CN112817696B - Parallel behavior execution conflict resolution method in simulation operation and storage medium - Google Patents
Parallel behavior execution conflict resolution method in simulation operation and storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45504—Abstract machines for programme code execution, e.g. Java virtual machine [JVM], interpreters, emulators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
Abstract
A method for resolving conflict of parallel behavior execution in simulation operation and a storage medium thereof are disclosed, wherein control information is created and maintained in equipment components by introducing a control right concept, the behavior components need to be applied when controlling the equipment components, the equipment components can be controlled to be used only after successfully acquiring the control right of the equipment components, the current equipment components can only be controlled to be used by one behavior component by a controller in the control information, the emergency degree among different behaviors is reflected by the priority in the control right application information, and the control right can be normally acquired by the behavior components with low priority through a control right application list in the control information. The invention not only eliminates the conflict of the behavior assembly in the control equipment assembly, but also reflects the emergency degree of different behaviors, improves the simulation authenticity, and has simple mode and small calculated amount.
Description
Technical Field
The invention relates to the field of simulation, in particular to a parallel behavior execution conflict resolution method and a storage medium in simulation operation.
Background
Objects in the real world often contain multiple simultaneous behaviors. Different actions require resources to be occupied and used when executing in particular, but resources of objects are limited, so that actions need to be coordinated when using resources. In simulation, when multiple behaviors are executed in parallel, there may be a conflict in occupation of limited resources. When the conflict occurs, the conflict needs to be resolved in time, and logic confusion of the behavior in the execution process is avoided.
The prior art resolves conflicts by means of resource scheduling. Resource scheduling requires either static planning or dynamic planning of resources. The resource static planning requires detailed planning of when and what resources are used for each behavior before the simulation runs, which can only solve behavior execution conflicts that occur with simple process simulation. Dynamic resource planning is to allocate resources in the simulation process, but also follows a non-robbing principle, namely, the resources occupied by the executing behavior are not robbed by other behaviors before the executing behavior is finished. However, some actions may remain executing all the time, and the method has obvious limitations in use.
In modeling simulation, the behavior of a simulation object necessarily requires the occupation and use of limited inherent resources of the simulation object in order to simulate the logic analysis and operation actions of the object. Modular modeling is one of the most common ways to model and simulate, and its equipment components can be regarded as a finite resource of simulation objects for use by behavior components. The behavior component execution requires control of when and in what manner the equipment component is to operate. Often, multiple behavior component models are assembled in the same simulation object to simulate different behaviors that are executed simultaneously by the simulation object. All the behavior component models control the equipment components of the same simulation object in the execution process, and the situation that control conflict of all the behavior component models to the equipment components in parallel execution occurs, so that logic errors occur in the execution of the behavior component models.
Therefore, how to detect the control conflict of the behavior component to the equipment component in the simulation operation and further eliminate the conflict becomes a technical problem to be solved in the prior art.
Disclosure of Invention
The invention aims to provide a method and a storage medium for resolving conflict of parallel behavior execution in simulation operation, which not only eliminate conflict generated by a behavior component in control equipment components, but also embody the emergency degree of simulating different behaviors.
