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- Simulation (131)
- Virtual reality (41)
- Genetic algorithm (40)
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- Modeling and simulation (34)
- Particle swarm optimization (34)
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- Optimization (19)
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- Virtual simulation (18)
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- Traffic simulation (17)
- Permanent magnet synchronous motor (16)
- UAV (16)
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- Support vector machine (15)
- Collision detection (14)
- Deep reinforcement learning (14)
- Parameter identification (14)
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Articles 2551 - 2580 of 3363
Full-Text Articles in Physical Sciences and Mathematics
Research On Vibration Characteristics And Parameters Influence Of A Nonlinear Vibration Absorber, Lilan Liu, Bolin Ren, Guodong Zhu
Research On Vibration Characteristics And Parameters Influence Of A Nonlinear Vibration Absorber, Lilan Liu, Bolin Ren, Guodong Zhu
Journal of System Simulation
Abstract: The bistable nonlinear electromagnetic vibration energy harvester (BNEVEH) is used as a vibration absorber to absorb harmful vibration and transfer it into useful electric energy. The mechanical model and governing equation of the main system with BNEVEH are established. The effect of Gauss white noise intensity on large amplitude motion is analyzed by simulations. And the effect law of mass ratio and tuning frequency ratio on the vibration reduction of the main system and power generation of bistable vibration absorber under Gauss white noise excitation is analyzed from the point of vibration reduction and vibration energy harvesting. The optimal …
Simulation Of The Resistance Of Superhydrophobic Microchannel In Turbulent Regime, Chunxi Li, Qingze Cui, Xuemin Ye
Simulation Of The Resistance Of Superhydrophobic Microchannel In Turbulent Regime, Chunxi Li, Qingze Cui, Xuemin Ye
Journal of System Simulation
Abstract: VOF model and the Realizable k-ε turbulent model are used to simulate the three-dimensional flow field of superhydrophobic microchannels with longitudinal and transverse microstructures in turbulent regime, the effects of structural parameters on the resistance characteristics of superhydrophobic surface are analyzed. The results show that the superhydrophobic microchannels with longitudinal microgrooves exhibit significant reductions in drag; with the increase of the free shear area ratio and the width of the microchannel, the ratio of pressure drop increases, and the average friction factor decreases, as well as the drag reduction effect is highly significant; with the increase of …
A Dorsal Hand Vein Extraction Algorithm For Region Of Interest, Li Qi, Jianjiang Cui, Dingyu Xue, Hongyu Geng
A Dorsal Hand Vein Extraction Algorithm For Region Of Interest, Li Qi, Jianjiang Cui, Dingyu Xue, Hongyu Geng
Journal of System Simulation
Abstract: The rotation and translation of dorsal hand result in deviation, which brings interference during recognizing valid region when collecting dorsal hand vein image. In order to locate valid recognition area quickly, an extraction algorithm for region of interest based on maximum inscribed circle is proposed in view of the characteristics of the collected image. For the collected dorsal hand vein image, this algorithm calculates the center of the maximum inscribed circle and the center of mass, and the rotation angle of the dorsal hand is calculated. The position of the dorsal hand vein image is corrected and the recognition …
Jammer Placement Algorithm Based On Particle Swarm Optimization, Fang Fang, Chunming Ye, Haibo Liu
Jammer Placement Algorithm Based On Particle Swarm Optimization, Fang Fang, Chunming Ye, Haibo Liu
Journal of System Simulation
Abstract: A novel jammer placement algorithm based on particle swarm optimization is proposed to solve the problems of nodes’ mobility and restrictions on placement areas in ad-hoc network. There are three steps in this algorithm: network simulation, jamming simulation, and optimization. The algorithm simulates the network communication process and movement of nodes with discrete simulation method. Simple particle swarm optimization is applied to compute the exact coordinates of jammers. Experiment results show that this algorithm is good at jamming network nodes moving in different ways. The algorithm has stable performance with varying conditions such as different placement areas, jamming …
Treadmill Speed Coordination Control For Lower Limb Rehabilitation Training Robot, Li Feng, Zhizheng Wu, Hou Wei, Xiaofei Qin
