Collaborative positioning for swarms:A brief survey of vision,LiDAR and wireless sensors based methods

As positioning sensors,edge computation power,and communication technologies continue to develop,a moving agent can now sense its surroundings and communicate with other agents.By receiving spatial information from both its environment and other agents,an agent can use various methods and sensor types to localize itself.With its high flexibility and robustness,collaborative positioning has become a widely used method in both military and civilian applications.This paper introduces the basic fundamental concepts and applications of collaborative positioning,and reviews recent progress in the field based on camera,LiDAR(Light Detection and Ranging),wireless sensor,and their integration.The paper compares the current methods with respect to their sensor type,summarizes their main paradigms,and analyzes their evaluation experiments.Finally,the paper discusses the main challenges and open issues that require further research.

Air-Ground Collaborative Mobile Edge Computing:Architecture,Challenges,and Opportunities

By pushing computation,cache,and network control to the edge,mobile edge computing(MEC)is expected to play a leading role in fifth generation(5G)and future sixth generation(6G).Nevertheless,facing ubiquitous fast-growing computational demands,it is impossible for a single MEC paradigm to effectively support high-quality intelligent services at end user equipments(UEs).To address this issue,we propose an air-ground collaborative MEC(AGCMEC)architecture in this article.The proposed AGCMEC integrates all potentially available MEC servers within air and ground in the envisioned 6G,by a variety of collaborative ways to provide computation services at their best for UEs.Firstly,we introduce the AGC-MEC architecture and elaborate three typical use cases.Then,we discuss four main challenges in the AGC-MEC as well as their potential solutions.Next,we conduct a case study of collaborative service placement for AGC-MEC to validate the effectiveness of the proposed collaborative service placement strategy.Finally,we highlight several potential research directions of the AGC-MEC.

CRBFT:A Byzantine Fault-Tolerant Consensus Protocol Based on Collaborative Filtering Recommendation for Blockchains

Blockchain has been widely used in finance,the Internet of Things(IoT),supply chains,and other scenarios as a revolutionary technology.Consensus protocol plays a vital role in blockchain,which helps all participants to maintain the storage state consistently.However,with the improvement of network environment complexity and system scale,blockchain development is limited by the performance,security,and scalability of the consensus protocol.To address this problem,this paper introduces the collaborative filtering mechanism commonly used in the recommendation system into the Practical Byzantine Fault Tolerance(PBFT)and proposes a Byzantine fault-tolerant(BFT)consensus protocol based on collaborative filtering recommendation(CRBFT).Specifically,an improved collaborative filtering recommendation method is designed to use the similarity between a node’s recommendation opinions and those of the recommender as a basis for determining whether to adopt the recommendation opinions.This can amplify the recommendation voice of good nodes,weaken the impact of cunningmalicious nodes on the trust value calculation,andmake the calculated resultsmore accurate.In addition,the nodes are given voting power according to their trust value,and a weight randomelection algorithm is designed and implemented to reduce the risk of attack.The experimental results show that CRBFT can effectively eliminate various malicious nodes and improve the performance of blockchain systems in complex network environments,and the feasibility of CRBFT is also proven by theoretical analysis.

Joint Task Allocation and Resource Optimization for Blockchain Enabled Collaborative Edge Computing

Collaborative edge computing is a promising direction to handle the computation intensive tasks in B5G wireless networks.However,edge computing servers(ECSs)from different operators may not trust each other,and thus the incentives for collaboration cannot be guaranteed.In this paper,we propose a consortium blockchain enabled collaborative edge computing framework,where users can offload computing tasks to ECSs from different operators.To minimize the total delay of users,we formulate a joint task offloading and resource optimization problem,under the constraint of the computing capability of each ECS.We apply the Tammer decomposition method and heuristic optimization algorithms to obtain the optimal solution.Finally,we propose a reputation based node selection approach to facilitate the consensus process,and also consider a completion time based primary node selection to avoid monopolization of certain edge node and enhance the security of the blockchain.Simulation results validate the effectiveness of the proposed algorithm,and the total delay can be reduced by up to 40%compared with the non-cooperative case.