To achieve the purpose, the invention adopts the following technical scheme:
the parallel behavior execution conflict resolution method in the simulation operation is characterized by comprising the following steps:
equipment component control information initializing step S110:
creating and initializing corresponding control information for each equipment component, wherein the control information is used for describing the controlled use state of the equipment component and comprises a controller and a control right application list, the controller refers to a behavior component which is controlling to use the equipment component and comprises the identification and the priority of the behavior component, the control right application list stores other behavior components which are required to control to use the equipment component and are not agreed, the identification and the priority of the other behavior components are included, and the behavior components in the control right application list sequentially and alternately control to use the equipment component after waiting for the controller to finish the control of the equipment component;
equipment component search step S120:
when the behavior component encounters a logic process of executing the behavior component, and the simulation object resource is required to be controlled to be used, firstly inquiring whether the simulation object is provided with the equipment component of the corresponding type, if the simulation object is provided with the corresponding equipment component, returning the identification of the equipment component as an inquiring result, otherwise, returning an invalid value;
control right application step S130:
after inquiring that the simulation object has a corresponding equipment component, the behavior component puts forward a control right application for controlling the equipment component according to the identification of the equipment component, namely applies the control right to the equipment component, and the content of the application control right information comprises: the application issuing behavior component is a current behavior component identifier; the equipment component needing to be controlled is an equipment component identifier which is used by the behavior component and needs to be controlled; the priority indicates the importance of the control right of the current application, and the control right with high priority can force to take the control right with low priority; whether to wait for the control right "means whether to directly give up the control use of the equipment component or put it into the control information of the equipment component after the control right is applied to the equipment component fails;
control application processing step S140:
the equipment component compares the control right application with the control information, decides the order of the behavior component obtaining the control right through priority, and realizes the release of the control right which is not obtained by queuing the behavior component through a control right application list;
behavior component control equipment component step S150:
if the behavior component successfully acquires the control right of the equipment component, the equipment can be continuously controlled according to the design flow of the behavior, and if the behavior component fails to acquire the control right of the equipment component, the behavior component executes a preset flow of failed acquisition of the control right;
control end of use step S160:
after the behavior component finishes controlling the equipment component, the equipment component removes a controller in the control information, namely the behavior component releases the control right, the equipment component automatically inquires a control right application list in the control information at the moment, and if the list has content, the equipment component starts to process the control right application information with the highest ordered priority so as to obtain the control right; if the control right application list is not contained, no operation is performed, and the follow-up behavior component waits for a control use application of the equipment component.
Optionally, the control application processing step S140 specifically includes:
comparing the control right application with the control information by the equipment component,
(1) The behavior component directly obtains control rights
When the behavior component puts forward a control right application to the equipment component, the equipment component firstly inquires own control information, if a 'controller' in the control information does not exist or the 'controller' is the same as the 'behavior component for issuing the application', the equipment component can be controlled and used by the applied behavior component, namely the behavior component successfully acquires the control right of the equipment component, and the 'controller' in the control information is set as an identification of the applied behavior component;
(2) Behavior component rob control rights
When the equipment component inquires that the 'controller' of the control information exists and is not the 'behavior component sending out an application', the equipment component is currently being controlled and used by other behavior components, the 'priority' of the application control right information is compared with the 'controller' priority, if the 'priority' of the application control right information is higher, the control right is directly preempted, the 'controller' in the control information of the equipment component is changed into the 'behavior component sending out the application', the previous 'controller' puts the control right into the 'control right application queue' if the queuing control right is selected, the control right is reacquired after the waiting control right is released, and if the queuing control right is not selected, the control information of the previous 'controller' is directly lost;
(3) Behavior component queuing control rights
When the 'controller' of the equipment component inquiring control information exists and is not a 'behavior component issuing an application', and the 'priority' of the application control right information is lower than or equal to the priority of the 'controller', inquiring whether to wait for the control right of the application control right information; if yes, putting the application control right information into a control right application list, and sequencing the control right application list according to the priority in the behavior component application control right information;
(4) Behavior component application control right failure
When the 'controller' of the equipment component inquiring control information exists and is not a 'behavior component sending out an application', and the 'priority' of the application control right information is lower than or equal to the priority of the 'controller', inquiring whether to wait for the control right or not, if not, the behavior component fails to apply the control right.
Optionally, in the equipment component control information initializing step S110, if the "controller" does not exist to indicate that the equipment component is not currently controlled by any behavior component; the equipment component can be controlled for use only when the behavior component is a "controller", i.e. when the behavior component has control rights.
Optionally, a "control right application list" of control information in the equipment component is ordered by the priority level of each control right application.
Optionally, the behavior component and the equipment component both use a globally unique identity as their own identities.
Optionally, in the equipment component searching step S120, the behavior component continues to execute the logic of the subsequent control usage equipment component only when the query result is valid, otherwise, executing the logic of the necessary equipment component is absent from the processing simulation object.
