This paper investigates the data collection in an unmanned aerial vehicle(UAV)-aided Internet of Things(IoT) network, where a UAV is dispatched to collect data from ground sensors in a practical and accurate probabili...This paper investigates the data collection in an unmanned aerial vehicle(UAV)-aided Internet of Things(IoT) network, where a UAV is dispatched to collect data from ground sensors in a practical and accurate probabilistic line-of-sight(LoS) channel. Especially, access points(APs) are introduced to collect data from some sensors in the unlicensed band to improve data collection efficiency. We formulate a mixed-integer non-convex optimization problem to minimize the UAV flight time by jointly designing the UAV 3D trajectory and sensors’ scheduling, while ensuring the required amount of data can be collected under the limited UAV energy. To solve this nonconvex problem, we recast the objective problem into a tractable form. Then, the problem is further divided into several sub-problems to solve iteratively, and the successive convex approximation(SCA) scheme is applied to solve each non-convex subproblem. Finally,the bisection search is adopted to speed up the searching for the minimum UAV flight time. Simulation results verify that the UAV flight time can be shortened by the proposed method effectively.展开更多
Cell-free massive multiple-input multipleoutput(MIMO)is a promising technology for future wireless communications,where a large number of distributed access points(APs)simultaneously serve all users over the same time...Cell-free massive multiple-input multipleoutput(MIMO)is a promising technology for future wireless communications,where a large number of distributed access points(APs)simultaneously serve all users over the same time-frequency resources.Since users and APs may locate close to each other,the line-of-sight(Lo S)transmission occurs more frequently in cell-free massive MIMO systems.Hence,in this paper,we investigate the cell-free massive MIMO system with Lo S and non-line-of-sight(NLo S)transmissions,where APs and users are both distributed according to Poisson point process.Using tools from stochastic geometry,we derive a tight lower bound for the user downlink achievable rate and we further obtain the energy efficiency(EE)by considering the power consumption on downlink payload transmissions and circuitry dissipation.Based on the analysis,the optimal AP density and AP antenna number that maximize the EE are obtained.It is found that compared with the previous work that only considers NLo S transmissions,the actual optimal AP density should be much smaller,and the maximized EE is actually much higher.展开更多
A metropolitan city such as Los Angeles (LA) is an ideal study site with a very high population density, and it houses at least 3 treatment plants where sewage is treated preliminarily and then progressing to tertiary...A metropolitan city such as Los Angeles (LA) is an ideal study site with a very high population density, and it houses at least 3 treatment plants where sewage is treated preliminarily and then progressing to tertiary treatment before discharging into the LA River. We will gain a better understanding of the water quality in the LA River and the nitrate load in the watershed system by examining the influence of waste water treatment plants (WWTPs). The goal of this study is to pinpoint the exact source of nitrate in the LA River using the isotope signatures. We have selected sampling locations both upstream and downstream of the WWTP. This serves to monitor nitrate levels, aiding in the assessment of treatment plant effectiveness, pinpointing nitrate pollution sources, and ensuring compliance with environmental regulations. The research explores the isotopic composition of NO3 in relation to atmospheric nitrogen and Vienna Standard Mean Ocean Water, shedding light on the contributions from various sources such as manure, sewage, soil organic nitrogen, and nitrogen fertilizers. Specifically, there is a change in the δ15NAir value between the dry and wet seasons. The isotope values in the Tillman WWTP sample changed between dry and wet seasons. Notably, the presence of nitrate originating from manure and sewage is consistent across seasons, emphasizing the significant impact of anthropogenic and agricultural activities on water quality. This investigation contributes to the broader understanding of nitrogen cycling in urban water bodies, particularly in the context of wastewater effluent discharge. The findings hold implications for water quality management and highlight the need for targeted interventions to mitigate the impact of nitrogen-containing compounds on aquatic ecosystems. Overall, the study provides a valuable framework for future research and environmental stewardship efforts aimed at preserving the health and sustainability of urban water resources. This data informs decisions regarding additional treatment or mitigation actions to safeguard downstream water quality and ecosystem health.展开更多
This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance ...This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.展开更多
基金supported by the National Key Research and Development Program under Grant 2022YFB3303702the Key Program of National Natural Science Foundation of China under Grant 61931001+1 种基金supported by the National Natural Science Foundation of China under Grant No.62203368the Natural Science Foundation of Sichuan Province under Grant No.2023NSFSC1440。
文摘This paper investigates the data collection in an unmanned aerial vehicle(UAV)-aided Internet of Things(IoT) network, where a UAV is dispatched to collect data from ground sensors in a practical and accurate probabilistic line-of-sight(LoS) channel. Especially, access points(APs) are introduced to collect data from some sensors in the unlicensed band to improve data collection efficiency. We formulate a mixed-integer non-convex optimization problem to minimize the UAV flight time by jointly designing the UAV 3D trajectory and sensors’ scheduling, while ensuring the required amount of data can be collected under the limited UAV energy. To solve this nonconvex problem, we recast the objective problem into a tractable form. Then, the problem is further divided into several sub-problems to solve iteratively, and the successive convex approximation(SCA) scheme is applied to solve each non-convex subproblem. Finally,the bisection search is adopted to speed up the searching for the minimum UAV flight time. Simulation results verify that the UAV flight time can be shortened by the proposed method effectively.
