As one of the key technologies for the fifth generation(5G) wireless networks,device-to-device(D2D) communications allow user equipment(UE) in close proximity to communicate with each other directly.Forwarded by a rel...As one of the key technologies for the fifth generation(5G) wireless networks,device-to-device(D2D) communications allow user equipment(UE) in close proximity to communicate with each other directly.Forwarded by a relay,the relay-aided D2D(RA-D2D) communications can not only be applied to communications in much longer distance but also achieve a high quality of service(Qo S) .In this paper,we first propose a two-layer system model allowing RA-D2 D links to underlay traditional cellular uplinks.Then we maximize the energy efficiency of the RA-D2 D link while satisfying the minimum data-rate of the cellular link.The optimal transmit power at both D2 D transmitter and D2 D relay sides is obtained by transforming the nonlinear fractional programming into a nonlinear parameter programming.Simulation results show that our proposed power allocation method is more energy efficient than the existing works,and the proposed RA-D2 D scheme outperformed direct D2 D scheme when the distance between two D2 D users is longer.展开更多
The past decade has witnessed a huge increase in the number of proposed middleware solutions for robotic fleets operating in unstructured environments. As a result, it has become difficult to decide which middleware i...The past decade has witnessed a huge increase in the number of proposed middleware solutions for robotic fleets operating in unstructured environments. As a result, it has become difficult to decide which middleware is the most appropriate for a specific application or application domain. In this paper we first extract a set of common and specific challenges that middlewares address, and group them according to the source domain they have originated within. These challenges are derived from a specific precision agriculture use-case based on the robotic fleet for weed control elaborated within the European project RHEA-robot fleets for highly effective agriculture and forestry management. Furthermore, the paper provides an analysis of a number of different middlewares and suggests a set of criteria for systemizing representative solutions. The aim of this analysis is to assist the process of finding an adequate middleware for a specific application domain.展开更多
基金supported by the ZTE Corp under Grant CON1412150018the Natural Science Foundation of China under Grant 61572389 and 61471361
文摘As one of the key technologies for the fifth generation(5G) wireless networks,device-to-device(D2D) communications allow user equipment(UE) in close proximity to communicate with each other directly.Forwarded by a relay,the relay-aided D2D(RA-D2D) communications can not only be applied to communications in much longer distance but also achieve a high quality of service(Qo S) .In this paper,we first propose a two-layer system model allowing RA-D2 D links to underlay traditional cellular uplinks.Then we maximize the energy efficiency of the RA-D2 D link while satisfying the minimum data-rate of the cellular link.The optimal transmit power at both D2 D transmitter and D2 D relay sides is obtained by transforming the nonlinear fractional programming into a nonlinear parameter programming.Simulation results show that our proposed power allocation method is more energy efficient than the existing works,and the proposed RA-D2 D scheme outperformed direct D2 D scheme when the distance between two D2 D users is longer.
文摘The past decade has witnessed a huge increase in the number of proposed middleware solutions for robotic fleets operating in unstructured environments. As a result, it has become difficult to decide which middleware is the most appropriate for a specific application or application domain. In this paper we first extract a set of common and specific challenges that middlewares address, and group them according to the source domain they have originated within. These challenges are derived from a specific precision agriculture use-case based on the robotic fleet for weed control elaborated within the European project RHEA-robot fleets for highly effective agriculture and forestry management. Furthermore, the paper provides an analysis of a number of different middlewares and suggests a set of criteria for systemizing representative solutions. The aim of this analysis is to assist the process of finding an adequate middleware for a specific application domain.