Full-domain collaborative deployment method of multiple interference sources and evaluation of its deployment effect

This paper realizes the full-domain collaborative deployment of multiple interference sources of the global satellite navigation system(GNSS)and evaluates the deployment effect to enhance the ability to disturb the attacker and the capability to defend the GNSS during navigation countermeasures.Key evaluation indicators for the jamming effect of GNSS suppressive and deceptive jamming sources are first created,their evaluation models are built,and their detection procedures are sorted out,as the basis for determining the deployment principles.The principles for collaboratively deploying multi-jamming sources are developed to obtain the deployment structures(including the required number,structures in demand,and corresponding positions)of three single interference sources required by collaboratively deploying.Accordingly,simulation and hardware-in-loop testing results are presented to determine a rational configuration of the collaborative deployment of multi-jamming sources in the set situation and further realize the full-domain deployment of an interference network from ground,air to space.Varied evaluation indices for the deployment effect are finally developed to evaluate the deployment effect of the proposed configuration and further verify its reliability and rationality.

Optimization and Construction of Collaborative Office under the Background of Smart Campus in Universities

At present, with the continuous development of technologies such as the Internet, big data, and artificial intelligence, smart campuses in universities are being rapidly constructed. Improving the informatization level of administrative management work is also an important content. The collaborative office work in multiple departments requires more standardized, convenient, intelligent, and secure office systems. In response to this issue, this article analyzes the optimization and construction process of collaborative office systems based on the development of university informatization, summarizes the operational results, and explores the prospects of smart office.

Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells

This work proposes an online collaborative hunting strategy for multi-robot systems based on obstacle-avoiding Voronoi cells in a complex dynamic environment. This involves firstly designing the construction method using a support vector machine(SVM) based on the definition of buffered Voronoi cells(BVCs). Based on the safe collision-free region of the robots, the boundary weights between the robots and the obstacles are dynamically updated such that the robots are tangent to the buffered Voronoi safety areas without intersecting with the obstacles. Then, the robots are controlled to move within their own buffered Voronoi safety area to achieve collision-avoidance with other robots and obstacles. The next step involves proposing a hunting method that optimizes collaboration between the pursuers and evaders. Some hunting points are generated and distributed evenly around a circle. Next, the pursuers are assigned to match the optimal points based on the Hungarian algorithm.Then, a hunting controller is designed to improve the containment capability and minimize containment time based on collision risk. Finally, simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance.

Collaborative Charging Scheduling in Wireless Charging Sensor Networks

Wireless sensor networks (WSNs) have the trouble of limited battery power, and wireless charging provides apromising solution to this problem, which is not easily affected by the external environment. In this paper, we studythe recharging of sensors in wireless rechargeable sensor networks (WRSNs) by scheduling two mobile chargers(MCs) to collaboratively charge sensors. We first formulate a novel sensor charging scheduling problem with theobjective of maximizing the number of surviving sensors, and further propose a collaborative charging schedulingalgorithm(CCSA) for WRSNs. In the scheme, the sensors are divided into important sensors and ordinary sensors.TwoMCs can adaptively collaboratively charge the sensors based on the energy limit ofMCs and the energy demandof sensors. Finally, we conducted comparative simulations. The simulation results show that the proposed algorithmcan effectively reduce the death rate of the sensor. The proposed algorithm provides a solution to the uncertaintyof node charging tasks and the collaborative challenges posed by multiple MCs in practical scenarios.

Research on the Collaborative Governance of Social Responsibility in Online Audiovisual Enterprises

This paper aims to analyze the present conditions of the social responsibility ecosystem in online audiovisual enterprises in the digital age. It focuses on the governance of social responsibility in these enterprises and conducts an in-depth analysis of the problems and influencing factors related to the social responsibility aberrations of online audiovisual enterprises. Drawing upon social responsibility theory and collaborative governance theory, this research constructs a social responsibility guidance and governance system guided by the public, supported by the voluntary fulfillment of responsibilities by online audiovisual enterprises, and based on the collaborative participation of diverse stakeholders. It explores and optimizes the implementation pathways of this system, providing theoretical support and practical guidance for promoting the sustainable development of online audiovisual enterprises. Furthermore, it aims to contribute to the creation of a harmonious Internet ecosystem.