Treadmill Speed Coordination Control For Lower Limb Rehabilitation Training Robot, Li Feng, Zhizheng Wu, Hou Wei, Xiaofei Qin
Journal of System Simulation
Abstract: In the course of active exercise training for patients with lower limb rehabilitation robots, a treadmill speed coordinated control method based on acceleration suppression is proposed to prevent secondary damage to patients caused by muscle spasms. The mathematical model of treadmill is established by means of system identification. Based on the H2 optimal design method and the continuous time system switching theory, the treadmill speed PI controller with acceleration suppression is designed. The simulation results show that the controller can not only reduce the acceleration of the treadmill, but also keep the speed of the treadmill …
Credibility Evaluation Method Of Small Sample Data Based On Cluster Cloud Model, Jianmin Wang, Yunjie Wu
Credibility Evaluation Method Of Small Sample Data Based On Cluster Cloud Model, Jianmin Wang, Yunjie Wu
Journal of System Simulation
Abstract: In practical engineering, the system credibility evaluation with small amount of data and no evaluation criteria has always been a difficult problem for engineers. Aiming at this problem, a small sample data credibility evaluation method combining clustering method and cloud model is proposed. The clustering method is used to calculate the cluster center value for the small sample, and the cloud model is established based on this. The expanded value for small sample data is generated by the cloud model. The credibility of small sample data can be calculated according to the confidence distribution of cloud drops. It can …
Gi-Map Tree: Global Illumination Collaborative Real-Time Rendering In Web3d Dynamic Scene, Liu Chang, Jinyuan Jia, Yifan Lu, Zhang Qian, Zhao Lei
Gi-Map Tree: Global Illumination Collaborative Real-Time Rendering In Web3d Dynamic Scene, Liu Chang, Jinyuan Jia, Yifan Lu, Zhang Qian, Zhao Lei
Journal of System Simulation
Abstract: For the dynamic illumination in web-based virtual reality environment, an interactive real-time rendering mechanism that integrates pre-storage, scheduling and optimization based on a collaborative real-time rendering system. The mechanism helps the rendering system to construct a viewpoint-based pre-storage structure, “GI map tree”, to save and organize illumination rendering information on cloud server. With the assist of “GI map tree” and the user's input behavior, a “heat”-based GI map group scheduling algorithm is proposed to improve the transmission efficiency of the rendering system in this mechanism. The experiment results of Web3D application in the Web environment show that the …
Wood Surface Defect Detection Based On Adaboost And Cnn, Hongjun Wang, Zouzou Li, Xiangjun Zou
Wood Surface Defect Detection Based On Adaboost And Cnn, Hongjun Wang, Zouzou Li, Xiangjun Zou
Journal of System Simulation
Abstract: In order to obtain the location information and category information of wood surface defects in the early stage of intelligent wood cutting, a combined algorithm for fast identification and location of wood surface defects is proposed based on digital image processing technology for fast recognition and location of wood surface defects. The Adaboost cascade classifier algorithm is used to extract the candidate frames of the wood surface defect region in the image in order to solve the problem that the traditional segmentation method is not effective for multi objects processing. A CNN model with self-learning ability is used to …
Multi-Channel Transmission Optimization Of Campus Internet Of Things Based On Pheromone Genetic Algorithm, Zhiyong Chen, Liu Hao
Multi-Channel Transmission Optimization Of Campus Internet Of Things Based On Pheromone Genetic Algorithm, Zhiyong Chen, Liu Hao
Journal of System Simulation
Abstract: Aiming at the difficulty in selecting and optimizing the multi-path transmission of campus Internet of Things information, an optimization algorithm of network multi-path transmission based on intelligent optimization algorithm is proposed. Based on the standard genetic algorithm and the concept of pheromone concentration in ant colony algorithm, this algorithm improves the global optimization ability and convergence efficiency by controlling the evolution direction of individuals, and designs and constructs an evaluation index mathematical model which conforms to the characteristics of multi-channel information transmission optimization in the Internet of Things. The mathematical model of the evaluation index realizes the multi-channel comprehensive …
The Simulation Assessment Of Availability For K/N Redundancy System Considering Failure Relevance Of Components, Haidong Du, Junhai Cao, Fusheng Liu, Xu Dan
