A Novel Borophosphate Coordination Polymer with Sandwich-type Supramolecular Architecture

A novel borophosphate (Hmel)3{Co2[(mel)2(HPO4)2(PO4)]·H3BO3·H2O} (mel= melamine) has been synthesized under mild solvothermal conditions. The structure of the compound exists a high ordered organic-inorganic sandwich-type supramolecular architecture via metal-coordination, hydrogen bonds and π-π stacking interactions.

S^2 BHCA-Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2 BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2 BHCA.

Logical Framework for Deepening International Energy Cooperation from the Perspective of Project Practice

Energy cooperation is a key area in the joint construction of the Belt and Road Initiative.To deepen international energy cooperation,it is advisable to place greater emphasis on whole life cycle and systematic planning in project collaboration,government-led initiatives with businesses playing a central role,alongside coordination with non-governmental international institutions,and comprehensive integration of resources.

Determination of Coordination Configuration of Rare Earth Ions with Aminoacids in Solutions with Cooperative Vibronic Spectroscopy

The use of cooperative vibronic spectroscopy to measure coordination numbers of the ligands surrounding rare earth ions in solutions was proposed and demonstrated. It is shown that the time-resolved cooperative vibronic spectroscopy is a very useful technique for the determination of the ligand type and ligand number for different coordination groups. Coordination configuration of arginine with Tb3+ in solutions with different pH values was studied. It demonstrates that the carboxy1 of arginine can replace H2O to coordinate with Tb3+ and the coordination number of carboxyl increases with the increase of pH value of the solutions.

Healthcare Levels Cooperation, Action in Local Health System to Better Coordinate the Delivery of Healthcare

The healthcare system＇s approach considers the complexity and interactions between organized elements. In continuous processing, healthcare systems are affected by their constituent elements, themselves modified with each system change. To secure and optimize the system of care, collaboration between levels is necessary. Almost no documented experience to better coordination of levels of care in the Belgian system is available. To improve the quality of care, the system needs collaborative coordination between stakeholders. Good coordination improves the quality of patient care, it makes quality more efficient and optimal care. This coordination between care lines must be collaborative. Interactional communication is the founding element of inter-professional collaboration. A good self-esteem improves the relationship between actors in the health system and supports the initiatives and adaptability. It contributes therefore to an increase of the quality of care. The interactional Local Health System promotes cooperation in the relevant health network. Consultation and coordination between the actors involved and motivated bring care quality and operational solutions. This dynamic modality of exchanges appears fruitful as participants continue to meet and coordinate care, even after the official end of the action-research. The climate became conducive to solving real problems through the skills developed in the LHS.

Coordination of Urbanization and Water Ecological Environment in Shayinghe River Basin,China

During the rapid industrialization and urbanization of China,urban agglomeration in river basin areas raises the problems of over-use of water resources and pollution of the water environment.Related research in China has mainly focused on the conflicts among economic growth,urban expansion and water resource shortages within admin-istrative boundaries.However,water environments are much more dependent on their physical boundaries than their administrative boundaries.Consistent with the nature of water environment,this study aims at analyzing coordination relationships between urban development and water environment changes within physical river basin boundaries.We chose the Shayinghe River Basin,China,as our case study area which is facing serious challenges related to water en-vironment protection.Then we classified 35 county-level administrative units into upstream,midstream and down-stream regions based on their physical characteristics;analyzed the coordination degree of urban agglomeration using the Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) method;and constructed cooperative models using the Linear Programming (LP function) to simulate four scenarios of the coordination relationship be-tween urban population increase and water environment protection based on existing water resources and water pollu-tion data.The results show that the present coordinative situation in Shayinghe River Basin is not sustainable.In gen-eral,more than 50% administrative units are in the bad coordinative situation.In particular,the downstream region is under worse condition than the upstream and midstream regions.Cooperative models in scenario analyses indicate that the population scale set in existing urban master plannings is not coordinated with the water environment protection.To reach the goal of regional sustainable development,the total population needs to be controlled such that it will re-main at 4.5×10 7 or below by 2020 given the capacity of water environment.

