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Survey on Intelligent Wargaming: Tactical & Campaign Wargame and Strategic Game from Game-Theoretic Perspective Luo Junren, Zhang Wanpeng, Xiang Fengtao, Jiang Chaoyuan, Chen Jing Journal of System Simulation    2023, 35 (9): 1871-1894.   DOI: 10.16182/j.issn1004731x.joss.23-0300 Abstract （1894）   HTML （103）    PDF（pc） （4154KB）（5667）       Knowledge map    Save Wargaming is a pre-practice activity to study national security and competition, military conflict and war, crisis management, and other major strategic issues. An intelligent wargaming system needs the ability of artificial intelligence technology. This paper briefly summarizes the research progress of intelligent game, the evolution of wargaming, intelligent wargaming, and strategic gaming methods. From the perspective of game theory, it analyzes the game problem model for intelligent wargaming and sorts out the application mode of intelligent wargaming and the organization mode of a strategic game. An intelligent wargaming service-oriented architecture based on cloud native is proposed. Pre-training method for future decision-making cloud is explored for distributed confrontation at cloud edge, and a meta-game analysis framework for strategic wargaming is constructed for cognition of crisis events. It is expected to provide a scientific and effective reference for the research on the theory and tools of intelligent wargaming and offer theoretical and technical support for the new generation of intelligent cloud-edge cooperative command and control. Table and Figures | Reference | Related Articles | Metrics

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Summary of Simulation Technology and Its Application in Training Field Zhiming Qiu, Heng Li, Yufang Zhou, Duzheng Qing Journal of System Simulation    2023, 35 (6): 1131-1143.   DOI: 10.16182/j.issn1004731x.joss.23-0351 Abstract （2054）   HTML （675）    PDF（pc） （3245KB）（3766）       Knowledge map    Save High-tech weapons, operations and battlefield environment become more and more increasingly sophisticated. It is an effective way to resolve the conflicts between huge equipment training cost and limited resources and improve training quality by building networked, systematic and intelligent simulation training equipment and system, and conducting systematic countermeasure simulation training based on present simulation technologies and training resources. The current situation and trend of the development of system architecture of simulation, simulation modeling, enemy simulation, information system simulation, etc are evaluated and summarized. It initially analyses the application and efficacy on the US Navy's normalized training environment, typical systems such as 'Alpha' intelligence air war simulation training system and the American 2021 large-scale military exercises are analyzed. Aiming at the real combat simulation training capacity under the combat condition, five research directions are proposed, which could be the references for engineering and technical personnel in this field. Table and Figures | Reference | Related Articles | Metrics

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Development of Several Typical Virtual Reality Fusion Technologies Feng Qiqi, Dong Zhiming, Peng Wencheng, Dai Yi, Si Bingshan Journal of System Simulation    2023, 35 (12): 2497-2511.   DOI: 10.16182/j.issn1004731x.joss.22-0793 Abstract （1535）   HTML （655）    PDF（pc） （4184KB）（3750）       Knowledge map    Save Virtual reality fusion can realize the two-way interaction, mapping and linkage between virtual world and physical world, which attracts the attention of countries in the world. In order to sort out and make statistics on concept connotation, academic status and application of the related new technologies, digital twin, cyber-physical systems, metaverse and live-virtual-constructive simulation are taken as representatives.The comparison on the development process, functional characteristics, target trends, etc. is carried out. Table and Figures | Reference | Related Articles | Metrics

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Application of Virtual-Real Simulation in Military Field Mao Ziquan, Gao Jialong, Gong Jianxing, Liu Quan Journal of System Simulation    2023, 35 (11): 2289-2311.   DOI: 10.16182/j.issn1004731x.joss.22-0672 Abstract （1559）   HTML （466）    PDF（pc） （1673KB）（2602）       Knowledge map    Save The definition and content of the virtual-real simulation are presented. According to different technical ideas, the development status and existing problems of virtual-real simulation are summarized from three aspects of digital twin, live-virtual-constructive (LVC) simulation, and parallel system. The similarities and differences, as well as the advantages and disadvantages of the three methods are analyzed and compared, and their main application fields are discussed. In order to deal with difficulties encountered in military training, operational tests, equipment development, and equipment maintenance, a solution based on virtual-real simulation is proposed by means of theoretical guidance, case comparison, and transfer and application. In view of the requirements of high fidelity, confidentiality, and security of relevant equipment and tests in the military field, the future development direction of virtual-real simulation is proposed. Table and Figures | Reference | Related Articles | Metrics

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Estimation of the Berthing Parameter of Unmanned Surface Vessels Based on 3D LiDAR Wang Haichao, Yin Yong, Jing Qianfeng, Cong Lin Journal of System Simulation    2024, 36 (8): 1737-1748.   DOI: 10.16182/j.issn1004731x.joss.24-0262 Abstract （6733）   HTML （2540）    PDF（pc） （4470KB）（2526）       Knowledge map    Save Accurate estimation of berthing parameters is a prerequisite for unmanned surface vessel autonomous berthing. A method for berthing parameter estimation is proposed based on shipborne 3D LiDAR. The method consists of two main modules: ship pose estimation and berthing state estimation. In the berthing position estimation module, raw point cloud data undergoes preprocessing algorithms aims at downsampling and removing outliers. Point cloud registration algorithms are employed to determine the vessel's position during the berthing process. The berthing state estimation module extracts berth boundary information by using the MSAC algorithm, and on the basis of this information, calculates the berthing parameters. Experimental analysis results show that the ship pose information and berthing parameter information obtained by the algorithm are consistent with reality. The average berthing distance error is less than 0.023 m, and the average angle error is less than 0.26°, which verifies the accuracy and rationality of this berthing parameter estimation algorithm. Table and Figures | Reference | Related Articles | Metrics