The Simulation Assessment Of Availability For K/N Redundancy System Considering Failure Relevance Of Components, Haidong Du, Junhai Cao, Fusheng Liu, Xu Dan
Journal of System Simulation
Abstract: For the limitations existing in the system availability assessment based on the failure independent hypothesis,the availability assessment model for k/N system based on Copula function theory is built.A reliability evaluation method of fault-related system on the foundation of Agent technique is proposed. The completion of the simulation model from component entity to equipment entity resolves the question of reliability assessment existing in k/N system considering the effects of components relevance. And last, the evaluation results of system availability under different spare parts schemes are given under different material support program, the research results show that the relevance existing …
Review Of The Weapon System Simulation Technology, Yan Jie, Wenxing Fu, Zhang Kai, Chen Kang, Xiaofei Chang, Zhang Tong, Bin Fu, Sijie Wu
Review Of The Weapon System Simulation Technology, Yan Jie, Wenxing Fu, Zhang Kai, Chen Kang, Xiaofei Chang, Zhang Tong, Bin Fu, Sijie Wu
Journal of System Simulation
Abstract: Nowadays, the simulation technology are playing a more and more important role in the whole life cycle of weapon system design and application. In this paper, the state of the simulation technology in weapon system design and application is reviewed. And then, to meet the requirement of some brand new warfare styles like combat in complex environment, man-machine cooperation, cyberspace operation, intelligent system operation, combat training, new concepts of weapon simulation are developed, new demand of weapon simulation is introduced and new problems that must be solved are discussed. At last, the necessity and development trend of the …
Simulation Research On Pedestrian Evacuation Path Selection In The Metro Station, Sun Di, Zhou Jin, Xueying Gao, Ting Jiao, Lixian Zhao
Simulation Research On Pedestrian Evacuation Path Selection In The Metro Station, Sun Di, Zhou Jin, Xueying Gao, Ting Jiao, Lixian Zhao
Journal of System Simulation
Abstract: As the underground environment is multilayered, more confined space underground, there are many services and facilities, so that when people evacuate the subway, they will have a variety of features and choices. Path probability selection of underground pedestrian evacuation is discussed. In the first stage, models are used to plan several routes. In the second stage, according to the data of real time passenger flow of the railway station, the density of passenger flow is taken as a variable to obtain the time of pedestrian evacuation through different facilities. The traffic capacity of every passage and facility …
Design Of Multi -Port Converter For Dc Micro-Grid System With Wind-Photovoltaic Storage, Liu Hui, Tinglong Pan
Design Of Multi -Port Converter For Dc Micro-Grid System With Wind-Photovoltaic Storage, Liu Hui, Tinglong Pan
Journal of System Simulation
Abstract: In order to coordinate energy, load and storage in DC micro-grid system and make efficient utilization of new energy, a multi-port converter for DC micro-grid hybrid energy storage is proposed. According to the composition rule of multi-port converter, by inserting the Buck-boost converter and bidirectional Buck-boost converter into the bootstrap converter of Luo-converter, the DC converter topology which can be used for complementation of wind-photovoltaic storage is produced. Two-way transmission of energy is realized. The analysis of all kinds of working conditions shows that each port of the converter is able to work independently and cooperatively. Different …
The Method Summary Of Generating Large-Scale Artificial Population In An Artificial Society, Yuanzheng Ge, Zhichao Song, Rongqing Meng
The Method Summary Of Generating Large-Scale Artificial Population In An Artificial Society, Yuanzheng Ge, Zhichao Song, Rongqing Meng
Journal of System Simulation
Abstract: The generation of large-scale artificial population is the fundamental data of high-resolution agent-based artificial society. By the comparison of typical artificial population models, the basic elements, generating methods, and evolving rules, the development of artificial society, generation of population database, the establishment of spatial-temporal relationship, evolving rules of behavior, and reconstruction of social relationship are analyzed. Furthermore, data-driven method and open interface framework of artificial population are discussed, and the future direction and development are listed.