Optionally, the behavior component represents: describing a certain specific action or decision implementation process of the simulation object, and mainly realizing the processing of execution logic, flow and exception of related activities;
the equipment component represents: a finite resource is used for simulating the physical inherent properties of a simulation object.
A storage medium storing computer-executable instructions, characterized by:
the computer executable instructions, when executed by the processor, perform the parallel behavior execution conflict detection method described above in simulation run.
The invention creates and maintains control information in the equipment component by introducing the control right concept, and the behavior component needs to apply when controlling the equipment component, and can control the equipment component only after successfully acquiring the control right of the equipment component. The current equipment component can only be controlled and used by one behavior component through a controller in the control information, the emergency degree among different behaviors is reflected through the priority in the control right application information, and the low-priority behavior component can normally acquire the control right through the control right application list in the control information. The invention not only eliminates the conflict of the behavior assembly in the control equipment assembly, but also reflects the emergency degree of different behaviors, improves the simulation authenticity, and has simple mode and small calculated amount.
Drawings
FIG. 1 is a flow chart of a method for performing conflict resolution for parallel behavior in a simulation run in accordance with the present invention;
FIG. 2 is a specific flow chart of the application steps of the equipment component to process behavior components in a collision detection method according to the present invention;
FIG. 3 is a schematic diagram of control information according to an embodiment of the present invention;
fig. 4 is a schematic diagram of application control information according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The invention has the following concepts and information:
1. modularized modeling
The motion capability, the perception capability, the communication capability, the behavior capability and the like of the simulation object are designed as functional components, and the simulation object is obtained through reasonable assembly of the components. Components are generally divided into two categories, equipment components that simulate physical equipment and behavior components that simulate logical behavior.
2. Behavior component
The description of a specific action or decision-making implementation process of a simulation object mainly realizes the processing of execution logic, flow and exception of related activities, such as transportation capability, command capability, scheduling capability and the like.
3. Equipment assembly
The equipment component is used for simulating the physical inherent property of the simulation object and can be regarded as a limited resource of the simulation object. Such as a motorized component for simulating a motion function, a sensor component for detecting a function, a communication component for communicating a function, etc.
4. Control right
Control usage rights of equipment components are described. A control message is created and maintained for the equipment component in which the use of the equipment component is recorded. Only if control rights of the equipment components are obtained, the behavior components can control and use the equipment components.
5. Parallel behavior
During the simulation process, the simulation objects can simultaneously execute different actions. The actions executed simultaneously are parallel actions, and the parallel actions are realized by simultaneously carrying a plurality of different action components on a simulation object in the simulation.
6. Execution conflict
In the execution process of parallel behaviors, different behaviors of the simulation object control the use of limited resources. When one behavior controls and uses the resource of the simulation object, the other behavior also controls and uses the resource, so that the phenomenon that the resource of the simulation object is simultaneously controlled by two behaviors occurs. When the actions of two behavior control simulation object resources are inconsistent, execution conflict is caused.
The invention is characterized in that: in simulating parallel behavior execution, a control right concept is introduced. The control right is acquired by each behavior component before the equipment components are controlled, so that each equipment component is ensured to be controlled by one behavior component at the same time; the order of the behavior components acquiring the control rights is determined by the priority, and the behavior components not acquiring the control rights are queued for the release of the control rights by a control rights application list.
Referring to fig. 1, there is shown a flow chart of a method for performing conflict resolution for parallel behavior in a simulation run according to the present invention,
the method comprises the following steps:
equipment component control information initializing step S110:
for each equipment component, a corresponding control information is created and initialized, the control information is used for describing the state that the equipment component is controlled to be used, the control information comprises a controller and a control right application list, the controller refers to the behavior component which is controlling to use the equipment component, the identity and the priority of the behavior component are included, the control right application list stores other behavior components which are not agreed to but are required to control to use the equipment component, the identity and the priority of the other behavior components are included, and the behavior components in the control right application list sequentially and alternately control to use the equipment component after waiting for the controller to finish controlling the equipment component.