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Thinking of Aerospace Equipment Systematization Simulation Technology Development Bao Weimin, Qi Zhenqiang Journal of System Simulation    2024, 36 (6): 1257-1272.   DOI: 10.16182/j.issn1004731x.joss.24-0548 Abstract （2798）   HTML （957）    PDF（pc） （6596KB）（2313）       Knowledge map    Save The aerospace field is flourishing in the new era. Aerospace equipment presents new characteristics such as systematization, new quality, high efficiency and intelligence. Simulation technology plays a more important role in the digital aerospace era as a means of enhancing efficiency and empowerment covering all stages of the entire lifecycle, including project demonstration, research and development, testing, manufacturing, training, and maintenance. The conception of aerospace equipment systematization simulation technology is introduced, the current development status and practices at home and abroad are elaborated, and the future development trends and challenges of aerospace equipment systematization simulation technology are evaluated. Focusing on the systematic development of aerospace simulation technology, on the basis of key breakthroughs and evolving promotion, the development ideas are proposed from the dimensions of technical system, supporting applications, and utility evolution. The contribution of the emerging hotspots such as artificial intelligence, big data, virtual reality, and digital technology to the development of aerospace equipment systematization simulation is discussed. Table and Figures | Reference | Related Articles | Metrics

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UAV Path Planning Based on Improved Harris Hawk Algorithm and B-spline Curve Huang Zhifeng, Liu Yuanhua Journal of System Simulation    2024, 36 (7): 1509-1524.   DOI: 10.16182/j.issn1004731x.joss.23-0403 Abstract （5681）   HTML （2264）    PDF（pc） （6057KB）（2305）       Knowledge map    Save Aiming at the global path planning problem of unmanned aerial vehicles (UAVs) in dynamic environments, this paper proposes an improved Harris Hawk optimization algorithm. To address the problem of insufficient search performance in the later stage of the algorithm, an adaptive chaos and core population dynamic partitioning strategy is proposed to improve the searchability of the algorithm in the later stage. The Harris Hawk update formula is modified, and the golden sine strategy is introduced to improve the search efficiency of the algorithm. Then, an adaptive dynamic cloud optimal solution perturbation strategy is integrated to improve the ability of the algorithm to jump out of the local extremum. For the three-dimensional grid path planning problem, a valuation function is established. By calculating the cost of reaching the endpoint for each grid, the algorithm is aided in filtering nodes, allowing it to search for a shorter path. For the problem of the non-smooth path, the path angle is processed by using the cubic B-spline curvefor three times to make the path more suitable for UAV flight. The effectiveness of the improved algorithm is validated by simulation experiments on international standard test functions and static and dynamic grid maps of varying sizes and complexity. The experimental results demonstrate that the proposed algorithm significantly outperforms the control group algorithm. On average, the planned path is shortened by 14.94% and the number of corners is reduced by 53.31%. Table and Figures | Reference | Related Articles | Metrics

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Modeling and System Realization of Assembly Robot Based on Digital Twin Jian Xu, Xin Song, Xiuping Liu, Bo Chen, Huanying Yan Journal of System Simulation    2023, 35 (7): 1497-1507.   DOI: 10.16182/j.issn1004731x.joss.22-0272 Abstract （751）   HTML （54）    PDF（pc） （2979KB）（2305）       Knowledge map    Save Aiming at the problems of time-consuming, labor-intensive and poor accuracy in programming of complex operations of industrial assembly robots, an online programming method for robots based on digital twin is proposed. From the four dimensions of geometry, contact dynamics, behavior and rules, the faithful mapping of the robot from real to virtual space is realized. The verification of multi-part assembly trajectory planning program, real-time synchronous operation and state monitoring are realized. An assembly robot modeling and online programming system based on digital twin is designed and built. A six-axis industrial robot cell is taken as an example to verify the practicality and accuracy of the system, which provides a new solution for complex assembly robot programming. Table and Figures | Reference | Related Articles | Metrics

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Research Advances on Electric Vehicle Routing Problem Models and Algorithms Zhuang Helin, Xia Xiaoyun, Li Kangshun, Chen Zefeng, Zhang Xianchao Journal of System Simulation    2024, 36 (2): 320-337.   DOI: 10.16182/j.issn1004731x.joss.22-1161 Abstract （680）   HTML （44）    PDF（pc） （2160KB）（2160）       Knowledge map    Save The development of electric vehicle provides an alternative to conventional fuel vehicles for logistics companies. Using electric vehicles has the merits of less pollution and low noise, but the characteristics of limited cruising range and limited number of charging stations are new challenges. Electric vehicle routing problems(EVRPs) have been widely used in transportation, logistics and other fields, and have received much attention. A comprehensive survey of EVRP and its many variants are presented and the respective backgrounds and applicable conditions are analyzed. The solving approaches of EVRPs are categorized, the strengths and weaknesses of each algorithm are analyzed, and the related practical applications are reviewed. The basic information and some node distribution maps of EVRP benchmark dataset and EVRP with time windows benchmark dataset are given, and the algorithms that have been applied in EVRP benchmark dataset are compared and analyzed. The future development trends of EVRPs is depicted. Table and Figures | Reference | Related Articles | Metrics

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Metaverse Concept and Its Military Application Tan Zhao, Lin Wu, JiuYang Tao, Shuai Li Journal of System Simulation    2023, 35 (7): 1405-1420.   DOI: 10.16182/j.issn1004731x.joss.23-0722 Abstract （1738）   HTML （590）    PDF（pc） （2491KB）（2040）       Knowledge map    Save Metaverse is a concept describing the fusion and interaction between virtual and real, which has become popular in business and academia since 2021. The aim is to study possible applications of metaverse in military. We sort out the definition, characteristics and development of this concept. Then we analyze the necessity of using the concept of military metaverse from the expansion of modeling and simulation(M&S) and live-virtual-constructive(LVC) simulation. And then we study the possible improvements of the military metaverse from the actual needs of military training, operation and information resource management. We sort out the prototype products of the military metaverse under development and analyze their typical development methods. Table and Figures | Reference | Related Articles | Metrics

