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Simple Real Time Non-Co-Operative Game Theoritic Model for Energy Cost Optimization in Developing Countries 被引量:1
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作者 Amit S. Closepet 《Journal of Power and Energy Engineering》 2014年第4期220-226,共7页
This paper describes the significant cost saving opportunities for consumers in developing countries by the use of a simple non-cooperative game theoretic mathematical model for demandside management techniques to mit... This paper describes the significant cost saving opportunities for consumers in developing countries by the use of a simple non-cooperative game theoretic mathematical model for demandside management techniques to mitigate the massive use of diesel back-up during grid outages and also other cost optimization schemes. Application of real time load scheduling optimization is investigated during power outages, for residential consumer in India. This method involves a beautiful formulation of a non–cooperation behavior between the diesel generator & the residential consumer during power outages. This involves a tree model with a two player game, where in player one is the diesel generator & player two is the consumer. Depending on the duration of the outage & the consumers limit on the cost for energy different cost optimization strategies can be generated. The load types modeled include passive loads and schedulable, i.e. typically heavy loads. It is found that this DSM schemes show excellent benefits to the consumer. The maximum diesel savings for the consumer due to strategy formulation can be approximately ranging from 45% to as high as 75% for a flat-tariff grid. The study also showed that the actual savings potential depends on the timing of power outage, duration and the specific load characteristics. 展开更多
关键词 game Theory DEMAND Side Management Cost OPTIMIZATION DIESEL MITIGATION
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A novel model for extending international co-operation in science and education
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作者 DE BOER Sirp J. 邱济真 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2004年第3期109-115,共7页
In September 1994 the University of Twente, the Netherlands, and Zhejiang University, China, decided to cooperate in the field of science, education and management. After several visits of delegations from both sides ... In September 1994 the University of Twente, the Netherlands, and Zhejiang University, China, decided to cooperate in the field of science, education and management. After several visits of delegations from both sides it was considered worthwhile to explore further opportunities for mutual cooperation. The directors of international cooperation on each side jointly commissioned a project to investigate the potential in a systematic way and to establish further contacts where appropriate. This paper reports on the results of the research cum matching project. To reveal promising matches between multiple departments of both academic institutions a matching model for uni-versities was designed. The study was carried out along two parallel lines. In the research line the theoretical framework was developed into a model for international university co-operation. Moreover, an analysis was carried out on internal, external and cultural aspects resulting in a set of thirty four influencing factors. In the matching line a total of seventy interviews were held in order to identify promising matches between units at both universities. This line resulted in eleven promising matches for further co-operation. The novel model appeared useful in analyzing the variety of factors and in developing matches between both univer-sities. In the further implementation of the model the issues of 搇evel of co-operation?and 搕op-down versus bottom-up?need to be addressed in more detail. 展开更多
关键词 INTERNATIONAL co-operation UNIVERSITIES MATCHING SCIENCE and EDUCATION
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Equilibrium Strategy of the Pursuit-Evasion Game in Three-Dimensional Space 被引量:1
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作者 Nuo Chen Linjing Li Wenji Mao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第2期446-458,共13页
The pursuit-evasion game models the strategic interaction among players, attracting attention in many realistic scenarios, such as missile guidance, unmanned aerial vehicles, and target defense. Existing studies mainl... The pursuit-evasion game models the strategic interaction among players, attracting attention in many realistic scenarios, such as missile guidance, unmanned aerial vehicles, and target defense. Existing studies mainly concentrate on the cooperative pursuit of multiple players in two-dimensional pursuit-evasion games. However, these approaches can hardly be applied to practical situations where players usually move in three-dimensional space with a three-degree-of-freedom control. In this paper,we make the first attempt to investigate the equilibrium strategy of the realistic pursuit-evasion game, in which the pursuer follows a three-degree-of-freedom control, and the evader moves freely. First, we describe the pursuer's three-degree-of-freedom control and the evader's relative coordinate. We then rigorously derive the equilibrium strategy by solving the retrogressive path equation according to the Hamilton-Jacobi-Bellman-Isaacs(HJBI) method, which divides the pursuit-evasion process into the navigation and acceleration phases. Besides, we analyze the maximum allowable speed for the pursuer to capture the evader successfully and provide the strategy with which the evader can escape when the pursuer's speed exceeds the threshold. We further conduct comparison tests with various unilateral deviations to verify that the proposed strategy forms a Nash equilibrium. 展开更多
