In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output （MIMO） linear dynamics that can be of any ord...In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output （MIMO） linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by Ho~ dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality （LMI）. The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.展开更多
The cooperative localization(CL)is affected by the communication topology among the platforms.Based on the unscented Kalman filtering,the distributed CL(DCL)oriented to the unpredicted communication topology is invest...The cooperative localization(CL)is affected by the communication topology among the platforms.Based on the unscented Kalman filtering,the distributed CL(DCL)oriented to the unpredicted communication topology is investigated.To improve the adaptability,the character of the look-up Cholesky decomposition is exploited for the covariance matrix decomposing.Then,the distributed U transformation can be dynamically implemented according to the available communication topology.In the proposed algorithm,the global information is not required for the individual,and only the available information from the neighbor is used.Each platform’s state can be estimated independently.The error covariance of the state estimates can be updated in the single platform.The algorithm is adaptive to any serial communication topologies where the measuring to the measured platform is a starting path.The applicability of the proposed algorithm to unpredicted communication topology is improved,remaining equivalent localization performance to free connection communication.展开更多
Mobile Edge Computing(MEC)is a promising solution to tackle the upcoming computing tsunami in 5G/6G era by effectively utilizing the idle resource at the mobile edge.In this work,a multi⁃hop D2D⁃enabled MEC scenario w...Mobile Edge Computing(MEC)is a promising solution to tackle the upcoming computing tsunami in 5G/6G era by effectively utilizing the idle resource at the mobile edge.In this work,a multi⁃hop D2D⁃enabled MEC scenario was studied,where mobile devices at network edge connect and share resources with each other via multi⁃hop D2D.The research focus was on the micro⁃task scheduling problem in the multi⁃hop D2D⁃enabled MEC system,where each task was divided into multiple sequential micro⁃tasks,such as data downloading micro⁃task,data processing micro⁃task,and data uploading micro⁃task,according to their functionalities as well as resource requirements.A joint Task Failure Probability and Energy Consumption Minimization(TFP⁃ECM)problem was proposed,aiming at minimizing the task failure probability and the energy consumption jointly.To solve the problem,several linearization methods were proposed to relax the constraints and convert the original problem into an integer linear programming(ILP).Simulation results show that the proposed solution outperformed the existing solutions(with indivisible tasks or without resource sharing)in terms of both total cost and task failure probability.展开更多
In Wireless Sensor Network (WSNs), sensor nodes collect data and send them to a Base Station (BS) for further processing. One of the most issues in WSNs that researchers have proposed a hundred of technique to solve i...In Wireless Sensor Network (WSNs), sensor nodes collect data and send them to a Base Station (BS) for further processing. One of the most issues in WSNs that researchers have proposed a hundred of technique to solve its impact is the energy constraint since sensor nodes have small battery, small memory and less data processing with low computational capabilities. However, many researches efforts have focused on how to prolong the battery lifetime of sensor nodes by proposing different routing, MAC, localization, data aggregation, topology construction techniques. In this paper, we will focus on routing techniques which aim to prolonging the network lifetime. Hence, we propose an Energy-Efficient Routing technique in WSNs based on Stationary and Mobile nodes (EERSM). Sensing filed is divided into intersected circles which contain Mobile Nodes (MN). The proposed data aggregation technique via the circular topology will eliminate the redundant data to be sent to the Base Station (BS). MN in each circle will rout packets for their source nodes, and move to the intersected area where another MN is waiting (sleep mode) to receive the transmitted packet, and then the packet will be delivered to the next intersected area until the packet is arrived to the BS. Our proposed EERSM technique is simulated using MATLAB and compared with conventional multi-hop techniques under different network models and scenarios. In the simulation, we will show how the proposed EERSM technique overcomes many routing protocols in terms of the number of hops counted when sending packets from a source node to the destination (i.e. BS), the average residual energy, number of sent packets to the BS, and the number of a live sensor nodes verse the simulation rounds.展开更多