Practice-oriented Teaching Methods of Chinese Architecture History

Through analyzing problems in the teaching of Chinese architecture history, this paper fi gured out the crucial reasons why history lessons fail to stimulate students' learning enthusiasm, and explored the practice-oriented teaching methods from the perspectives of teaching means, methods and objectives to solve the problems. By introducing such teaching means as visual practices, experience practices and design practices into the teaching of Chinese architecture history, the history course could be united with design course effectively, and become significant theory support and guideline for the architectural design, which will improve the teaching quality of Chinese architecture history comprehensively, stimulate students' learning enthusiasm, and promote their learning effi ciency and achievements.

Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.

Theory and Application of Multi-robot Service-oriented Architecture

In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot's underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance. © 2014 Chinese Association of Automation.

Coordination game model of co-opetition relationship on cluster supply chains

The research of cluster supply chains is a new direction and a hotspot of the industrial cluster theory. On the condition of the coordination game, the enterprises may be stuck on the non-efficient equilibrium status, which becomes an important problem that must be considered on cluster supply chains. A symmetrical coordination game model is constituted to describe the competition and cooperation relationship of the same-quality manufacturers on cluster supply chains. The methods of the non-cooperation game theory and the evolutionary game theory are respectively used to analyze the model, whose parameters＇ influences under each method are then compared. It can be concluded that the analysis of the evolutionary game theory is more realistic and practical. Finally, three approaches are considered to break away from being path-dependence locked-in non-efficient status during this coordination game evolutionary process, which provide the development of cluster supply chains with an effective forecasting and Pareto optimizing method.

A Collaborative Framework for Mould Design Based on Service-Oriented Architecture

Aiming at improving the traditional object-oriented three-layer architecture for collaborative design, a service-oriented framework for mould design is established by adding a Web service layer to decoupling the direct linking of user interface to functional modules,making the system being platform independent and programming language independent,greatly facilitating the reuse of existing software and hardware resources. .NET technology is adopted to implement the framework. An example scenario is introduced to demonstrate how the system works.

Hydrothermal synthesis of 3D porous architectures

A novel porous lanthanide-organic coordination polymer, [Nd（H2O）（HnicO）（TP）]·2H2O （1） （H2nicO=2-hydroxynicotinic acid, TP= terephthalate）, was prepared under hydrothermal condition and characterized by single-crystal X-ray diffraction, thermogravimetric analysis and infrared spectroscopy. Compound 1 exhibited a flexible coordination geometry of lanthanide ions, which possessed a three-dimensional （3D） open framework with one-dimensional （1D） channels containing lattice water molecules. This framework structure exhibited a high stability up to 330℃ after removing free water molecules. A homometallic supramolecular framework （Zn（HnicO）2（H2O）2 （2）） was obtained due to the competitive reaction between organic ligands, Nd3＋ and Zn2＋ ions. The results showed that on the basis of the soft-hard/acid-base principle the coordination selection between metal ions and organic ligands played an essential role in the smart construction of lanthanide architectures.

Method of distribution and cooperation for electro-optical countermeasures jamming resources

The concept of the method resource is introduced to deal with the cooperative application problem of different electro-optical countermeasure equipments. Based on this concept, a new approach is introduced to distribute the jamming resources of electro-optical countermeasures, and it is used to deploy and manage electro-optical countermeasures resources under the restriction conditions of cooperation and incompatibility disposing. The resource management procedure is formalized by Finite State Machine (FSM). By using the cooperative resource operation system on the basis of multi-agent systems, a complex system with three incompatible swarms is constructed and cooperative operation procedures are demonstrated by simulations.