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Opto-mechanical-thermal Coupling Analysis Method and Implementation of High-precision Optical System Liang Zhao, Zhigang Zhang, Yao Sun Journal of System Simulation    2023, 35 (6): 1381-1394.   DOI: 10.16182/j.issn1004731x.joss.23-0092 Abstract （594）   HTML （10）    PDF（pc） （4679KB）（1880）       Knowledge map    Save High-precision optical system is easy to be affected by space environment. Under the condition of high temperature, structural load, etc., the image quality of the optical system becomes poor, and the opto-mechanical-thermal coupling analysis is needed. Due to the independent development of the optical simulation, structure simulation, thermal simulation and others, the simulation data can not be effectively coupled and transferred. An interdisciplinary coupling analysis method is proposed, in which the integrated analysis idea is adopted and the polynomial fitting is used as the interface to solve the irregular deformation of optical element surface. Through the implement of the best fitting rigid body displacement, the best fitting radius of curvature, polynomial fitting, etc., the coupling analysis between finite element analysis tool and optical analysis tool is realized. Taking Cassegrain system as the test object, the effectiveness of the method is verified. The method provides a reference to the optical performance evaluation of the optical-mechanical system and the design optimization of the system under extreme conditions. Table and Figures | Reference | Related Articles | Metrics

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Cloud-Edge Collaborative Service Architecture for LVC Training System Peng Yong, Zhang Miao, Hu Yue Journal of System Simulation    2023, 35 (9): 1825-1836.   DOI: 10.16182/j.issn1004731x.joss.23-0681 Abstract （1797）   HTML （777）    PDF（pc） （1466KB）（1729）       Knowledge map    Save LVC training, an important means of military training, has received great attention from military and M&S experts. As the virtual and physical elements become more abundant and deeply integrated, LVC training systems become increasingly complex. Aiming at physical-virtual connection, information interaction, simulation computation, run-time control, etc., this paper designs a cloud-edge collaborative service architecture for LVC training systems (CESA-LVC) by reference to cyber-physical systems and cloud-edge computing architectures. CESA-LVC standardizes the structures of LVC training systems from several aspects of intelligent real-time interconnection, joint simulation computation, training auxiliary service, training cognitive decision, and dynamic configuration optimization. It provides a reference model for the design and development of a service-oriented, flexible deployment, and efficient LVC training system. The paper discusses the key technical problems of joint simulation computation, complex network communication, and complex system control. The prototype system for LVC training spanning three provincial-level regions is realized, and the main indicators of each level of CESA-LVC architecture are verified, which proves the rationality of the architecture design. Table and Figures | Reference | Related Articles | Metrics

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Improved Particle Swarm Algorithm of Unrelated Parallel Batch Scheduling Optimization Lizhen Du, Tao Ye, Yuhao Wang, Yajun Zhang, Zifeng Xuan Journal of System Simulation    2023, 35 (7): 1549-1561.   DOI: 10.16182/j.issn1004731x.joss.22-0367 Abstract （273）   HTML （6）    PDF（pc） （983KB）（1689）       Knowledge map    Save To address the problems of population diversity loss and the tendency to fall into local optimality in the PSO (particle swarm optimization)algorithm in dealing with unrelated parallel batch scheduling problems, an improved scheduling optimization algorithm for PSO is proposed for minimizing the maximum completion time solution. A real number encoding based on the sequence of artifacts is used for the encoding operation. A new strategy based on J_B local search is designed based on the mixed integer programming model of the problem. The Metropolis criterion of the simulated annealing algorithm isintroduced into the individual extreme value search of the population particles.The performance of the algorithm is tested with randomly generated small,medium and large instances and compared with proposed metaheuristic for this scheduling problem and three other metaheuristics.The experimental results and statistical tests shows that the algorithm performs significantly better than the comparison algorithm. Table and Figures | Reference | Related Articles | Metrics

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Simulation Verification and Decision-making Key Technologies of Unmanned Swarm Game Confrontation: A Survey Liang Xiaolong, Yang Aiwu, Zhang Jiaqiang, Hou Yueqi, Wang Ning, Huang Xiao, Gong Junbin Journal of System Simulation    2024, 36 (4): 805-816.   DOI: 10.16182/j.issn1004731x.joss.23-0072 Abstract （687）   HTML （55）    PDF（pc） （3089KB）（1689）       Knowledge map    Save Unmanned swarm game confrontation is a new combat mode and plays a crucial role in intelligent warfare. Its core is the autonomous generation of a series of game confrontation decision sequences to "empower" the swarm. The progress of system simulation verification for the unmanned swarm game confrontation is analyzed. The key technologies of the autonomous decision-making are discussed from three aspects, technology based on expert systems and game theory, technology based on swarm intelligence and optimization theory, and technology based on neural networks and reinforcement learning. The key technology research conducted by the author's team on the autonomous decision-making is presented. The development directions of the unmanned swarm game confrontation are proposed. Table and Figures | Reference | Related Articles | Metrics

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Development of Combat Concept of Intelligent Land Assault System Based on DoDAF Wang Can, Ji Haoran, Guo Qisheng, Dong Zhiming, Tan Yaxin, Mu Ge Journal of System Simulation    2023, 35 (11): 2397-2409.   DOI: 10.16182/j.issn1004731x.joss.22-0628 Abstract （462）   HTML （22）    PDF（pc） （3012KB）（1556）       Knowledge map    Save In view of military demand traction in the development of land assault equipment, a combat concept of land assault systems for future intelligent combat is developed. Basedon the definition of relevant concepts and research boundaries, the combat concept model framework and modeling steps are proposed based on DoDAF, and the combat effect, combat process, combat nodes, resource interaction, system composition, and capability characteristics are analyzed in combination with the model description. The combat concept verification is carried out from the aspects of system combat efficiency and communication load by simulation experiments. The results show that the intelligent assault system has more agile strike links and stronger firepower strike capability than the traditional assault equipment, and the new communication load pressure is within the current technical capacity support range. It proves that the selection, allocation, and combat mode of the core executor system in the combat concept are reasonable and feasible, which has reference significance for the subsequent development of equipment. Table and Figures | Reference | Related Articles | Metrics