关键词 Differential game equilibrium strategy pursuit-evasion game threedegree-of-freedom control
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Cooperative Anti-Jamming and Interference Mitigation for UAV Networks: A Local Altruistic Game Approach 被引量:1
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作者 Yueyue Su Nan Qi +2 位作者 Zanqi Huang Rugui Yao Luliang Jia 《China Communications》 SCIE CSCD 2024年第2期183-196,共14页
To improve the anti-jamming and interference mitigation ability of the UAV-aided communication systems, this paper investigates the channel selection optimization problem in face of both internal mutual interference a... To improve the anti-jamming and interference mitigation ability of the UAV-aided communication systems, this paper investigates the channel selection optimization problem in face of both internal mutual interference and external malicious jamming. A cooperative anti-jamming and interference mitigation method based on local altruistic is proposed to optimize UAVs’ channel selection. Specifically, a Stackelberg game is modeled to formulate the confrontation relationship between UAVs and the jammer. A local altruistic game is modeled with each UAV considering the utilities of both itself and other UAVs. A distributed cooperative anti-jamming and interference mitigation algorithm is proposed to obtain the Stackelberg equilibrium. Finally, the convergence of the proposed algorithm and the impact of the transmission power on the system loss value are analyzed, and the anti-jamming performance of the proposed algorithm can be improved by around 64% compared with the existing algorithms. 展开更多
关键词 channel selection cooperative antijamming and interference mitigation local altruistic game Stackelberg game unmanned aerial vehicle(UAV)
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A game-theoretic approach for federated learning:A trade-off among privacy,accuracy and energy 被引量:2
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作者 Lihua Yin Sixin Lin +3 位作者 Zhe Sun Ran Li Yuanyuan He Zhiqiang Hao 《Digital Communications and Networks》 SCIE CSCD 2024年第2期389-403,共15页
Benefiting from the development of Federated Learning(FL)and distributed communication systems,large-scale intelligent applications become possible.Distributed devices not only provide adequate training data,but also ... Benefiting from the development of Federated Learning(FL)and distributed communication systems,large-scale intelligent applications become possible.Distributed devices not only provide adequate training data,but also cause privacy leakage and energy consumption.How to optimize the energy consumption in distributed communication systems,while ensuring the privacy of users and model accuracy,has become an urgent challenge.In this paper,we define the FL as a 3-layer architecture including users,agents and server.In order to find a balance among model training accuracy,privacy-preserving effect,and energy consumption,we design the training process of FL as game models.We use an extensive game tree to analyze the key elements that influence the players’decisions in the single game,and then find the incentive mechanism that meet the social norms through the repeated game.The experimental results show that the Nash equilibrium we obtained satisfies the laws of reality,and the proposed incentive mechanism can also promote users to submit high-quality data in FL.Following the multiple rounds of play,the incentive mechanism can help all players find the optimal strategies for energy,privacy,and accuracy of FL in distributed communication systems. 展开更多
关键词 Federated learning Privacy preservation Energy optimization game theory Distributed communication systems
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Projects Seeking Overseas Funds, Co-operation (Liaoning Province)
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《China's Foreign Trade》 1999年第10期42-43,共2页
关键词 US co-operation Liaoning Province
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A Data Intrusion Tolerance Model Based on an Improved Evolutionary Game Theory for the Energy Internet 被引量:1
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作者 Song Deng Yiming Yuan 《Computers, Materials & Continua》 SCIE EI 2024年第6期3679-3697,共19页
Malicious attacks against data are unavoidable in the interconnected,open and shared Energy Internet(EI),Intrusion tolerant techniques are critical to the data security of EI.Existing intrusion tolerant techniques suf... Malicious attacks against data are unavoidable in the interconnected,open and shared Energy Internet(EI),Intrusion tolerant techniques are critical to the data security of EI.Existing intrusion tolerant techniques suffered from problems such as low adaptability,policy lag,and difficulty in determining the degree of tolerance.To address these issues,we propose a novel adaptive intrusion tolerance model based on game theory that enjoys two-fold ideas:(1)it constructs an improved replica of the intrusion tolerance model of the dynamic equation evolution game to induce incentive weights;and (2)it combines a tournament competition model with incentive weights to obtain optimal strategies for each stage of the game process.Extensive experiments are conducted in the IEEE 39-bus system,whose results demonstrate the feasibility of the incentive weights,confirm the proposed strategy strengthens the system’s ability to tolerate aggression,and improves the dynamic adaptability and response efficiency of the aggression-tolerant system in the case of limited resources. 展开更多
