xiangjie Lü
Journal of System Simulation
Abstract: The traditional direct torque control technology of permanent magnet synchronous motor utilizes the results of torque and flux linkage hysteresis comparison, and directly controls the torque by looking up the voltage vector. Though this algorithm is simple, its current waveform distortion and torque ripple is more serious, which is very unfavorable for actual motor control. In this case, by analyzing the shortcomings of traditional direct torque control, SVPWM technology is introduced into direct torque control, and the original look-up table module is replaced by SVPWM module. A simulation model is established for comparative analysis in MATLAB/Simulink, PMSM direct …
Size Optimization Method Of 6r Manipulator Based On Global Maneuverability,
2019
1. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China; ;
Size Optimization Method Of 6r Manipulator Based On Global Maneuverability, Xianhua Li, Xuesong Shi, Lü Lei, Leigang Zhang, Song Tao
Journal of System Simulation
Abstract: Aiming at the six-DOF manipulator of service robot, the structure size parameters are optimized and analyzed. The global manipulability index of the manipulator workspace is defined, the coordinate system of the position and attitude is established, and the reachability of the position and attitude is calculated with the inverse solution of the manipulator, and the global manipulability index of the manipulator is proposed. Taking the maximum value of this index as the optimization target, the size parameters of the connecting rod of the manipulator are optimized by genetic algorithm, the size of the optimized connecting rod and the global …
The Grey-Box Based Modeling Approach Research Integrating Fusion Mechanism And Data,
2019
1. College of Systems Engineering, National University of Defense Technology, Changsha 410073, China; ;
The Grey-Box Based Modeling Approach Research Integrating Fusion Mechanism And Data, Bin Chen, Xiaodong Wang, Rongxiao Wang, Xiaogang Qiu, Zhengqiu Zhu, Ma Liang
Journal of System Simulation
Abstract: With the deep understanding of world, modeling and simulation have been used to solve the problems of complex systems. The simulation models are used to model the engineering systems which follow newton laws. The modeling approach is called white-box modeling, while the black-box modeling is used to model the systems of which the internal structure and characteristics are not clear. The black-box modeling is based on statistics and data modeling. This paper discusses the deficiencies of the white-box and black-box modeling approaches first. The Grey-box based modeling approach integrating both fusion mechanism and data model is proposed. In …
Design Of Combat Simulation And Visualization System Of Hypersonic Vehicle,
2019
Science and Technology on Space Physics Laboratory, Beijing 100076, China;
Design Of Combat Simulation And Visualization System Of Hypersonic Vehicle, Yu Ying, Weidong Liang, Xiujuan Zhu, Jianlin Wang, Wang Ling
Journal of System Simulation
Abstract: Based on the thought of combat simulation, the system of combat simulation and visualization is designed to show the typical combat mode and the characteristics of near space vehicles. Taking the aircraft attacking a fixed target as an example, the formulation of combat plan, the deployment of forces and the design of combat process of both sides are realized. On the one hand, a combat simulation platform which covers various combat modes of attack and defense is established. On the other hand, the whole process of combat confrontation of hypersonic vehicles is presented, driven by the real-time simulation data. …
Research On Extraction Method Of Time-Frequency Feature Of Fall Detection,
2019
1. Beijing Information Science and Technology University, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100101, China; ;2. Ministry of Education Key Laboratory of Modern Measurement and Control, Beijing 100101, China; ;
Research On Extraction Method Of Time-Frequency Feature Of Fall Detection, Tianrun Wang, Su Zhong, Liu Ning, Li Chao, Guodong Fu
Journal of System Simulation
Abstract: Aiming at the problem of features extract method for fall detection, the method using time-frequency analyze and features extraction by Fractional Fourier Transform (FRFT) has been proposed. The inertial data is measured by 15 IMU wearing on body, the features extracted after FRFT with multiple order are analyzed and compared. The difference of feature distribution of eight fall actions has been compared, and the difference of feature distribution between fall action and 4 normal actions has been compared. The feasibility of using FRFT in fall detection is proved.