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Research on Nested Named Entity Recognition in Missile Field Text Jingwen Guan, Xiao Song, Xiaoqing Li, Tong Yang, Junhua Zhou Journal of System Simulation    2023, 35 (8): 1757-1767.   DOI: 10.16182/j.issn1004731x.joss.22-0456 Abstract （326）   HTML （10）    PDF（pc） （926KB）（1549）       Knowledge map    Save Table and Figures | Reference | Related Articles | Metrics

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Handling Constrained Multi-objective Optimization Problems Based on Relationship Between Pareto Fronts Wang Yubo, Hu Chengyu, Gong Wenyin Journal of System Simulation    2024, 36 (4): 901-914.   DOI: 10.16182/j.issn1004731x.joss.22-1430 Abstract （371）   HTML （16）    PDF（pc） （747KB）（1477）       Knowledge map    Save To address the challenges of balancing the constraint satisfaction and objective function optimization, and dealing with the complex feasible regions in constrained multi-objective optimization problems(CMOPs), a classification-based search approach is proposed based on different Pareto front relationships. A dual-population dual-phase framework is proposed in which an auxiliary population Pa and a main population Pm are evolved and the evolution process is divided into a learning phase and a search phase. During the learning phase, Pa explores unconstrained Pareto front (UPF) and Pm explores constrained Pareto front(CPF), through which the relationship between UPF and CPF is determined. After completing the learning phase, the different classified relationships guide the subsequent search strategies. In the search phase, the algorithm adaptively adjusts the search strategy of Pa to provide effective assistance for Pm according to the different classification relationships between UPF and CPF. Based on this framework, Pareto front relationships for different CMOPs are classified to achieve the more effective searching for CPF. Experimental results show that the proposed algorithm has a better performance compared with the seven state-of-the-art constrained multi-objective evolutionary algorithms (CMOEAs). Through learning and utilizing the relationship between UPF and CPF, the more appropriate search strategies can be selected to handle CMOPs with different characteristics and a more advantageous final solution set can be got. Table and Figures | Reference | Related Articles | Metrics

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Research on Theoretical Framework of Simulative Experiment Evalution for Intelligent Unmanned Swarm Cooperation Wang Jipeng, Zhang Xing, Wu Hao, Gu Yu, Yang Huijie Journal of System Simulation    2024, 36 (4): 795-804.   DOI: 10.16182/j.issn1004731x.joss.23-0070 Abstract （507）   HTML （44）    PDF（pc） （2903KB）（1447）       Knowledge map    Save As a typical representative of intelligent equipment, the technology, equipment and combat applications of intelligent unmanned swarm are being promoted globally. However, the research on experimental theory of unmanned swarm lags behind the technology and equipment in general. The emergence of swarm ability and complexity of confrontation of unmanned swarm, the nonrepeatability and non-generalization of swam experiment take great challenge to the basic theory and methods of unmanned swarm. The four experimental models including intelligent technology, intelligent equipment, intelligent swarm, and intelligent sos(system of systems) experiment from the perspective of system engineering and the whole life cycle of equipment construction management are proposed. The basic theory of unmanned swarm experiment is analyzed, and the basic theoretical framework of autonomous cooperative experiment of unmanned swarm is constructed. Table and Figures | Reference | Related Articles | Metrics

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Research and Application Progress of Tracking Registration Methods in AR Assembly Wei Fang, Shuhong Xu, Lei Han, Zhangwenchi Li Journal of System Simulation    2023, 35 (7): 1438-1454.   DOI: 10.16182/j.issn1004731x.joss.22-0335 Abstract （1129）   HTML （69）    PDF（pc） （3147KB）（1436）       Knowledge map    Save Augmented reality (AR) can superimpose virtual auxiliary information in appropriate positions at the actual work site to achieve intelligent assembly guidance of "what you see is what you operate", alleviating the difficulties for workers to recognize drawings in traditional drawing-based assembly and the problems of misassembly, missing parts and so on. Stable tracking registration in the assembly site environment is the basis for achieving the fusion of virtual and actual scene in augmented assembly visual guidance, and also a key issue in the practical application and deployment of existing augmented assembly. In view of the research and application results in tracking and registration for AR-assisted assembly in recent years at home and abroad, this paper systematically analyzes the current research status of three different augmented assembly tracking registration methods based on vision, sensors and hybrids. The limitations of existing tracking registration methods in AR augmented assembly aids and application development trends are summarized. It is meaningful to refer for the subsequent construction and research of AR intelligent assembly systems. Table and Figures | Reference | Related Articles | Metrics

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Simulation of Real-Time Path Planning and Formation Control for Unmanned Surface Vessel Dalei Song, Wenhao Gan, Yingzhi Xu, Xiuqing Qu, Jiangli Cao Journal of System Simulation    2023, 35 (5): 957-970.   DOI: 10.16182/j.issn1004731x.joss.22-0002 Abstract （1044）   HTML （52）    PDF（pc） （6598KB）（1433）       Knowledge map    Save Safety and collision-free navigation are the basis of normal navigation of an unmanned surface vessel. The high-fidelity virtual ocean is constructed by using Unity3D.On the basis of the vessel modeling, a real-time path planning and formation control method for unknown complex environments is proposed. Firstly, the local environment information is obtained by the laser sensor. Then the real-time local path planning is completed by combining A-star and route-thinning methods under the replanning strategy. In addition, formation control is carried out based on the leader-follower strategy and consistency method, and the artificial potential field is used to complete the navigation task of the unmanned surface vessel in terms ofobstacle avoidance. The simulation experiments on various complex scenarios show that the system has excellent authenticity and visual effects and provides an effective means for simulating vessel navigation. At the same time, based on the proposed algorithm, the vessel fleet can arrive at the preset waypoints successively and independently change the formation to avoid obstacles in real-time, which has certain theoretical significance and practicability in engineering applications. Table and Figures | Reference | Related Articles | Metrics