关键词 Energy Internet Intrusion tolerance game theory racial competition adaptive intrusion response
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Analytical game strategies for active UAV defense considering response delays
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作者 Xiaopeng Gong Wanchun Chen +3 位作者 Wengui Lei Jinyang Wang Zhongyuan Chen Yunyun Li 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2024年第12期191-210,共20页
In the realm of aerial warfare,the protection of Unmanned Aerial Vehicles(UAVs) against adversarial threats is crucial.In order to balance the impact of response delays and the demand for onboard applications,this pap... In the realm of aerial warfare,the protection of Unmanned Aerial Vehicles(UAVs) against adversarial threats is crucial.In order to balance the impact of response delays and the demand for onboard applications,this paper derives three analytical game strategies for the active defense of UAVs from differential game theory,accommodating the first-order dynamic delays.The targeted UAV executes evasive maneuvers and launches a defending missile to intercept the attacking missile,which constitutes a UAVMissile-Defender(UMD) three-body game problem.We explore two distinct operational paradigms:the first involves the UAV and the defender working collaboratively to intercept the incoming threat,while the second prioritizes UAV self-preservation,with independent maneuvering away from potentially sacrificial engagements.Starting with model linearization and order reduction,the Collaborative Interception Strategy(CIS) is first derived via a linear quadratic differential game formulation.Building upon CIS,we further explore two distinct strategies:the Informed Defender Interception Strategy(IDIS),which utilizes UAV maneuvering information,and the Unassisted Defender Interception Strategy(UDIS),which does not rely on UAV maneuvering information.Additionally,we investigate the conditions for the existence of saddle point solutions and their relationship with vehicle maneuverability and response agility.The simulations demonstrate the effectiveness and advantages of the proposed strategies. 展开更多
关键词 Active defense Unmanned aerial vehicles(UAVs) Three-body game Differential game Analytical game strategy Response delays
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Co-operation on The Roof of the World
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作者 Maria AntoniaStroni 《China & The World Cultural Exchange》 1996年第5期44-46,共3页
A freezing wind sweeps through the narrow Tibetan valley,whistling over the sand,stones and dry grass,buffeting the grazing sheep and the low houses of the tiny village which nestles there at an altitude of 4,600 mete... A freezing wind sweeps through the narrow Tibetan valley,whistling over the sand,stones and dry grass,buffeting the grazing sheep and the low houses of the tiny village which nestles there at an altitude of 4,600 meters.High overhead white clouds scud across skies of an unimaginably intense cobalt blue.Towards the south,the glistening peak of Everest rises momentarily from amidst the bank of clouds which hover over the barren ochre slopes already in autumnal garb and heralding the onset of winter.The farmers have been busy gathering 展开更多
关键词 co-operation on The Roof of the World
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Ready,set,go:Medical preparations for the Paris 2024 Paralympic Games
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作者 Carolette Snyders Wayne Derman Martin Schwellnus 《Journal of Sport and Health Science》 SCIE CAS CSCD 2024年第6期726-727,共2页
1.Introduction In August 2024,over 4400 Paralympic athletes will gather in Paris for the Paralympic Summer Games—the pinnacle of every Paralympian’s(Para athletes competing at the Paralympic Games)career to showcase... 1.Introduction In August 2024,over 4400 Paralympic athletes will gather in Paris for the Paralympic Summer Games—the pinnacle of every Paralympian’s(Para athletes competing at the Paralympic Games)career to showcase their ability and skills.Their training,preparation,and effort in the years leading up to the Games are unparalleled.To achieve success,Paralympians specifically rely on a medical support team to achieve their goals.So,what is required of the medical support team to prepare Paralympians to get ready,set,and go to Paris 2024? 展开更多
关键词 PARIS gameS ATHLETES
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Problematic Use of Video Games in Schools in Northern Benin (2023)
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作者 Ireti Nethania Elie Ataigba David Sinet Koivogui +6 位作者 Damega Wenkourama Marcos Tohou Eurydice Elvire Djossou Anselme Djidonou Francis Tognon Tchegnonsi Prosper Gandaho Josiane Ezin Houngbe 《Open Journal of Psychiatry》 2024年第2期120-141,共22页