Analysis On The Mission Reliability For Auv Based On Monte Carlo Method, Li Juan, Kunyu Zhang, Haibo Li, Lijuan Yang, Mengdi Wang
Analysis On The Mission Reliability For Auv Based On Monte Carlo Method, Li Juan, Kunyu Zhang, Haibo Li, Lijuan Yang, Mengdi Wang
Journal of System Simulation
Abstract: The high reliability of AUV is the necessary condition for it to complete the task satisfactorily and efficiently within the specified time. Traditional fault tree is very convenient for describing the reliability model of the system, but for large and complex system, this will significantly increase the computation of reliability parameters, thus the calculation is difficult. Because it to calculate the reliability parameters of complex systems by the traditional fault tree, this paper adopts the method of combining the minimum cut set of fault tree and Monte Carlo method to establish the reliability model for Underwater Autonomous Unmanned Vehicle …
Dynamic Inventory Routing Optimization Based On Deep Reinforcement Learning, Jianpin Zhou, Shuliu Zhang
Dynamic Inventory Routing Optimization Based On Deep Reinforcement Learning, Jianpin Zhou, Shuliu Zhang
Journal of System Simulation
Abstract: Aiming at the dynamic stochastic inventory routing problem with periodic fluctuation of demand, a novel simulation optimization approach based on deep reinforcement learning is proposed to achieving periodic steady strategy. Firstly a dynamic combinatorial optimization model is constructed. Then, by deep reinforcement learning and setting heuristic rules, the replenishment nodes set selection and the replenishment batch allocation weights in each period are determined. The simulation experimental results show that the proposed method can improve the average profit of a cycle by about 2.7% and 3.9% in low fluctuating demand case and by about 8.2% and 7.1% in high fluctuating …
Corner Localization In Digital Images Based On Radon Transform, Xuguang Wang, Zhang Qin, Su Jie
Corner Localization In Digital Images Based On Radon Transform, Xuguang Wang, Zhang Qin, Su Jie
Journal of System Simulation
Abstract: Location accuracy is one of the key indexes of measuring the performance of feature point.. High location accuracy feature point detection has important implications for the applications such as 3D reconstruction, motion estimation, target tracking and recognition, image registration, etc. A corner location algorithm based on Radon transform is proposed.Edge binary images are obtained with traditional method first, ideal straight lines and curves are extracted then, potential corner locations are calculated next, fake corners are rejected finally. Experimental results on both simulation and real images show that, this method performs better than the existing methods on interest point localization …
Characteristic Index Digging Of Combat Sos Capability Based On Machine Learning, Yongli Yang, Xiaofeng Hu, Rong Ming, Xiaojing Yin, Wenxiang Wang
Characteristic Index Digging Of Combat Sos Capability Based On Machine Learning, Yongli Yang, Xiaofeng Hu, Rong Ming, Xiaojing Yin, Wenxiang Wang
Journal of System Simulation
Abstract: Aiming at the two difficulties in characteristic index digging of combat system of systems (CSoS), namely operation data generation and digging method selection, this paper proposes a new digging method, that is, using the simulation testbed to generate operation data, then adopting the machine learning to dig characteristic index. Two methods of characteristic index digging based on machine learning are researched: (1) the method based on network convergence, divides the communities for fundamental indexes based on their relationship, and obtains the characteristic indexes by principal component analysis (PCA); this method is applied to dig the characteristic indexes of …
Modeling And Simulation Of Financial Contagion Based On Correlated Assets Portfolio, Fan Hong, Chunyao Liu
Modeling And Simulation Of Financial Contagion Based On Correlated Assets Portfolio, Fan Hong, Chunyao Liu
Journal of System Simulation
Abstract: The correlation of assets portfolio in financial institutions is an important cause of indirect financial contagion, but the modeling of this problem has not been studied yet. Considering the correlation between the assets invested by financial institutions, a dynamic evolution model and the simulation algorithm of financial network system based on correlated assets portfolio are constructed; and the impact of assets portfolio correlation, degree of assets diversity and market density (the ratio of financial institutions to assets) on financial contagion are studied. Simulation results show that the positive correlation between assets portfolio exacerbates financial contagion, while the negative correlation …
Pshev Cold Start Emission Simulation Based On Electric Heated Catalyst Pre-Heating, Deng Tao, Haoyuan Yu, Zhifei Li, Haixin Tan
Pshev Cold Start Emission Simulation Based On Electric Heated Catalyst Pre-Heating, Deng Tao, Haoyuan Yu, Zhifei Li, Haixin Tan