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Military Metaverse: Key Technologies, Potential Applications and Future Directions Zhao Zhang, Yujie Guo, Xiaoning Zhao, Baoliang Sun, Shuanghou Deng, Guoxu Feng Journal of System Simulation    2023, 35 (7): 1421-1437.   DOI: 10.16182/j.issn1004731x.joss.23-0104 Abstract （1493）   HTML （104）    PDF（pc） （3118KB）（1430）       Knowledge map    Save Since its emergence, the concept of metaverse has been applied to many fields. At present, the transformation of military intelligence, digitalization and information technology is advancing in an all-round way. The military enabled by metaverse technology will accelerate the process of military reform in the new era. To explore the potential application of metaverse in the military field, this paper first introduces several key technologies of metaverse and their functions in the military field, and then discusses some potential directions for the application of metaverse in weapon development and support, training and teaching of officers and soldiers, tactical command and situational awareness, systematic cooperative operations. The challenges in the current and future development of the military metaverse are considered, and its future development and application are discussed. Table and Figures | Reference | Related Articles | Metrics

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Dynamic Path Planning for Mobile Robot Based on RRT* and Dynamic Window Approach Zhang Rui, Zhou Li, Liu Zhengyang Journal of System Simulation    2024, 36 (4): 957-968.   DOI: 10.16182/j.issn1004731x.joss.22-1543 Abstract （720）   HTML （41）    PDF（pc） （2871KB）（1407）       Knowledge map    Save A dynamic path planning method combining RRT* and dynamic window approach(DWA) is proposed to realize the obstacle avoidance of mobile robot in complex environment of dynamic obstacles. Improved RRT* algorithm is used to generate the global optimal safe path based on the known environment information. By eliminating the dangerous nodes generated by RRT* algorithm, the security of global path is ensured.Greedy algorithm is used to remove the redundant nodes in the path to reduce the length of global path. DWA is used to track along the global optimal path planned by the improved RRT* algorithm. When static obstacles appear on the global path, the weights of DWA algorithm evaluation function is adjusted twice to avoid the obstacles and return to the original path in time. When moving obstacles is in the environment. By detecting the dangerous distance in advance, changing direction and speeding up, the robot can safely drive away from the area. Simulation experiments verify that the improved fusion algorithm proposed in complex dynamic environment has shorter running time, smaller path cost, and always keeps safe distance from obstacles, which ensures the optimal tracked path while safely avoiding the dynamic obstacles. Table and Figures | Reference | Related Articles | Metrics

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Research on Collaborative Optimization Method of Multi-UAV Task Allocation and Path Planning Xiao Peng, Xie Feng, Ni Haihong, Zhang Min, Tang Zhili, Li Ni Journal of System Simulation    2024, 36 (5): 1141-1151.   DOI: 10.16182/j.issn1004731x.joss.23-0012 Abstract （538）   HTML （8）    PDF（pc） （2505KB）（1368）       Knowledge map    Save Aiming at the task requirements of multi-UAV to perform multi-target collaborative reconnaissance, a collaborative optimization method of multi-machine and multi-objective task allocation and path planning is proposed. Based on the partheno genetic algorithms (PGA), a cost function combined with the actual path cost is constructed through the Dubins curve. To further reduce the calculation cost, a clustering algorithm based on UAV detection distance is proposed, and the generated clustering point is used as a new waypoint of UAV. The simulation results show that considering the dangerous area and the large number of reconnaissance points, the algorithm can effectively complete the reconnaissance task allocation of the UAV and at the same time form a preliminary route. It improves the rationality and convergence speed of task assignment, and reduces the overall cost. Table and Figures | Reference | Related Articles | Metrics

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Digital Twin Modeling and Control of Robots for Intelligent Manufacturing Scenarios Li Ying, Gao Lan, Zhu Zhisong Journal of System Simulation    2024, 36 (7): 1536-1545.   DOI: 10.16182/j.issn1004731x.joss.23-0481 Abstract （4033）   HTML （290）    PDF（pc） （5342KB）（1331）       Knowledge map    Save The introduction of Industry 4.0 and the Made in China 2025 development policy has accelerated the transformation of the manufacturing industry from automation to intelligence. Industrial robots, as the representative equipment of intelligent manufacturing, will also become more intelligent. Based on digital twin technology, digital modeling, and simulation debugging are conducted for such problems as interference and collision, tedious operation, and low efficiency of industrial robot spot welding debugging in production. Process Simulate from TECNOMATIX software is utilized to digitally model the robot spot welding station and define its motion, and TIA Portal and S7-PLCSIM Advanced are applied to build a virtual simulation and commissioning environment to realize multi-robot cooperative work at the processing station controlled by an external virtual PLC. The simulation results show that the robot can reach all working points during the motion and the joint speed is always kept within a reasonable range, which meets the requirements of safety and stability in the actual production process. At the same time, the robot spot welding station simulation by digital twin technology can find product defects in time, shorten the debugging cycle, and reduce the cost. Table and Figures | Reference | Related Articles | Metrics

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Robot Path Planning by Fusing Particle Swarm Algorithm and Improved Grey Wolf Algorithm Menglong Cao, Wenbin Zhao, Zhiqiang Chen Journal of System Simulation    2023, 35 (8): 1768-1775.   DOI: 10.16182/j.issn1004731x.joss.22-0407 Abstract （334）   HTML （15）    PDF（pc） （731KB）（1284）       Knowledge map    Save Table and Figures | Reference | Related Articles | Metrics