Objective: To study the problematic use of video games among secondary school students in the city of Parakou in 2023. Methods: Descriptive cross-sectional study conducted in the commune of Parakou from December 2022 ... Objective: To study the problematic use of video games among secondary school students in the city of Parakou in 2023. Methods: Descriptive cross-sectional study conducted in the commune of Parakou from December 2022 to July 2023. The study population consisted of students regularly enrolled in public and private secondary schools in the city of Parakou for the 2022-2023 academic year. A two-stage non-proportional stratified sampling technique combined with simple random sampling was adopted. The Problem Video Game Playing (PVP) scale was used to assess problem gambling in the study population, while anxiety and depression were assessed using the Hospital Anxiety and Depression Scale (HADS). Results: A total of 1030 students were included. The mean age of the pupils surveyed was 15.06 ± 2.68 years, with extremes of 10 and 28 years. The [13 - 18] age group was the most represented, with a proportion of 59.6% (614) in the general population. Females predominated, at 52.8% (544), with a sex ratio of 0.89. The prevalence of problematic video game use was 24.9%, measured using the Video Game Playing scale. Associated factors were male gender (p = 0.005), pocket money under 10,000 cfa (p = 0.001) and between 20,000 - 90,000 cfa (p = 0.030), addictive family behavior (p < 0.001), monogamous family (p = 0.023), good relationship with father (p = 0.020), organization of video game competitions (p = 0.001) and definite anxiety (p Conclusion: Substance-free addiction is struggling to attract the attention it deserves, as it did in its infancy everywhere else. This study complements existing data and serves as a reminder of the need to focus on this group of addictions, whose problematic use of video games remains the most frequent due to its accessibility and social tolerance. Preventive action combined with curative measures remains the most effective means of combating the problem at national level. 展开更多
关键词 Gaming Problem Video games BENIN 2023
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A Value for Games Defined on Graphs
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作者 Néstor Bravo 《Applied Mathematics》 2024年第5期331-348,共18页
Given a graph g=( V,A ) , we define a space of subgraphs M with the binary operation of union and the unique decomposition property into blocks. This space allows us to discuss a notion of minimal subgraphs (minimal c... Given a graph g=( V,A ) , we define a space of subgraphs M with the binary operation of union and the unique decomposition property into blocks. This space allows us to discuss a notion of minimal subgraphs (minimal coalitions) that are of interest for the game. Additionally, a partition of the game is defined in terms of the gain of each block, and subsequently, a solution to the game is defined based on distributing to each player (node and edge) present in each block a payment proportional to their contribution to the coalition. 展开更多
关键词 Graph Theory Values for Graphs Cooperation games Potential Function
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Evolutionary dynamics of tax-based strong altruistic reward andpunishment in a public goods game
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作者 Zhi-Hao Yang Yan-Long Yang 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第9期247-257,共11页
In public goods games, punishments and rewards have been shown to be effective mechanisms for maintaining individualcooperation. However, punishments and rewards are costly to incentivize cooperation. Therefore, the g... In public goods games, punishments and rewards have been shown to be effective mechanisms for maintaining individualcooperation. However, punishments and rewards are costly to incentivize cooperation. Therefore, the generation ofcostly penalties and rewards has been a complex problem in promoting the development of cooperation. In real society,specialized institutions exist to punish evil people or reward good people by collecting taxes. We propose a strong altruisticpunishment or reward strategy in the public goods game through this phenomenon. Through theoretical analysis and numericalcalculation, we can get that tax-based strong altruistic punishment (reward) has more evolutionary advantages thantraditional strong altruistic punishment (reward) in maintaining cooperation and tax-based strong altruistic reward leads toa higher level of cooperation than tax-based strong altruistic punishment. 展开更多
关键词 evolutionary game theory strong altruism PUNISHMENT REWARD
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A Blockchain-Based Game Approach to Multi-Microgrid Energy Dispatch
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作者 Zhikang Wang Chengxuan Wang +2 位作者 Wendi Wu Cheng Sun Zhengtian Wu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第1期845-863,共19页
As the current global environment is deteriorating,distributed renewable energy is gradually becoming an important member of the energy internet.Blockchain,as a decentralized distributed ledger with decentralization,t... As the current global environment is deteriorating,distributed renewable energy is gradually becoming an important member of the energy internet.Blockchain,as a decentralized distributed ledger with decentralization,traceability and tamper-proof features,is an importantway to achieve efficient consumption andmulti-party supply of new energy.In this article,we establish a blockchain-based mathematical model of multiple microgrids and microgrid aggregators’revenue,consider the degree of microgrid users’preference for electricity thus increasing users’reliance on the blockchainmarket,and apply the one-master-multiple-slave Stackelberg game theory to solve the energy dispatching strategy when each market entity pursues the maximum revenue.The simulation results show that the blockchain-based dynamic game of the multi-microgrid market can effectively increase the revenue of both microgrids and aggregators and improve the utilization of renewable energy. 展开更多