Thus when the "control right application list" has content, the "controller" certainly exists.
Referring to fig. 3, a schematic diagram of control information is listed.
Further, if the "controller" does not exist, this equipment component is not currently controlled by any behavior component. The equipment component can be controlled for use only when the behavior component is a "controller", i.e. when the behavior component has control rights.
Equipment component search step S120:
when the behavior component encounters the logic process of executing the behavior component, and the simulation object resource is required to be controlled to be used, firstly inquiring whether the simulation object is assembled with the equipment component of the corresponding type, if the simulation object is assembled with the corresponding equipment component, returning the identification of the equipment component as an inquiring result, and otherwise, returning an invalid value.
Further, the behavior component continues to execute logic for subsequent control of the use equipment component only if the query result is valid, otherwise executing logic for processing the simulated object lacks necessary equipment components.
Control right application step S130:
after inquiring that the simulation object has the corresponding equipment component, the behavior component puts forward a control right application for controlling the equipment component according to the identification of the equipment component, namely applies the control right to the equipment component.
Referring to fig. 4, the contents of the application control right information include: the application issuing behavior component is a current behavior component identifier; the equipment component needing to be controlled is an equipment component identifier which is used by the behavior component and needs to be controlled; the priority indicates the importance of the control right of the current application, and the control right with high priority can force to take the control right with low priority; "whether to wait for control" means whether to directly give up control use of the equipment component or put it into the "control application list" of the equipment component control information to wait for control after the control application failure to the equipment component.
Control application processing step S140:
the equipment component compares the control right application with the control information, decides the order of the behavior components obtaining the control right through priority, and realizes the release of the control right which is not obtained by queuing the behavior components waiting for the control right through a control right application list.
Specifically, referring to fig. 2, the control application processing step S140 specifically includes:
comparing the control right application with the control information by the equipment component,
(1) The behavior component directly obtains control rights
When the behavior component issues a control right application to the equipment component, the equipment component firstly inquires own control information, if a 'controller' in the control information does not exist or the 'controller' is the same as the 'behavior component issuing the application', the equipment component can be controlled and used by the applied behavior component, namely the behavior component successfully acquires the control right of the equipment component, and the 'controller' in the control information is set as the identification of the applied behavior component.
(2) Behavior component rob control rights
When the equipment component inquires that the 'controller' of the control information exists and is not the 'behavior component sending out an application', the equipment component is currently being controlled and used by other behavior components, the 'priority' of the application control right information is compared with the 'controller' priority, if the 'priority' of the application control right information is higher, the control right is directly preempted, the 'controller' in the control information of the equipment component is changed into the 'behavior component sending out the application', the previous 'controller' puts the control right into the 'control right application queue' if the queuing control right is selected, the control right is reacquired after the waiting control right is released, and if the queuing control right is not selected, the control information of the previous 'controller' is directly lost.
(3) Behavior component queuing control rights
When the 'controller' of the equipment component inquiring control information exists and is not a 'behavior component issuing an application', and the 'priority' of the application control right information is lower than or equal to the priority of the 'controller', inquiring whether to wait for the control right of the application control right information; if yes, the application control right information is put into a control right application list, and the control right application list is ordered according to the priority in the behavior component application control right information.
(4) Behavior component application control right failure
When the 'controller' of the equipment component inquiring control information exists and is not a 'behavior component sending out an application', and the 'priority' of the application control right information is lower than or equal to the priority of the 'controller', inquiring whether to wait for the control right or not, if not, the behavior component fails to apply the control right.
Therefore, further, the "control right application list" of the control information in the equipment component is ordered according to the "priority" in the behavior component application control right information.
Behavior component control equipment component step S150:
if the behavior component successfully acquires the control right of the equipment component, the equipment can be continuously controlled according to the design flow of the behavior, and if the behavior component fails to acquire the control right of the equipment component, the behavior component executes the preset flow of failed acquisition of the control right.