Intelligent Collaborative Networking Method For Workshop Emergencies,
2019
Jiangnan University, Engineering Research Center of the Ministry of Education of Internet of Things Technology Application, Wuxi 214122, China;
Intelligent Collaborative Networking Method For Workshop Emergencies, Kong Tao, Wang Yan
Journal of System Simulation
Abstract: Due to the complex environment of intelligent manufacturing workshop, abnormal emergencies will cause huge security threats and economic losses to the workshop. It is difficult to transmit the abnormal event data continuously, quickly and completely in the workshop production site, and the fluctuation of abnormal event data is great with high requirements on the integrity and real-time of data transmission. In this paper, a multi-agent cooperative networking method for workshop emergencies is proposed. Mobile robots are introduced as intermediary Sink nodes for data transmission between sensor networks and the Internet. In case of emergencies, the intelligent node and cluster …
Multi-Sensor Data Fusion With Network Delays And Correlated Noises,
2019
1. School of Information and Communication Engineering, Beijing Information Science and Technology University, Beijing 100101, China; ;
Multi-Sensor Data Fusion With Network Delays And Correlated Noises, Shankai Zhang, Zhu Cui, Su Zhong, Dai Juan
Journal of System Simulation
Abstract: This paper focuses on the state estimation for multi-sensor system with network delays and correlated noises. An orthogonal transformation method is applied to remove the correlations between different noises. For the problem of packet delays due to the unreliable network, a buffer with certain length is introduced to store the measurements, and the measurements are reordered using a timestamp in the buffer. Based on that, a novel sequential data fusion algorithm is proposed, by which the influence of the noise correlation and packet delays can be weakened effectively. Compared with the traditional sequential fusion method, the proposed algorithm has …
Pedestrian Navigation Method Based On Uwb And Sins,
2019
Beijing Information Science and Technology University Institute of Intelligence Control, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China;
Pedestrian Navigation Method Based On Uwb And Sins, Yang Yang, Li Qing
Journal of System Simulation
Abstract: In view of the problem that the inertial navigation error is accumulating with time and UWB indoor is hard to continue tracking problems in complex environment, an extended Kalman filter (EKF) fusing UWB and sins pedestrian navigation is proposed.The zero speed correction algorithm is used to trigger EKF at zero speed. The sins is corrected by the velocity error measurement provided by sins and the position error measurement provided by UWB restraining error accumulation.When UWB signal is interrupted, the position of UWB output without interruption is taken as the starting position. The experiment results of SINS autonomous navigation …
Modeling Indoor Environment With Kinect,
2019
1. Information Engineering University, Zhengzhou 450001, China; ;
Modeling Indoor Environment With Kinect, Lianrui Xu, Jinming Zhang
Journal of System Simulation
Abstract: To solve the problems of point cloud noise, depth data mismatching and local details prone to hollowing in the process of Kinect camera reconstruction of indoor three-dimensional environment. By improving the assignment method of depth image pixel and the threshold relationship of time frame matching, this paper denoises the point cloud with optimizing mean filtering and time frame weighting methods. Combined with recent iteration algorithm (Iterative Closest Point, ICP) to complete the adjacent point cloud splicing so that it can achieve completely indoor model to build 3D environment. To test the validity of the algorithm, the experiment of …
Evaluation Method Of Node Importance In Equipment Support Network Based On Polymeric Degree,
2019
1. Academy of Army Armored Force, Beijing 100072, China; ;
Evaluation Method Of Node Importance In Equipment Support Network Based On Polymeric Degree, Zhang Qiang, Junhai Cao, Tailiang Song, Yan Xu
Journal of System Simulation
Abstract: Aiming at the problem that the heterogeneity of nodes in equipment support network and the different support relationships leading to the inaccuracy of judging the importance of nodes based on single attributes such as degree value, this paper puts forward the concept of polymeric degree, and mines the importance information of nodes from the aspects of polymeric degree, betweenness centrality, closeness centrality and Eigenvector centrality. Because of the shortcoming that the Euclidean distance can not reflect the vertical distance in the traditional method of Order Preference by Similarity to an Ideal Solution (TOPSIS), the TOPSIS method is improved. The …
Comparative Study On Resistance Modeling Method In Yacht Simulator,
2019
Key Laboratory of Marine Simulation & Control for Ministry of Transportation, Dalian 116000, China;
Comparative Study On Resistance Modeling Method In Yacht Simulator, Xiaochen Li, Yin Yong
Journal of System Simulation
Abstract: In order to solve the problem that the existing resistance modeling method of yacht has poor universality and the calculation accuracy is not high, approximate resistance modeling methods of high speed craft are analyzed and summarized. The actual yacht model is simplified into a prismatic hull. “ЦАГИ” method and SIT method are reproduced and the simulation results are compared with model test. The application of resistance approximate modeling in the yacht simulator is discussed. The results reveal that the resistance is in good agreement with the experimental value, and the SIT method with simplified hull form is more …
Research On Uncertainty Measurement Method Of Aircraft Hwil System,
2019
1. Beijing Electro-Mechanical Engineering Institute, Beijing 100074, China; ;
Research On Uncertainty Measurement Method Of Aircraft Hwil System, Huapin Geng, Jiahui Tong, Hongtao Ma
Journal of System Simulation
Abstract: Uncertainty is the inherent attribute of simulation system, causing the expected results inconformity with the real results, even influencing the robustness and reliability of system. Based on the analysis of the system uncertainty characteristics, the analysis framework of HWIL system uncertainty measurement is proposed. Three kinds of the uncertainty measurement methods based on the uncertainty type and the compound and weighting are researched on aircraft HWIL System. The typical uncertainty measurement methods are applied based on some aircraft HWIL system and the result proves that the method is efficient.