Proxy Mobile IPv6 (PMIPv6) is a network based mobility management protocol. It is proposed by the Internet Engineering Task Force. In PMIPv6 the Mobile Node (MN) need not participate in signalling of mobility. PMIPv6 ...Proxy Mobile IPv6 (PMIPv6) is a network based mobility management protocol. It is proposed by the Internet Engineering Task Force. In PMIPv6 the Mobile Node (MN) need not participate in signalling of mobility. PMIPv6 is a layer 3 protocol. In this paper the issue of layer 3 mobility is resolved by the Enhanced Open Flow Technique (EOFT). Generally, the open flow protocol makes functions on network devices, routers, switches. Open flow controller act as server for network devices to make communication between them. In the proposed EOFT-PMIPv6, the control signalling and mobility is managed by EOFT controller. In PMIPv6, the Mobility Access gateway (MAG) has the responsibility of the control signalling. But in the EOFT-PMIPv6, the responsibility of MAG is done by the EOFT-Controller. In the proposed technique, the mobility management function is isolated from PMIPv6 mechanisms. These isolated mechanisms are combined in the EOFT-Con- troller. This EOFT-Controller satisfies the responsibility of the mechanisms which are separated from PMIPv6. The eminent mobile environment must provide the efficient multi-homing protocols. The proposed technique overcomes the problem of multihoming in PMIPv6. The EOFT-Controller takeover the responsibility of Layer 3 functions. Also, the proposed technique combines with Modified Mobility Access Gateway (M_MAG) and it handles the handover session dynamically. This paper provides the extended architecture of EOFT-PMIPv6 and provide unbeaten handover scheme for multi-homing. The result is provided by systematic analysis based on comparison with PMIPv6 and EOFT-PMIPv6 is obtained.展开更多
Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up s...Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.展开更多
Mobile offshore double-causeway pier system, a type of seashore unloading equipment, consists of two groups of multiple connected semi-submersible modules. This structure has wide application because most of the middl...Mobile offshore double-causeway pier system, a type of seashore unloading equipment, consists of two groups of multiple connected semi-submersible modules. This structure has wide application because most of the middle or mini type of vessels and ships can be moored to it. Based on the analysis of computational methods of multi-body motion response, a hydrodynamic model is set up and the three-dimensional potential theory in finite depth is adopted to calculate the three-dimensional motion response of this system. The double P-M spectrum is used to analyze the motion response in irregular waves. Different wave directions are specially taken into consideration, due to their various effects to the motion response. Furthermore, the calculated result is compared with that of the experiment, and it is proved that sway, heave, pitch and yaw motion are greatly constrained by mooring system. The comparison also indicates that the model can forecast the motion performance of the target, and that the calculated result can also be used as reference in connector and mooring system design.展开更多
文摘In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output （MIMO） linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by Ho~ dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality （LMI）. The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.
文摘The cooperative localization(CL)is affected by the communication topology among the platforms.Based on the unscented Kalman filtering,the distributed CL(DCL)oriented to the unpredicted communication topology is investigated.To improve the adaptability,the character of the look-up Cholesky decomposition is exploited for the covariance matrix decomposing.Then,the distributed U transformation can be dynamically implemented according to the available communication topology.In the proposed algorithm,the global information is not required for the individual,and only the available information from the neighbor is used.Each platform’s state can be estimated independently.The error covariance of the state estimates can be updated in the single platform.The algorithm is adaptive to any serial communication topologies where the measuring to the measured platform is a starting path.The applicability of the proposed algorithm to unpredicted communication topology is improved,remaining equivalent localization performance to free connection communication.
基金National Natural Science Foundation of China(Grant Nos.61831008,61525103 and 61972113)the Guangdong Science and Tech⁃nology Planning Project(Grant No.2018B030322004)the Basic Research Project of Shenzhen Science and Technology Program(Grant No.JCYJ20190806112215116).
文摘Mobile Edge Computing(MEC)is a promising solution to tackle the upcoming computing tsunami in 5G/6G era by effectively utilizing the idle resource at the mobile edge.In this work,a multi⁃hop D2D⁃enabled MEC scenario was studied,where mobile devices at network edge connect and share resources with each other via multi⁃hop D2D.The research focus was on the micro⁃task scheduling problem in the multi⁃hop D2D⁃enabled MEC system,where each task was divided into multiple sequential micro⁃tasks,such as data downloading micro⁃task,data processing micro⁃task,and data uploading micro⁃task,according to their functionalities as well as resource requirements.A joint Task Failure Probability and Energy Consumption Minimization(TFP⁃ECM)problem was proposed,aiming at minimizing the task failure probability and the energy consumption jointly.To solve the problem,several linearization methods were proposed to relax the constraints and convert the original problem into an integer linear programming(ILP).Simulation results show that the proposed solution outperformed the existing solutions(with indivisible tasks or without resource sharing)in terms of both total cost and task failure probability.