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Intelligent Path Planning for Mobile Robots Based on SAC Algorithm Laiyi Yang, Jing Bi, Haitao Yuan Journal of System Simulation    2023, 35 (8): 1726-1736.   DOI: 10.16182/j.issn1004731x.joss.22-0412 Abstract （601）   HTML （36）    PDF（pc） （2027KB）（1271）       Knowledge map    Save Table and Figures | Reference | Related Articles | Metrics

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Reconnaissance Mission Planning Method for Air-ground Heterogeneous Unmanned Systems Zhang Guohui, Zhang Ya'nan, Gao Ang, Xu Aoyu Journal of System Simulation    2024, 36 (2): 497-510.   DOI: 10.16182/j.issn1004731x.joss.23-0103 Abstract （452）   HTML （24）    PDF（pc） （3398KB）（1216）       Knowledge map    Save Compared with the air-based homogeneous unmanned system, the motion capabilities, resource payloads, and combat scenes in the air-ground heterogeneous unmanned system increase the number of constraint conditions and significantly increase the computational complexity of the solution model. The modeling of collaborative combat missions and the efficient solution of large-scale problems are the key issues. With the time, path cost, and reconnaissance benefit as the objective functions, considering the constraints such as the endurance of unmanned platforms, a multi-objective programming model for the reconnaissance missions of an air-ground heterogeneous unmanned system is constructed. Aiming at the urban combat environments with multiple threat zones, considering the path safety and timeliness of unmanned platform missions, the improved A* algorithm path planning strategies for unmanned aerial vehicles and unmanned ground vehicles are proposed. Aiming at the problem that the optimization effect of snake optimizer (SO) is unstable and easy to fall into local optimal solutions, an improved snake optimizer (IMSO) is proposed by combining the particle swarm algorithm and the genetic algorithm. Simulation verification and comparative analysis with existing algorithms are carried out by using Python language to verify the feasibility of the model and the superiority of the algorithm. Solving 10 tasks independently under three different task loads from small to large, the average objective function values of IMSO are 100.11%, 108.99%, and 110.01% of SO, respectively. It can be seen that IMSO can jump out of local optima multiple times, and the stability and final fitness values of the algorithm are better than SO, and is more superior in solving the larger-scale problems. Table and Figures | Reference | Related Articles | Metrics

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An Approach to Solving the Incoming Target Based on Uncertain Time Series Jing Yang, Minghua Lu, Xingchen Hu, Jinping Wu Journal of System Simulation    2023, 35 (6): 1245-1259.   DOI: 10.16182/j.issn1004731x.joss.22-0123 Abstract （256）   HTML （17）    PDF（pc） （4807KB）（1153）       Knowledge map    Save The traditional solution method for the incoming attacking target in water lacks the time series characteristics mining on multi-dimensional and uncertain observation data. Aiming at the time series prediction with high complexity and missing data, a method based on adaptive window interpolation and deep variable weight long-term and short-term memory network model for missing time series observation data with multiple sampling frequencies is proposed, which is compared and verified on the simulation data and public test data set. Aiming at the random missing problem caused by the inconsistency of sampling frequency of multi-source observation information, an adaptive window imputation method is introduced to adaptively adjust the imputation window according to the missing rate of observation information and reduce the error level of traditional imputation methods. The long and short-term memory network model with variable weights is introduced to time series data, and the loss weight of back propagation is adaptively adjusted according to the missing time series observation data at multiple sampling frequencies while being suitable for imputation of missing time series observation data at multiple sampling frequencies. Experiment results show that the comprehensive use of adaptive window interpolation and variable weight long-term and short-term memory network model can provide a faster and accurate decision-making reference for predicting and defending the incoming targets. Table and Figures | Reference | Related Articles | Metrics

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Lidar SLAM Mapping Method Adapted to Environmental Spatial Changes Songming Jiao, Xin Yao, Hui Ding, Yufei Zhong Journal of System Simulation    2023, 35 (8): 1788-1798.   DOI: 10.16182/j.issn1004731x.joss.22-0489 Abstract （288）   HTML （20）    PDF（pc） （3910KB）（1119）       Knowledge map    Save Table and Figures | Reference | Related Articles | Metrics

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Optimization of Highway Emergency Lane Control Based on Kriging Genetic Algorithm Tang Jinjun, Hu Lipeng, Li Mingyang, Zhang Xuan Journal of System Simulation    2024, 36 (5): 1165-1178.   DOI: 10.16182/j.issn1004731x.joss.23-0090 Abstract （697）   HTML （38）    PDF（pc） （4165KB）（1092）       Knowledge map    Save To address the issue of how to effectively improve the highway operational efficiency and reduce the safety risks under different traffic flow conditions, this study proposed a genetic algorithm based on Kriging agent model is proposed to optimize the emergency lane control strategy. A mathematical optimization model is designed by combining the spatial and temporal characteristics of the emergency lane opening strategy. By introducing Kriging agent model, combining the genetic algorithm to build the optimization framework, and using simulation software to obtain data to train the agent model, the problem of minimizing the total travel time and the total exposed time-to-collision with both time and space constraints is solved. The change frequency of the emergency lane control at time and space dimension is constrained. The effect of the change of weights for efficiency and safety indicators in the objective function on the optimization results. Comparison in experiments show that the proposed optimization method reduces the total travel time of the road network by 14.9% and the total time exposed time-to-collision by 44.2%. Table and Figures | Reference | Related Articles | Metrics