Control end of use step S160:
after the behavior component finishes controlling the equipment component, the equipment component removes a 'controller' in the control information, namely the behavior component releases the control right, the equipment component automatically inquires a 'control right application list' in the control information at the moment, if the list has content, the equipment component starts to process the control right application information with the highest ordered priority, and the processing flow is described in step 140 (1), so that the equipment component obtains the control right; if the control right application list is not contained, no operation is performed, and the follow-up behavior component waits for a control use application of the equipment component.
Further, in the present invention, the behavior component and the equipment component both use a globally unique identifier as their own identifiers.
In the present invention, the behavior component represents: the description of a specific action or decision-making implementation process of a simulation object mainly realizes the processing of execution logic, flow and exception of related activities.
The equipment component represents: a simulation object is a limited resource used to simulate the physical inherent properties of the simulation object, such as a motorized component used to simulate a motion function, a sensor component for a detection function, a communication component for a communication function, and the like.
Other parallel execution behavior components in the present invention follow the above flow when controlling the use of equipment components. In the control application processing step S140, execution conflict of parallel behaviors is detected and conflict is resolved by comparing the "controller" of the control information in the equipment component and the behavior component issuing the application in the application control right information.
The present invention further discloses a storage medium for storing computer executable instructions, characterized in that:
the computer executable instructions, when executed by the processor, perform the parallel behavior execution conflict detection method described above in simulation run.
The invention creates and maintains control information in the equipment component by introducing the control right concept, and the behavior component needs to apply when controlling the equipment component, and can control the equipment component only after successfully acquiring the control right of the equipment component. The current equipment component can only be controlled and used by one behavior component through a controller in the control information, the emergency degree among different behaviors is reflected through the priority in the control right application information, and the low-priority behavior component can normally acquire the control right through the control right application list in the control information. The invention not only eliminates the conflict of the behavior assembly in the control equipment assembly, but also reflects the emergency degree of different behaviors, improves the simulation authenticity, and has simple mode and small calculated amount.
It will be apparent to those skilled in the art that the elements or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or they may alternatively be implemented in program code executable by a computer device, such that they may be stored in a storage device for execution by the computing device, or they may be separately fabricated into individual integrated circuit modules, or a plurality of modules or steps in them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
While the invention has been described in detail in connection with specific preferred embodiments thereof, it is not to be construed as limited thereto, but rather as a result of a simple deduction or substitution by a person having ordinary skill in the art without departing from the spirit of the invention, which is to be construed as falling within the scope of the invention defined by the appended claims.
Claims (6)
1. The parallel behavior execution conflict resolution method in the simulation operation is characterized by comprising the following steps:
equipment component control information initializing step S110:
creating and initializing corresponding control information for each equipment component, wherein the control information is used for describing the controlled use state of the equipment component and comprises a controller and a control right application list, the controller refers to a behavior component which is controlling to use the equipment component and comprises the identification and the priority of the behavior component, the control right application list stores other behavior components which are required to control to use the equipment component and are not agreed, the identification and the priority of the other behavior components are included, and the behavior components in the control right application list sequentially and alternately control to use the equipment component after waiting for the controller to finish the control of the equipment component;
equipment component search step S120:
when the behavior component encounters a logic process of executing the behavior component, and the simulation object resource is required to be controlled to be used, firstly inquiring whether the simulation object is provided with the equipment component of the corresponding type, if the simulation object is provided with the corresponding equipment component, returning the identification of the equipment component as an inquiring result, otherwise, returning an invalid value;
control right application step S130:
after inquiring that the simulation object has a corresponding equipment component, the behavior component puts forward a control right application for controlling the equipment component according to the identification of the equipment component, namely applies the control right to the equipment component, and the content of the application control right information comprises: the application issuing behavior component is a current behavior component identifier; the equipment component needing to be controlled is an equipment component identifier which is used by the behavior component and needs to be controlled; the priority indicates the importance of the control right of the current application, and the control right with high priority can force to take the control right with low priority; whether to wait for the control right "means whether to directly give up the control use of the equipment component or put it into the control information of the equipment component after the control right is applied to the equipment component fails;