文摘In Wireless Sensor Network (WSNs), sensor nodes collect data and send them to a Base Station (BS) for further processing. One of the most issues in WSNs that researchers have proposed a hundred of technique to solve its impact is the energy constraint since sensor nodes have small battery, small memory and less data processing with low computational capabilities. However, many researches efforts have focused on how to prolong the battery lifetime of sensor nodes by proposing different routing, MAC, localization, data aggregation, topology construction techniques. In this paper, we will focus on routing techniques which aim to prolonging the network lifetime. Hence, we propose an Energy-Efficient Routing technique in WSNs based on Stationary and Mobile nodes (EERSM). Sensing filed is divided into intersected circles which contain Mobile Nodes (MN). The proposed data aggregation technique via the circular topology will eliminate the redundant data to be sent to the Base Station (BS). MN in each circle will rout packets for their source nodes, and move to the intersected area where another MN is waiting (sleep mode) to receive the transmitted packet, and then the packet will be delivered to the next intersected area until the packet is arrived to the BS. Our proposed EERSM technique is simulated using MATLAB and compared with conventional multi-hop techniques under different network models and scenarios. In the simulation, we will show how the proposed EERSM technique overcomes many routing protocols in terms of the number of hops counted when sending packets from a source node to the destination (i.e. BS), the average residual energy, number of sent packets to the BS, and the number of a live sensor nodes verse the simulation rounds.
文摘Proxy Mobile IPv6 (PMIPv6) is a network based mobility management protocol. It is proposed by the Internet Engineering Task Force. In PMIPv6 the Mobile Node (MN) need not participate in signalling of mobility. PMIPv6 is a layer 3 protocol. In this paper the issue of layer 3 mobility is resolved by the Enhanced Open Flow Technique (EOFT). Generally, the open flow protocol makes functions on network devices, routers, switches. Open flow controller act as server for network devices to make communication between them. In the proposed EOFT-PMIPv6, the control signalling and mobility is managed by EOFT controller. In PMIPv6, the Mobility Access gateway (MAG) has the responsibility of the control signalling. But in the EOFT-PMIPv6, the responsibility of MAG is done by the EOFT-Controller. In the proposed technique, the mobility management function is isolated from PMIPv6 mechanisms. These isolated mechanisms are combined in the EOFT-Con- troller. This EOFT-Controller satisfies the responsibility of the mechanisms which are separated from PMIPv6. The eminent mobile environment must provide the efficient multi-homing protocols. The proposed technique overcomes the problem of multihoming in PMIPv6. The EOFT-Controller takeover the responsibility of Layer 3 functions. Also, the proposed technique combines with Modified Mobility Access Gateway (M_MAG) and it handles the handover session dynamically. This paper provides the extended architecture of EOFT-PMIPv6 and provide unbeaten handover scheme for multi-homing. The result is provided by systematic analysis based on comparison with PMIPv6 and EOFT-PMIPv6 is obtained.
文摘Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.
基金This studyis supported bythe National Natural Science Foundation of China(Grant No.50570047)
文摘Mobile offshore double-causeway pier system, a type of seashore unloading equipment, consists of two groups of multiple connected semi-submersible modules. This structure has wide application because most of the middle or mini type of vessels and ships can be moored to it. Based on the analysis of computational methods of multi-body motion response, a hydrodynamic model is set up and the three-dimensional potential theory in finite depth is adopted to calculate the three-dimensional motion response of this system. The double P-M spectrum is used to analyze the motion response in irregular waves. Different wave directions are specially taken into consideration, due to their various effects to the motion response. Furthermore, the calculated result is compared with that of the experiment, and it is proved that sway, heave, pitch and yaw motion are greatly constrained by mooring system. The comparison also indicates that the model can forecast the motion performance of the target, and that the calculated result can also be used as reference in connector and mooring system design.