关键词 Multi-microgrid blockchain stackelberg game energy scheduling
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Evolutionary game dynamics of combining two different aspiration-driven update rules in structured populations
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作者 杨智昊 杨彦龙 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第5期182-191,共10页
In evolutionary games,most studies on finite populations have focused on a single updating mechanism.However,given the differences in individual cognition,individuals may change their strategies according to different... In evolutionary games,most studies on finite populations have focused on a single updating mechanism.However,given the differences in individual cognition,individuals may change their strategies according to different updating mechanisms.For this reason,we consider two different aspiration-driven updating mechanisms in structured populations:satisfied-stay unsatisfied shift(SSUS)and satisfied-cooperate unsatisfied defect(SCUD).To simulate the game player’s learning process,this paper improves the particle swarm optimization algorithm,which will be used to simulate the game player’s strategy selection,i.e.,population particle swarm optimization(PPSO)algorithms.We find that in the prisoner’s dilemma,the conditions that SSUS facilitates the evolution of cooperation do not enable cooperation to emerge.In contrast,SCUD conditions that promote the evolution of cooperation enable cooperation to emerge.In addition,the invasion of SCUD individuals helps promote cooperation among SSUS individuals.Simulated by the PPSO algorithm,the theoretical approximation results are found to be consistent with the trend of change in the simulation results. 展开更多
关键词 evolutionary game dynamics aspiration-driven update structured populations
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Effect of distribution of fines on evolution of cooperation in spatial public goods game
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作者 Xing-Ping Sun Yan-Zheng Bi +2 位作者 Hong-Wei Kang Yong Shen Qing-Yi Chen 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第9期239-245,共7页
In the realm of public goods game,punishment,as a potent tool,stands out for fostering cooperation.While it effectively addresses the first-order free-rider problem,the associated costs can be substantial.Punishers in... In the realm of public goods game,punishment,as a potent tool,stands out for fostering cooperation.While it effectively addresses the first-order free-rider problem,the associated costs can be substantial.Punishers incur expenses in imposing sanctions,while defectors face fines.Unfortunately,these monetary elements seemingly vanish into thin air,representing a loss to the system itself.However,by virtue of the redistribution of fines to cooperators and punishers,not only can we mitigate this loss,but the rewards for these cooperative individuals can be enhanced.Based upon this premise,this paper introduces a fine distribution mechanism to the traditional pool punishment model.Under identical parameter settings,by conducting a comparative experiment with the conventional punishment model,the paper aims to investigate the impact of fine distribution on the evolution of cooperation in spatial public goods game.The experimental results clearly demonstrate that,in instances where the punishment cost is prohibitively high,the cooperative strategies of the traditional pool punishment model may completely collapse.However,the model enriched with fine distribution manages to sustain a considerable number of cooperative strategies,thus highlighting its effectiveness in promoting and preserving cooperation,even in the face of substantial punishment cost. 展开更多
关键词 public goods game fine distribution COOPERATION
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Discreet investors exert greater influence on cooperation in the public goods game
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作者 康洪炜 金展瑶 +4 位作者 李明远 旺咩 孙兴平 沈勇 陈清毅 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第3期170-178,共9页
This paper studies the evolutionary process of cooperative behavior in a public goods game model with heterogeneous investment strategies in square lattices.In the proposed model,players are divided into defectors,coo... This paper studies the evolutionary process of cooperative behavior in a public goods game model with heterogeneous investment strategies in square lattices.In the proposed model,players are divided into defectors,cooperators and discreet investors.Among these,defectors do not participate in investing,discreet investors make heterogeneous investments based on the investment behavior and cooperation value of their neighbors,and cooperators invest equally in each neighbor.In real life,heterogeneous investment is often accompanied by time or economic costs.The discreet investors in this paper pay a certain price to obtain their neighbors'investment behavior and cooperation value,which quantifies the time and economic costs of the heterogeneous investment process.The results of Monte Carlo simulation experiments in this study show that discreet investors can effectively resist the invasion of the defectors,form a stable cooperative group and expand the cooperative advantage in evolution.However,when discreet investors pay too high a price,they lose their strategic advantage.The results in this paper help us understand the role of heterogeneous investment in promoting and maintaining human social cooperation. 展开更多