control application processing step S140:
the equipment component compares the control right application with the control information, decides the order of the behavior components obtaining the control right through the priority, and realizes the release of the control right which is not obtained by queuing the behavior components waiting for the control right through the control right application list;
behavior component control equipment component step S150:
if the behavior component successfully acquires the control right of the equipment component, the equipment is continuously controlled to be used according to the design flow of the behavior, and if the behavior component fails to acquire the control right of the equipment component, the behavior component executes a preset flow of failed acquisition of the control right;
control end of use step S160:
after the behavior component finishes controlling the equipment component, the equipment component removes a 'controller' in the control information, namely the behavior component releases the control right, the equipment component automatically inquires a 'control right application list' in the control information at the moment, if the list has content, the equipment component starts to process the control right application information with the highest ordered priority, and the processing flow is described in step 140 (1), so that the equipment component obtains the control right; if the control right application list does not have content, no operation is performed, and a subsequent behavior component is waited to propose a control application for the equipment component;
the control application processing step S140 specifically includes:
comparing the control right application with the control information by the equipment component,
(1) The behavior component directly obtains control rights
When the behavior component puts forward a control right application to the equipment component, the equipment component firstly inquires own control information, if a 'controller' in the control information does not exist or the 'controller' is the same as the 'behavior component for issuing the application', the equipment component is controlled to be used by the applied behavior component, namely the behavior component successfully acquires the control right of the equipment component, and the 'controller' in the control information is set as an identification of the applied behavior component;
(2) Behavior component rob control rights
When the equipment component inquires that the 'controller' of the control information exists and is not the 'behavior component sending out an application', the equipment component is currently being controlled and used by other behavior components, the 'priority' of the application control right information is compared with the 'controller' priority, if the 'priority' of the application control right information is higher, the control right is directly preempted, the 'controller' in the control information of the equipment component is changed into the 'behavior component sending out the application', the previous 'controller' puts the control right into the 'control right application queue' if the queuing control right is selected, the control right is reacquired after the waiting control right is released, and if the queuing control right is not selected, the control information of the previous 'controller' is directly lost;
(3) Behavior component queuing control rights
When the 'controller' of the equipment component inquiring control information exists and is not a 'behavior component issuing an application', and the 'priority' of the application control right information is lower than or equal to the priority of the 'controller', inquiring whether to wait for the control right of the application control right information; if yes, putting the application control right information into a control right application list, and sequencing the control right application list according to the priority in the behavior component application control right information;
(4) Behavior component application control right failure
When the 'controller' of the equipment component inquiring control information exists and is not a 'behavior component sending out an application', and the 'priority' of the application control right information is lower than or equal to the priority of the 'controller', inquiring whether to wait for the control right or not, if not, the behavior component fails to apply the control right.
2. The conflict resolution method of claim 1, wherein,
in the equipment component control information initializing step S110, if the "controller" does not exist, indicating that this equipment component is not currently controlled by any behavior component; only the behavior component is used as a 'controller', namely, the behavior component has control right, the equipment component is controlled to be used.
3. The conflict resolution method of claim 1, wherein,
the "control right application list" of the control information in the equipment component is ordered by the priority level of each control right application.
4. A conflict resolution method according to any one of claims 1 to 3, wherein,
the behavior component and the equipment component both adopt globally unique identification as their own identifications.
5. The conflict resolution method of claim 4, wherein,
the behavior component represents: describing a certain action or decision implementation process of the simulation object, and realizing the processing of execution logic, flow and exception of related activities;
the equipment component represents: a finite resource is used for simulating the physical inherent properties of a simulation object.
6. A storage medium storing computer-executable instructions, characterized by:
the computer executable instructions, when executed by a processor, perform the parallel behavior execution conflict resolution method in simulation run of any one of claims 1-5.
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