基金supported in part by the National Natural Science Foundation of China under Grant 62171231in part by the Jiangsu Provincial Key Research and Development Program(No.BE2020084-1)。
文摘Cell-free massive multiple-input multipleoutput(MIMO)is a promising technology for future wireless communications,where a large number of distributed access points(APs)simultaneously serve all users over the same time-frequency resources.Since users and APs may locate close to each other,the line-of-sight(Lo S)transmission occurs more frequently in cell-free massive MIMO systems.Hence,in this paper,we investigate the cell-free massive MIMO system with Lo S and non-line-of-sight(NLo S)transmissions,where APs and users are both distributed according to Poisson point process.Using tools from stochastic geometry,we derive a tight lower bound for the user downlink achievable rate and we further obtain the energy efficiency(EE)by considering the power consumption on downlink payload transmissions and circuitry dissipation.Based on the analysis,the optimal AP density and AP antenna number that maximize the EE are obtained.It is found that compared with the previous work that only considers NLo S transmissions,the actual optimal AP density should be much smaller,and the maximized EE is actually much higher.
文摘A metropolitan city such as Los Angeles (LA) is an ideal study site with a very high population density, and it houses at least 3 treatment plants where sewage is treated preliminarily and then progressing to tertiary treatment before discharging into the LA River. We will gain a better understanding of the water quality in the LA River and the nitrate load in the watershed system by examining the influence of waste water treatment plants (WWTPs). The goal of this study is to pinpoint the exact source of nitrate in the LA River using the isotope signatures. We have selected sampling locations both upstream and downstream of the WWTP. This serves to monitor nitrate levels, aiding in the assessment of treatment plant effectiveness, pinpointing nitrate pollution sources, and ensuring compliance with environmental regulations. The research explores the isotopic composition of NO3 in relation to atmospheric nitrogen and Vienna Standard Mean Ocean Water, shedding light on the contributions from various sources such as manure, sewage, soil organic nitrogen, and nitrogen fertilizers. Specifically, there is a change in the δ15NAir value between the dry and wet seasons. The isotope values in the Tillman WWTP sample changed between dry and wet seasons. Notably, the presence of nitrate originating from manure and sewage is consistent across seasons, emphasizing the significant impact of anthropogenic and agricultural activities on water quality. This investigation contributes to the broader understanding of nitrogen cycling in urban water bodies, particularly in the context of wastewater effluent discharge. The findings hold implications for water quality management and highlight the need for targeted interventions to mitigate the impact of nitrogen-containing compounds on aquatic ecosystems. Overall, the study provides a valuable framework for future research and environmental stewardship efforts aimed at preserving the health and sustainability of urban water resources. This data informs decisions regarding additional treatment or mitigation actions to safeguard downstream water quality and ecosystem health.
基金supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019)the Shanghai Science and Technology Major Project(2021SHZDZX)+2 种基金the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820)the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822)the China Postdoctoral Science Foundation(2022M710093)。
文摘This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.
