Analysis of the Dynamics of Policy Changes in the International Border Cooperation Center under the Perspective of Multi-Source Flow Theory

The China-Kazakhstan Horgos Frontier International Cooperation Center has been established for nearly 20 years,and its targeted policies have gone through the stages of initiative,negotiation and modification,official operation,and optimization and enhancement.This paper explores the problems,policy,and political sources of policy changes since the establishment of the Horgos International Border Cooperation Center by applying the multi-source flow theory to find the opening of the problematic and political windows.It also constructs a model of policy change dynamics to provide suggestions on how the government should better promote the good development of China’s first transnational cooperation center.

Multiple mode cooperation based software engineering talents training

The main problems of the traditional software talent training are that the knowledge learned is out of touch of the industry,weak ability to solve complex engineering problems and the comprehensive quality cannot meet the requirements of enterprises.Taking the course of digital image processing as an example,this paper analyzes the key steps in the training process in details,and proposes a multiple mode collaborative based software engineering talent training mechanism,which brings the key subjects of teaching materials,teachers,students,enterprises,subjects into a unified training mechanism,so as to provide a new ideas for software talent teaching.

Cooperative co-evolution based distributed path planning of multiple mobile robots

This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.

Performance analysis and threshold selection for cooperative multiple packet reception based on NDMA

To accurately assess the performance of cooperative multiple packet reception （MPR） based on network-assisted diversity multiple access （NDMA）, non-ideal collision detection is introduced in ALLIANCES （ALLow improved access in the network via cooperation and energy savings）. To provide a unified anatysis frame- work, the length of cooperative transmission epoch is fixed to the detected collision order. The mathematical analysis of potential throughput （PTP） and potential packet loss rate （PPLR） are given under a pessimistic assumption and an optimistic assumption. According to the analysis of PTP and PPLR, threshold selection is done to optimize system performances, e.g. the optimal threshold should guarantee PTP to be maximum or guarantee PPLR to be minimum. In simulations, the thresholds are selected according to PTP under the pessimistic assumption. Simulation results show that the proposed cooperative MPR scheme can achieve higher throughput than NDMA and slotted ALOHA schemes.

Inverse kinematics and error analysis of cooperative welding robot with multiple manipulators

Precise welding of the T-joints between aircraft hyperbolic panels and stringers is required. Therefore, a method of solving inverse kinematics equations for a cooperative welding robot with multiple manipulators based on neural networks was investigated. To build an effective Denavit-Hartenberg(DH)model for this robot, sample data was obtained considering the movement ranges of the robot joints.Based on back propagation(BP) and radial basis function(RBF) neural networks, 18 joint sub-spaces were mapped to the workspaces of three manipulators. The high-dimensional and nonlinear inverse kinematics problem was transformed into a multi-input and multi-output prediction model. The results revealed that the prediction model of solving the cooperative welding robot kinematics equations was quite accurate. Moreover, compared with the BP-based model, the calculation process of the RBF-based prediction model was slower, but yielded more accurate predictions.

Deep Unfolding for Cooperative Rate Splitting Multiple Access in Hybrid Satellite Terrestrial Networks

Rate splitting multiple access(RSMA)has shown great potentials for the next generation communication systems.In this work,we consider a two-user system in hybrid satellite terrestrial network(HSTN)where one of them is heavily shadowed and the other uses cooperative RSMA to improve the transmission quality.The non-convex weighted sum rate(WSR)problem formulated based on this model is usually optimized by computational burdened weighted minimum mean square error(WMMSE)algorithm.We propose to apply deep unfolding to solve the optimization problem,which maps WMMSE iterations into a layer-wise network and could achieve better performance within limited iterations.We also incorporate momentum accelerated projection gradient descent(PGD)algorithm to circumvent the complicated operations in WMMSE that are not amenable for unfolding and mapping.The momentum and step size in deep unfolding network are selected as trainable parameters for training.As shown in the simulation results,deep unfolding scheme has WSR and convergence speed advantages over original WMMSE algorithm.

Cooperative interception with fast multiple model adaptive estimation

For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.