关键词 public goods game heterogeneous investment discreet investors COOPERATION
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Research on decision-making behavior of multi-agent alliance in cross-border electricity market environment: an evolutionary game
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作者 Zhao Luo Chenming Dong +3 位作者 Xinrui Dai Hua Wang Guihong Bi Xin Shen 《Global Energy Interconnection》 EI CSCD 2024年第6期707-722,共16页
Constructing a cross-border power energy system with multiagent power energy as an alliance is important for studying cross-border power-trading markets.This study considers multiple neighboring countries in the form ... Constructing a cross-border power energy system with multiagent power energy as an alliance is important for studying cross-border power-trading markets.This study considers multiple neighboring countries in the form of alliances,introduces neighboring countries’exchange rates into the cross-border multi-agent power-trading market and proposes a method to study each agent’s dynamic decision-making behavior based on evolutionary game theory.To this end,this study uses three national agents as examples,constructs a tripartite evolutionary game model,and analyzes the evolution process of the decision-making behavior of each agent member state under the initial willingness value,cost of payment,and additional revenue of the alliance.This research helps realize cross-border energy operations so that the transaction agent can achieve greater trade profits and provides a theoretical basis for cooperation and stability between multiple agents. 展开更多
关键词 Multi-agent alliance Cross-border transactions Electricity market Evolutionary game DECISION-MAKING
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Suggestions for Promoting China’s Drug Regulatory Agency to Join Pharmaceutical Inspection Co-operation Scheme-PIC/S
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作者 Hu Shigao Wu Zhiang 《Asian Journal of Social Pharmacy》 2023年第3期206-212,共7页
Objective To identify and reduce the gap between China’s drug GMP inspection and pharmaceutical inspection co-operation scheme(PIC/S)audit checklist,find out the key improvement items,and revise them pertinently,whic... Objective To identify and reduce the gap between China’s drug GMP inspection and pharmaceutical inspection co-operation scheme(PIC/S)audit checklist,find out the key improvement items,and revise them pertinently,which will promote the process of China joining PIC/S.Methods The general situation of PIC/S organization and audit checklist were introduced first,and then the accession of several countries that joined the organization was analyzed.Meanwhile,the process of China’s participation in PIC/S was sorted out.After referring to the contents of PIC/S audit checklist,the problems of GMP inspection system in China were studied.Results and Conclusion There are still many problems in GMP inspection in China.Some suggestions are put forward for improvement and change,which can provide reference for the development of drug inspection agencies at all levels in China. 展开更多
关键词 GMP inspection pharmaceutical inspection co-operation scheme(PIC/S) audit checklist drug regulatory agency
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Anti-rollover Artificial Potential Field Motion Planning Method of an Autonomous Heavy Truck Optimised by Game Theory
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作者 Zhilin Jin Shaowei He 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第5期523-542,共20页
Anti-rollover is a critical factor to consider when planning the motion of autonomous heavy trucks.This paper proposed a method for autonomous heavy trucks to generate a path that avoids collisions and minimizes rollo... Anti-rollover is a critical factor to consider when planning the motion of autonomous heavy trucks.This paper proposed a method for autonomous heavy trucks to generate a path that avoids collisions and minimizes rollover risk.The corresponding rollover index is deduced from a 5-DOF heavy truck dynamic model that includes longitudinal motion,lateral motion,yaw motion,sprung mass roll motion,unsprung mass roll motion,and an anti-rollover artificial potential field(APF)is proposed based on this.The motion planning method,which is based on model predictive control(MPC),combines trajectory tracking,anti-rollover APF,and the improved obstacle avoidance APF and considers the truck dynamics constraints,obstacle avoidance,and anti-rollover.Furthermore,by using game theory,the coefficients of the two APF functions are optimised,and an optimal path is planned.The effectiveness of the optimised motion planning method is demonstrated in a variety of scenarios.The results demonstrate that the optimised motion planning method can effectively and efficiently avoid collisions and prevent rollover. 展开更多
关键词 Autonomous heavy truck Motion planning Anti-rollover Artificial potential field game theory
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