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Image Semantic Segmentation Algorithm Based on Improved DeepLabv3+ Zhao Weiping, Chen Yu, Xiang Song, Liu Yuanqiang, Wang Chaoyue Journal of System Simulation    2023, 35 (11): 2333-2344.   DOI: 10.16182/j.issn1004731x.joss.22-0690 Abstract （877）   HTML （45）    PDF（pc） （3780KB）（1075）       Knowledge map    Save Mainstream image semantic segmentation networks currently face problems such as incorrect segmentation, discontinuous segmentation, and high model complexity, which cannot be flexibly and efficiently deployed in practical scenarios. To this end, an image semantic segmentation network that optimizes the DeepLabv3+ model is designed by comprehensively considering the network parameters, prediction time, and accuracy. The lightweight EfficientNetv2 is adopted to extract backbone network features and improve parameter utilization. In the atrous spatial pyramid pooling module, the mixed strip pooling is utilized to replace the global average pooling, and a depthwise separable dilated convolution is introduced to reduce parameters and improve the ability to learn multi-scale information. The attention mechanism is employed to enhance the model's representation power, and the multiple shallow features of the backbone network are extracted to enrich the image's geometric details. The experiment shows that the algorithm achieves 81.19% mIoU with a parameter size of 55.51×106, which optimizes the segmentation accuracy and model complexity and improves model generalization. Table and Figures | Reference | Related Articles | Metrics

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Golden Eagle Optimizer Algorithm Combining Levy Flight and Brownian Motion Jiaxin Deng, Damin Zhang, Qing He, Jianping Zhao Journal of System Simulation    2023, 35 (6): 1290-1307.   DOI: 10.16182/j.issn1004731x.joss.23-0232 Abstract （432）   HTML （8）    PDF（pc） （4029KB）（1052）       Knowledge map    Save Aiming at the slow attenuation and low convergence precision of golden eagle optimization algorithm, a new algorithm combining Levy fight and Brownian motion is proposed. In order to increase the diversity, Fuch chaotic map is introduced to initialize the golden eagle individuals. Levy flight mechanism and Brownian motion mechanism are introduced into the position update formula of golden eagle individual to improve the search accuracy and help to the jump out of local optimum. The reduction factor is introduced into the overall position update formula of the golden eagle individual to improve the convergence speed. Compared with 9 original algorithms and 5 improved algorithms under 14 benchmark test functions, the experimental results show that the improved golden eagle optimization algorithm has better performance, which are verified by three engineering applications. Table and Figures | Reference | Related Articles | Metrics

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Research on Collaborative Task Allocation Method of Multiple UAVs Based on Blockchain Shuangcheng Niu, Yuqiang Jin, Kunhu Kou Journal of System Simulation    2023, 35 (5): 949-956.   DOI: 10.16182/j.issn1004731x.joss.21-1348 Abstract （868）   HTML （58）    PDF（pc） （1755KB）（1037）       Knowledge map    Save The autonomous collaborative control of a multi-unmanned aerial vehicle (UAV) system lacks a unified underlying technology platform and faces single point failure and information security threats. In order to solve these problems, an idea to build collaborative task planning platforms based on blockchain technology is proposed. With thecollaborative task allocation of multiple UAVs as research objects, an online, safe, high-efficiency, and real-time task allocation method is designed. The contract network task allocation algorithm is described as a smart contract, and system consensus is reached based on the blockchain consensus algorithm. In addition, a simulation experiment system is built by using Hyperledger Fabric open source software, and simulation verification is carried out for a typical marine conventional submarine search and arrest application scenario. Experimental results confirm the feasibility and superiority of the proposed method. Table and Figures | Reference | Related Articles | Metrics

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Research on Simulation Resource Management Based on Graph Association Organization Liu Zewei, Ding Yishan, Lin Tingyu, Ke Mingxing, Guo Liqing, Xiao Yingying, Zhao Zhilong, Li Yan, xuan Lü Journal of System Simulation    2024, 36 (9): 1983-1994.   DOI: 10.16182/j.issn1004731x.joss.24-0455 Abstract （2843）   HTML （991）    PDF（pc） （1689KB）（1023）       Knowledge map    Save The simulation test and evaluation of intelligent system of systems, systems and single equipment is a complex system engineering, which requires effective management of multi-source, heterogeneous and distributed massive simulation resources scattered in cloud test centers and test sites of various units; and good control of dynamically generated tasks, assumptions, configurations, results, evaluations and other data and files. The traditional way of managing and querying simulation resources by category is inefficient and difficult to meet the requirements of large-scale intelligent simulation test and evaluation activities. An overall framework for simulation resource management based on graph association organization, defines a simulation resource association organization metamodel for graph association organization, and proposes key algorithms and methods for dynamically extracting simulation resource information managed in different tools/systems, constructs a simulation resource graph structure based on association organization, and provides on-demand access to simulation resources. Verified by application examples, this method can accurately mark the state changes of simulation resource sets that can affect the simulation operation results during the intelligent evolution process, and effectively improve the efficiency of simulation resource management and retrieval. Table and Figures | Reference | Related Articles | Metrics

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Obstacle Avoidance Path Planning and Simulation of Mobile Picking Robot Based on DPPO Junqiang Lin, Hongjun Wang, Xiangjun Zou, Po Zhang, Chengen Li, Yipeng Zhou, Shujie Yao Journal of System Simulation    2023, 35 (8): 1692-1704.   DOI: 10.16182/j.issn1004731x.joss.22-0487 Abstract （397）   HTML （39）    PDF（pc） （4788KB）（1018）       Knowledge map    Save Table and Figures | Reference | Related Articles | Metrics