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.

A multiple case study on the cooperative governance model of treating environmental deterioration

Managing the acute problem of environmental deterioration due to the industrialization of modern China is necessary.Using three cases from a theoretical perspective of procedure-structure,this study explored how environmental deterioration is governed in three circumstances.Research findings revealed that the pattern to treat the worsening environment is associated closely with individual-specific circumstances,and thus three patterns of governance are developed:bureaucratic,contractual,and network-based cooperatives.The cases and the results are described the advantages and disadvantages of these models are discussed.Suggestions on how to more effectively manage these urgent problems are as follows:first,the governance must fit the circumstance,namely,its physical,biological,and social attributes;second,the regulations and conditions regarding the government-dominated pattern are came up from the perspective of mega-governance,mutual trust contracts,benefit sharing,and social capital;and third,the government should abandon the pattern based on the single subject and adopt a plural subject governance model to integrate all the relevant forces to facilitate the attainment of benign environmental governance.

Performance analysis of amplify-and-forward cooperative diversity with multiple-antenna nodes via analog network coding

Network coding (NC), which works in the network layer, is an effective technology to improve the network throughput, by allowing the relay to encode the information from different users and ensuring the destination to retrieve the desired information. Employing network coding technique in a cooperative network can improve the network performance further. In this paper, we introduce analog network coding (ANC) to a simple two-user cooperative diversity network, which adopts amplify-and-forward (AF) mode and all nodes use multiple antennas. The impact of the number of antenna on the system achievable rate is investigated. And the bit error rate (BER) performances of the traditional relay cooperative network and the cooperative network based on analog network coding under different propagation conditions are discussed. The simulation results show that the performance of the traditional cooperative network has improved significantly due to the employ of network coding.

A Stochastic Approach for Cooperative Position Estimation of Multiple Mobile Robots

This paper proposes the cooperative position estimation of a group of mobile robots, which pertbrms disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot＇s position correctly. However, for each mobile robot, it is impossible to know its own position correctly. Therefore, each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data errors from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self-position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by only using measurement value from each other robot.

OPTIMAL DYNAMIC LOAD DISTRIBUTION OF MULTIPLE COOPERATING ROBOT MANIPULATORS

For the situation of multiple cooperating manipulators handling a single object,an equilibrium equation is presented in which the manipulator dynamics and control forces/torques are taken into account,and a expression is derived to allow the optimal dynamic load distribution of the combined system can be made.

Employing Power Allocation to Enhance Zero Forcing Scheme Advantages over Multi-Antenna Multiple Relay Networks

A multi-antenna multiple relay (MAMR) network is considered and a variation of two-hop zero-forcing amplify-forward relaying method is proposed. Deploying ZF method together with application of diagonal power allocation matrices at the relays, it is shown that the overall MAMR network is simplified to M independent single antenna multiple relay (SAMR) networks, where M is the number of source and destination antennas. This enables to incorporate network beamforming proposed for SAMR networks. Accordingly, using the BER as the performance metric, we present simulation results to show the proposed approach outperforms the common ZF method addressed in the literature.

A multiple watermarks algorithm for image content authentication

A novel multiple watermarks cooperative authentication algorithm was presented for image contents authentication.This algorithm is able to extract multiple features from the image wavelet domain,which is based on that the t watermarks are generated.Moreover,a new watermark embedding method,using the space geometric model,was proposed,in order to effectively tackle with the mutual influences problem among t watermarks.Specifically,the incidental tampering location,the classification of intentional content tampering and the incidental modification can be achieved via mutual cooperation of the t watermarks.Both the theoretical analysis and simulations results validate the feasibility and efficacy of the proposed algorithm.

A Study on the Multiple Differential Structure of Development in China^s Ethnic Areasand Exploiting the Differentiation and Collaborative Policy—On the New Form of China’s Ethnic Relations and the New System of Ethnic Policies

A fter 60 years of im plem entation, the ethnic regional autonomous policy has provided basic p o litica l support for promoting the common development and prosperity of a ll ethnic groups.