Evaluation on Agricultural Regional Coordination Degree of Beijing,Tianjin and Hebei

According to the characteristics of agricultural system in Beijing,Tianjin and Hebei,population pressure,resource utilization and construction capability are taken as the first grade indices.And there are a total of 14 second grade indices,such as the per capita cultivated land,per capita grain yield,per capita meat product,per capita aquatic product,per capita fruit,per capita water resource,per capita GDP,multiple cropping index,and proportion of agricultural expenditure in financial expenditure.An evaluation theory system for the coordination degree of agricultural system is established;and the empirical study on the agricultural coordination degree of Beijing,Tianjin and Hebei is carried out.Result shows that agricultural cooperative development in Beijing,Tianjin and Hebei is still in its primary stage.It is put forward that ideology is the premise,plan should take the lead,transportation is the foundation,and enhancing the brand is the key.Countermeasures are put forward for the agricultural cooperative development in Beijing,Tianjin and Hebei,such as enhancing the sense of strategic positioning during agricultural cooperative development in Beijing,Tianjin and Hebei,promoting the agricultural cooperative development planning in Beijing,Tianjin and Hebei,establishing a modern and integrated transport network system,strengthening the agricultural science and technology support,and improving the grade of agricultural products.

Safety architecture of internet based multi-robot teleoperation system

Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.

Major Powers Cooperate in a Mild and Coordinated Way

Lu:If the tense situations in the Middle East and Northeast Asiabecome relaxed,it would certainly exert great influence on world politi-cal pattern.Can non-traditional security solve the contradictions in thetraditional security field?Will the major powers continue to cooperate inthe anti-terrorist campaign?All these issues will face challenges

Energy Efficiency Maximization for Cooperative NOMA with Hardware Impairments

The massive connectivity and limited energy pose significant challenges to deploy the enormous devices in energy-efficient and environmentally friendly in the Internet of Things(IoT).Motivated by these challenges,this paper investigates the energy efficiency(EE)maximization problem for downlink cooperative non-orthogonal multiple access(C-NOMA)systems with hardware impairments(HIs).The base station(BS)communicates with several users via a half-duplex(HD)amplified-and-forward(AF)relay.First,we formulate the EE maximization problem of the system under HIs by jointly optimizing transmit power and power allocated coefficient(PAC)at BS,and transmit power at the relay.The original EE maximization problem is a non-convex problem,which is challenging to give the optimal solution directly.First,we use fractional programming to convert the EE maximization problem as a series of subtraction form subproblems.Then,variable substitution and block coordinate descent(BCD)method are used to handle the sub-problems.Next,a resource allocation algorithm is proposed to maximize the EE of the systems.Finally,simulation results show that the proposed algorithm outperforms the downlink cooperative orthogonal multiple access(C-OMA)scheme.

Coordinated control method of intersection traffic light in one-way road based on V2X

One-way roads have potential for improving vehicle speed and reducing traffic delay.Suffering from dense road network,most of adjacent intersections’distance on one-way roads becomes relatively close,which makes isolated control of intersections inefficient in this scene.Thus,it is significant to develop coordinated control of multiple intersection signals on the one-way roads.This paper proposes a signal coordination control method that is suitable for one-way arterial roads.This method uses the cooperation technology of the vehicle infrastructure to collect intersection traffic information and share information among the intersections.Adaptive signal control system is adopted for each intersection in the coordination system,and the green light time is adjusted in real time based on the number of vehicles in queue.The offset and clearance time can be calculated according to the real-time traffic volume.The proposed method was verified with simulation results by VISSIM traffic simulation software.The results compared with other methods show that the coordinated control method proposed in this paper can effectively reduce the average delay of vehicles on the arterial roads and improve the traffic efficiency.

Two-Codebook-Based Cooperative Precoding for TDD-CoMP in 5G Ultra-Dense Networks

In ultra-dense networks （UDN）, the local precoding scheme for time-division duplex coordinated multiple point transmission （TDD-CoMP） can have a good performance with no feedback by using reciprocity between uplink and dovallink. However, if channel is time-varying, the channel difference would cause codeword mismatch between transmitter and receiver, which leads to performance degradation. In this paper, a linear interpolation method is proposed for TDD-CoMP system to estimate the uplink channel at the receiver, which would reduce the channel difference caused by time delay and decrease the probability of codeword mismatch between both sides. Moreover, to mitigate severe inter-cell interference and increase the coverage and throughput of celledge users in UDN, a two-codebook scheme is used to strengthen cooperation between base stations （BSs）, which can outperform the global precoding scheme with less overhead. Simulations show that the proposed scheme can significantly improve the link performance compared to the global precoding scheme.

MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT

Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a “Dynamic Coordinator” strategy is used to deal with the collision avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.