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Joint Optimization Strategy of Computing Offloading and Edge Caching for Intelligent Connected Vehicles Fei Ding, Yuchen Sha, Ying Hong, Xiao Kuai, Dengyin Zhang Journal of System Simulation    2023, 35 (6): 1203-1214.   DOI: 10.16182/j.issn1004731x.joss.22-0147 Abstract （704）   HTML （57）    PDF（pc） （2321KB）（999）       Knowledge map    Save To guarantee the low-delay communication of intelligent connected vehicles, the V2X channel model and the multi-access edge computing (MEC) technology, are used to carry out the research of the joint optimization strategy of computing offloading and edge caching. An intelligent connected vehicle with task offloading and edge caching model least-deep deterministic policy gradient(L-DDPG) is developed. By integrating the vehicular local and edge computing resources, the classification processing of different computing tasks in V2X scenarios is supported. The vehicular computing request is prejudged by edge platform to ensure the rapid response of continuous homogeneous computing tasks. Combining with the least recently used strategy, the new computing tasks are efficiently managed. A joint offloading decision for computing offloading and edge caching is carried out based on deep deterministic policy gradient(DDPG) algorithm. Simulation results show that the performance of L-DDPG model is better than that of traditional models, which can effectively improve the system performance, ensure the service quality, and reduce the time delay and resource consumption. Table and Figures | Reference | Related Articles | Metrics

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AGV Scheduling Problem at Automated Terminals Based on Improved DQN Algorithm Liang Chengji, Zhang Shidong, Wang Yu, Lu Bin Journal of System Simulation    2024, 36 (11): 2592-2603.   DOI: 10.16182/j.issn1004731x.joss.23-0912 Abstract （390）   HTML （14）    PDF（pc） （3531KB）（993）       Knowledge map    Save A future tasks considering deep Q-network (F-DQN) algorithm was proposed to output real-time scheduling results of automated guided vehicles (AGVs) at automated terminals. This algorithm combined the advantages of real-time scheduling and static scheduling, improving the system status by considering static future task information when making real-time decisions, so as to obtain a better scheduling solution. In this study, the actual layout and equipment conditions of the Yangshan phase IV automated terminal were considered, and a series of simulation experiments were conducted using the Plant Simulation software. The experimental results show that the F-DQN algorithm can effectively solve the real-time scheduling problem of AGVs at automated terminals. Furthermore, the F-DQN algorithm significantly reduces the waiting time of quay cranes compared to the traditional DQN algorithm. Table and Figures | Reference | Related Articles | Metrics

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Path Planning for Improvement of A* Algorithm and Artificial Potential Field Method Yu Xiang, Jiang Chen, Duan Sirui, Deng Qianrui Journal of System Simulation    2024, 36 (3): 782-794.   DOI: 10.16182/j.issn1004731x.joss.23-0255 Abstract （502）   HTML （32）    PDF（pc） （3562KB）（991）       Knowledge map    Save A* algorithm has the problem of too many polyline paths and search nodes, while the artificial potential field (APF) method has the problems of local optimality and unattainability. These problems are investigated in this paper. A new hybrid heuristic function is proposed based on the Euclidean distance and projection distance, based on which theA\mathrm{*}algorithm process is improved accordingly.The search nodes of the A* algorithm are reduced, and the search efficiency is improved. The optimal node generated by the new A* algorithm is used as the local target point of the APF algorithm to assist in getting rid of the local optimal point. The potential field function is improved by adding the position relationship between the robot and the target point, and the gain of repulsive force is modified. The generation direction of the repulsive force is optimized. A new algorithm is proposed by fusing the improved two algorithms, and the potential field function of APFmethod is used to guide the search of the A* algorithm. The improved algorithms are compared in terms of path length, obstacle avoidance effect, and iteration times. The simulation results show that the improved algorithm proposed in this paper has high search efficiency and achieves obstacle avoidance while ensuring the optimal path of the calculation. Table and Figures | Reference | Related Articles | Metrics

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A Framework on Equipment Digital Twin Credibility Assessment Han Lu, Lin Zhang, Kunyu Wang, Zejun Huang, Hongbo Cheng, Jin Cui Journal of System Simulation    2023, 35 (7): 1455-1471.   DOI: 10.16182/j.issn1004731x.joss.23-0057 Abstract （1238）   HTML （77）    PDF（pc） （3750KB）（980）       Knowledge map    Save A key bottleneck in the large-scale application of equipment digital twin is the lack of systematic and effective credibility assessment methods. This paper analyzes the dynamic evolution, virtual-real interactivity and other key features of the equipment digital twin. A credibility assessment framework for the equipment digital twin is proposed, including the credibility connotation of the digital twin, a multi-dimensional and multi-level credibility assessment index system and a credibility assessment methodology. The whole assessment process is illustrated with the robotic arm digital twin as an example, which can provide directional guidance for the assessment and construction of the digital twin. Table and Figures | Reference | Related Articles | Metrics

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Research on Dynamic Simulation Technology for Satellite Internet Xiaofeng Wang, Taiqian Shen, Yuan Liu Journal of System Simulation    2023, 35 (7): 1472-1486.   DOI: 10.16182/j.issn1004731x.joss.22-0333 Abstract （984）   HTML （67）    PDF（pc） （3664KB）（909）       Knowledge map    Save Network simulation is an important support for new technology verification and security technology evaluation in the rolling construction of satellite internet. A dynamic simulation architecture which based on cloud platform is proposed to address the highly time-varying characteristics of satellite internet. An algorithm of distributed simulation technology of satellite links, which improves the synchronization of accuracy of dynamic simulation of links, is designed to tackle the time-varying of satellite links. Aiming at the topology changes in the process of satellites motion, an algorithm of real-time topology simulation based on time splice is raised, which realizes real-time and accurate changes of simulation topology. In order to reconstruct simulation topology in time, a dynamic simulation technology of satellite links is put forward which can simulate unexpected topology caused by Human in loop operation. Experimental data show that compared with the traditional method, the proposed method improves the synchronization accuracy of link dynamic simulation about 96%. The topology change scene caused by satellites motion can be simulated in real time and accurately. For the topology change scene caused by Human in loop operation, it can complete the real-time reconstruction of the topology. Table and Figures | Reference | Related Articles | Metrics