Journal of System Simulation
Abstract: In order to reduce the emissions of the plug-in series hybrid electric vehicle (PSHEV) during the cold start phase, a vehicle model on PSHEV is established and a dynamic model of electrically heated catalyst system (EHCS) based on optimization and control strategy of engine start-stop is built. The PSHEV energy management control strategy based on EHCS preheating is proposed. The influence of different pre-heating power on EHCS temperature is simulated. By comparing SOC value of the control strategy with the original control strategy; and comparative analysis of cold start emissions of three elements catalyst under three strategies of pre-heating, …
Fatigue Life Prediction Of Turbine Blades Based On Qar Data, Pi Jun, Shuwei Gao, Jiangbo Huang, Huang Lei, Ma Long
Fatigue Life Prediction Of Turbine Blades Based On Qar Data, Pi Jun, Shuwei Gao, Jiangbo Huang, Huang Lei, Ma Long
Journal of System Simulation
Abstract: Based on the characteristics of the high-pressure turbine blade, a numerical simulation method for the actual load spectrum of the high-pressure turbine blade of the civil aircraft engine based on the QAR data is proposed. The actual service load spectrum of the engine recorded during aircraft flight is extracted from the QAR data; the time history of centrifugal force, aerodynamic force and thermal stress of the turbine blade in actual use is obtained by means of finite element simulation; and with life prediction model, the actual service life of the blade is estimated. This method provides a reliable …
Analysis Of Amplitude-Frequency Characteristics Of Fractional-Order Current-Controlled Meminductor, Liu Meng, Zhaohui Gan, Shiying Zhang
Analysis Of Amplitude-Frequency Characteristics Of Fractional-Order Current-Controlled Meminductor, Liu Meng, Zhaohui Gan, Shiying Zhang
Journal of System Simulation
Abstract: Meminductor is a nonlinear memory element with hysteresis characteristics, which is an important part of memristive systems. In recent years, meminductor research is mainly focused on time domain characteristics, but the research of frequency domain characteristics of meminductor has not been seen report. A fractional-order current-controlled meminductor model with nonlinear window function is studied, and the amplitude-frequency response characteristics of meminductor under different excitation signals are analyzed in detail. The influence of fractional-order and control parameter in window function on amplitude-frequency characteristics of the fractional-order current-controlled meminductor is summarized. It has certain guiding significance to research of meminductor characteristics.
Simulation Analysis Of Head And Neck Injuries For Aircrew Escape System During Traction Rescue, Bohao Xing, Qianxing Zhou, Xingwei Wang, Yuan Yue
Simulation Analysis Of Head And Neck Injuries For Aircrew Escape System During Traction Rescue, Bohao Xing, Qianxing Zhou, Xingwei Wang, Yuan Yue
Journal of System Simulation
Abstract: The biomechanical response of human head and neck was studied to safeguard the helicopter aircrew in the traction escape process. A finite element model of human head and neck was established based on the Chinese pilot’s stature standard. The simulation and experiment results were compared to verify the validity of the model. The simulations under different period overload accelerations obtained from manikin traction aircrew escape experiment were performed to analyze the injuries of human head and neck in the processes of one shoulder traction and both shoulders traction. By an analysis of the head impact and acceleration, the simulation …
Osgearth Stereoscopic Vision Generation Method For Hmd-Based Virtual Reality, Liheng Tan, Ma Qiang, Bingchuan Jiang, Li Feng
Osgearth Stereoscopic Vision Generation Method For Hmd-Based Virtual Reality, Liheng Tan, Ma Qiang, Bingchuan Jiang, Li Feng
Journal of System Simulation
Abstract: The technology of immersive virtual reality based on helmet mounted display (HMD) has become a focus of study, however, its visual content is mainly produced through commercial game engines. OsgEarth is an open-source, state-of-the-art and widely used digital earth simulation system. Based on this, we studies the stereoscopic vision generation method for global virtual terrain environment, mainly focusing on: stereoscopic vision theory; construction of global high-precision virtual geographical environment; calculation of binocular view frustrum; system integration. The proposed method is verified under the hardware conditions of PC and HTC VIVE, which can generate stereo images of the global virtual …
Analysis Of Initialization Variables Selection In Multi-Domain Modeling, Guangyuan Li
Analysis Of Initialization Variables Selection In Multi-Domain Modeling, Guangyuan Li
Journal of System Simulation