Fault-Tolerant Method And Simulation Of Heterogeneous Multi-Core Processor Based On Speculative Mechanism,
2019
1. State Key Laboratory of Computer Architecture, Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100190, China; ;2. School of Computer and Control Engineering, University of Chinese Academy of Sciences, Beijing 100049, China; ;3.National Engineering Laboratory for Advanced Processor Technology, Chengdu 610218, China; ;4.Information Engineering college, Fuyang Normal University, Fuyang 236041, China;
Fault-Tolerant Method And Simulation Of Heterogeneous Multi-Core Processor Based On Speculative Mechanism, Shigan Yu, Zhimin Tang, Xiaochun Ye, Dongrui Fan
Journal of System Simulation
Abstract: Heterogeneous multicore is one of the important branches of processors,but they are still faced with frequent transient failures. TMR(Triple mode redundancy) is the main method to solve transient faults, which has the characteristics of low efficiency and high power consumption, a high-performance Fault-Tolerant Scheduling Algorithm with Speculative mechanism(FTSAS) is proposed. Each heterogeneous core can execute tasks independently, the state values of the first completed core are recorded, and the first completed core continues to perform the next task with forward speculative method. The results are compared by backward core, the majority consensus principle is adopted to ensure the reliability …
Lstm Model For Trajectory Design Of Missile-Borne Bfsar Imaging Guidance,
2019
1. State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing 100191, China; ;2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; ;3. Science and Technology on Aircraft Control Laboratory, Beijing 100191, China;
Lstm Model For Trajectory Design Of Missile-Borne Bfsar Imaging Guidance, Bohao Li, Yunjie Wu
Journal of System Simulation
Abstract: In the multi-platform path planning of multi-missile cooperative guidance algorithm used for missile-borne Bi-static Forward-looking Synthetic Aperture Radar (BFSAR) imaging, it is necessary to plan and adjust the transmitter trajectory according to the space state of the receiver and the path constraints between the receiver and the transmitter.An effective LSTM model is constructed to study and train the trajectory path generated by the existing algorithms, and the direct mapping relationship between the receiver space state, path constraint and the trajectory of the transmitter is obtained. The simulation results not only show that LSTM is feasible in multi-missile path …
Energy Efficiency Data Mining And Scheduling Optimization Of Discrete Workshop,
2019
Engineering Research Center of Internet of Things Technology Applications Ministry of Education, Jiangnan University, Wuxi 214122, China;
Energy Efficiency Data Mining And Scheduling Optimization Of Discrete Workshop, Yugu Lin, Wang Yan
Journal of System Simulation
Abstract: This paper addresses the optimization of energy consumption in discrete workshops and establishes the energy efficiency optimization model of discrete workshops. The relationship between data mining and knowledge discovery is established. Through scheduling data preprocessing and C4.5 decision tree learning algorithm, the discovery of scheduling knowledge is realized. Energy efficiency optimization calculation is achieved in discrete workshops by the combination of scheduling knowledge and improved differential evolution algorithm (IDE). By comparing with TLBO, GA and PSO, the feasibility of IDE algorithm is verified.