Human-AI Cooperation in Education: Human in Loop and Teaching as leadership

Using the differences and complementarities between human intelligence and artificial intelligence(AI),a hybrid-augmented intelligence,that is both stronger than human intelligence and AI,is created through Human-AI Cooperation(HAC)for teaching and learning.Human-AI Cooperation is infiltrating into all links of education,and recent research has focused a lot on the impact of teaching,learning,management,and evaluation with Human-AI Cooperation.However,AI still has its limits of intelligence,and cannot cooperate as humans.Thus,it is critical to study the obstacles of Human-AI Cooperation in education,as AI plays a role as a partner,not a tool.This study discussed for the first time how teachers and AI cooperate based on Multiple Intelligences of AI proposed by Andrzej Cichocki and puts forward a new Human-AI Cooperation teaching mode:human in the loop and teaching as leadership.It is proposed that humans in the loop and teaching as leadership can solve the problem that AI cannot cope with complex and dynamic teaching tasks in open situations,as well as the limits of intelligence for AI.

Simultaneous Position Estimation and Omnidirectional Camera Parameter Calibration for Multiple Mobile Robots

This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.

Performance Analysis of a Novel Dual-Frequency Multiple Access Relay Transmission Scheme

In this paper we present the performance analysis of a novel channel assignment scheme where two non-cooperative independent users simultaneously communicate with their destination through a single relay by using only two frequency channels. The analytic derivation of the probability of symbol error for two main relay techniques will be provided, namely Amplify-and-Forward (AF) and Decode-and-Forward (DF). As shown by the obtained results, our switched-frequency approach results in a model that can achieve full- diversity by means of maximum-likelihood decoding at the receiver. Our results are especially important in the DF case, since in traditional techniques (such as half-duplex two-time slot approaches) two sources si-multaneously transmit on the same channel through the first time slot, which necessitates some sort of su-perposition coding. However, since in our scheme both users transmit over orthogonal channels, such a coding scheme is not required. In addition, it is shown that the DF approach based on our novel channel assign-ment scheme outperforms the AF scheme, especially in scenarios where the relay is closer to the receiver.

考虑多重不确定性与电碳耦合交易的多微网合作博弈优化调度

双碳背景下,构建低碳运行的能源系统是实现“双碳”目标的重要方向与实施路径。为了促进多微网系统内部能源的本地消纳以及低碳经济运行,该文对不确定性环境下多微网系统的合作运行及电碳耦合交易展开研究。首先,对于每个微网,构建了电转气碳捕集系统相耦合的热电联产运行模式,基于地方碳交易市场和阶梯碳交易机制,提出了多能源微网的低碳运行模型;其次,考虑到新能源发电和电力市场电价都存在不确定性的实际情况,采用机会约束和鲁棒优化的方法,以降低不确定性影响;再次,基于纳什谈判理论,建立了多个微网电碳耦合的合作博弈模型,各微网主体可同时参与到上级能源市场和地方能源市场中进行电能和碳排放配额的交易;最后,将非凸的合作博弈问题分解为两个线性可求解的子问题,进一步采用交替方向乘子法对问题进行求解。通过算例验证,该文所提方法可以有效提升各微网经济效益并减少碳排放。

反向散射NOMA赋能的混合多播-单播协作传输方案

针对协作中继通信系统频谱效率低和链路利用率低的问题,面向多播、单播业务共存场景,该文提出一种反向散射NOMA赋能的混合多播-单播协作传输方案。机会式选择一个多播用户作为协作节点,将其接收信号的一部分功率用于自身解码,剩余功率反向散射以增强其余用户的接收质量。为提升系统性能,通过联合优化基站功率分配系数、协作用户反向散射系数和协作节点选择变量,在保障多播服务质量的前提下,实现单播用户最小可达速率的最大化。为解决上述高度非凸联合优化问题,该文设计一种协作用户选择准则并提出了一种迭代算法来获取原问题的最优解。仿真结果验证了所提迭代算法的快速收敛性,相较于传统非协作传输方案,所提方案可将单播用户最小可达速率提升11.5%,有效保证多业务服务质量。