Abstract: In multi-domain modeling, the problem of initial consistency must be settled to solve differential algebraic equations (DAEs). Structural analysis is capable of verifying the initial consistency, solving some initial values and determining the degree of freedom, but not capable of affirming the variables that need to be initialized. If improper selection is made for the initiation variables, it will become low efficient and even fail to solve and simulate the model. After analyzing the initial consistency of DAEs, a strategy based on DM decomposition is proposed for selecting the initialization variables. The method decomposes the system into two …
Temperature Field Simulation Analysis Of Common Rail Injector Based On Multi-Field Coupling, Yutao Chen, Zuoqun Wang, Zhengwei Long, Mingrui Zhang, Qingsong An, Guibing Chen
Temperature Field Simulation Analysis Of Common Rail Injector Based On Multi-Field Coupling, Yutao Chen, Zuoqun Wang, Zhengwei Long, Mingrui Zhang, Qingsong An, Guibing Chen
Journal of System Simulation
Abstract: The reliability of high pressure common rail injector depends on the calculation accuracy of its temperature changing. Due to the temperature measurement limitation and difficulty, in order to obtain more detailed temperature distribution, a coupling physical model is established in this paper based on multi-fields coupling analysis method, and a method based on the uni-directional coupling for calculating the temperature distribution of injector accurately is developed. The results show that the convective heat transfer coefficient varies with the flow state and the multi-field coupling method can correct the convective heat transfer coefficient according to the flow state automatically, which …
Surgery Simulation Of Internal Fixation For Compression Fractures, Xie Cui, Junmei Geng, Li Jian, Junyu Dong
Surgery Simulation Of Internal Fixation For Compression Fractures, Xie Cui, Junmei Geng, Li Jian, Junyu Dong
Journal of System Simulation
Abstract: Virtual surgery simulation provides new means for medical surgery training with realism and immersion. A virtual surgery simulation of internal fixation for compression fractures is designed and implemented. By constructing 3D surgical scene, making deformation animation, adopting multi-level colliders combination and switching method for collision detection, and designing a multi-factors force feedback model to compute the tactile force and mapping the values to the different levels of vibration intensity of the HTC handle, combining with voice guidance and UI visual feedback, a visual, audible and tactile multi-channel surgical experience can be obtained. The system provides a guiding training module …
Virtual Scene Roaming Method Supporting Multi-Layer Path Planning, Shi Min, Yukun Wei, Xiangchen Jin, Suqin Wang, Tianlu Mao
Virtual Scene Roaming Method Supporting Multi-Layer Path Planning, Shi Min, Yukun Wei, Xiangchen Jin, Suqin Wang, Tianlu Mao
Journal of System Simulation
Abstract: Taking the automatic role pathfinding in three-dimensional virtual scene as the research background, the author proposes a method of multi-layer pathfinding based on A-star algorithm, and uses advanced heuristic functions to evaluate the cost values of various expansion nodes to confirm the optimal solution to the problems. By introducing collision detection mechanism, the navigation path generated by the improved A* algorithm is modified to avoid collision; and by interpolating the fixed path, the smooth navigation path is constructed using Bézier Curve. The experimental results show that the path finding results can well adapt to the multi-layer case when the …
Face Skin Detection And Color Transferring, Fangfang Chen, Zhongping Ji
Face Skin Detection And Color Transferring, Fangfang Chen, Zhongping Ji
Journal of System Simulation
Abstract: The reliable and accurate extraction of facial skin is a key and urgent problem for skin detection. This paper proposes a face alignment and GMM (Gaussian mixture model) to achieve face skin detection. We use the SCUT-FBP5500 face database, combined with SOM (self-organizing Maps) and K-means clustering method to cluster 9 pairs of facial features, and then use ResNet50 to predict face score. The color migration algorithm based on Lab space is used to migrate and edit the face color.The facts prove that the method has certain effect.
Personalized Music Recommendation Algorithm Tfpmf, Xining Ye, Wang Meng
Personalized Music Recommendation Algorithm Tfpmf, Xining Ye, Wang Meng
Journal of System Simulation
Abstract: In recent years, the personalized context-aware recommendation is the rub and hotness in the research of recommendation system, and the data sparseness is the main problem faced by the current recommendation systems. In the setting of music recommendation, the representing method of varieties of situational information is improved. A model of TFPMF is proposed, which combines the model of RR-PMF with the tensor decomposition. TFPMF is optimized by alternative least squares (ALS). By the simulation experiments in the last.fm dataset, we got the TOP-N recommended list through the simulation program. The simulation results show that the proposed algorithm has …