Active Micro-Nano-Collaborative Bioelectronic Device for Advanced Electrophysiological Recording

The development of precise and sensitive electrophysiological recording platforms holds the utmost importance for research in the fields of cardiology and neuroscience.In recent years,active micro/nano-bioelectronic devices have undergone significant advancements,thereby facilitating the study of electrophysiology.The distinctive configuration and exceptional functionality of these active micro-nano-collaborative bioelectronic devices offer the potential for the recording of high-fidelity action potential signals on a large scale.In this paper,we review three-dimensional active nano-transistors and planar active micro-transistors in terms of their applications in electroexcitable cells,focusing on the evaluation of the effects of active micro/nano-bioelectronic devices on electrophysiological signals.Looking forward to the possibilities,challenges,and wide prospects of active micro-nano-devices,we expect to advance their progress to satisfy the demands of theoretical investigations and medical implementations within the domains of cardiology and neuroscience research.

Enhancing Multicriteria-Based Recommendations by Alleviating Scalability and Sparsity Issues Using Collaborative Denoising Autoencoder

A Recommender System(RS)is a crucial part of several firms,particularly those involved in e-commerce.In conventional RS,a user may only offer a single rating for an item-that is insufficient to perceive consumer preferences.Nowadays,businesses in industries like e-learning and tourism enable customers to rate a product using a variety of factors to comprehend customers’preferences.On the other hand,the collaborative filtering(CF)algorithm utilizing AutoEncoder(AE)is seen to be effective in identifying user-interested items.However,the cost of these computations increases nonlinearly as the number of items and users increases.To triumph over the issues,a novel expanded stacked autoencoder(ESAE)with Kernel Fuzzy C-Means Clustering(KFCM)technique is proposed with two phases.In the first phase of offline,the sparse multicriteria rating matrix is smoothened to a complete matrix by predicting the users’intact rating by the ESAE approach and users are clustered using the KFCM approach.In the next phase of online,the top-N recommendation prediction is made by the ESAE approach involving only the most similar user from multiple clusters.Hence the ESAE_KFCM model upgrades the prediction accuracy of 98.2%in Top-N recommendation with a minimized recommendation generation time.An experimental check on the Yahoo!Movies(YM)movie dataset and TripAdvisor(TA)travel dataset confirmed that the ESAE_KFCM model constantly outperforms conventional RS algorithms on a variety of assessment measures.

Digital twin-and extended reality-based telepresence for collaborative robot programming in the 6G perspective

In the context of Industry 4.0,a paradigm shift from traditional industrial manipulators to Collaborative Robots(CRs)is ongoing,with the latter serving ever more closely humans as auxiliary tools in many production processes.In this scenario,continuous technological advancements offer new opportunities for further innovating robotics and other areas of next-generation industry.For example,6G could play a prominent role due to its human-centric view of the industrial domains.In particular,its expected dependability features will pave the way for new applications exploiting highly effective Digital Twin(DT)-and eXtended Reality(XR)-based telepresence.In this work,a novel application for the above technologies allowing two distant users to collaborate in the programming of a CR is proposed.The approach encompasses demanding data flows(e.g.,point cloud-based streaming of collaborating users and robotic environment),with network latency and bandwidth constraints.Results obtained by analyzing this approach from the viewpoint of network requirements in a setup designed to emulate 6G connectivity indicate that the expected performance of forthcoming mobile networks will make it fully feasible in principle.

Collaborative robust dispatch of electricity and carbon under carbon allowance trading market

The launch of the carbon-allowance trading market has changed the cost structure of the power industry.There is an asynchronous coupling mechanism between the carbon-allowance-trading market and the day-ahead power-system dispatch.In this study,a data-driven model of the uncertainty in the annual carbon price was created.Subsequently,a collaborative,robust dispatch model was constructed considering the annual uncertainty of the carbon price and the daily uncertainty of renewable-energy generation.The model is solved using the column-and-constraint generation algorithm.An operation and cost model of a carbon-capture power plant(CCPP)that couples the carbon market and the economic operation of the power system is also established.The critical,profitable conditions for the economic operation of the CCPP were derived.Case studies demonstrated that the proposed low-carbon,robust dispatch model reduced carbon emissions by 2.67%compared with the traditional,economic,dispatch method.The total fuel cost of generation decreases with decreasing,conservative,carbon-price-uncertainty levels,while total carbon emissions continue to increase.When the carbon-quota coefficient decreases,the system dispatch tends to increase low-carbon unit output.This study can provide important guidance for carbon-market design and the low-carbon-dispatch selection strategies.

Identifying genetic susceptibility to Aspergillus fumigatus infection using collaborative cross mice and RNA-Seq approach

Background:Aspergillus fumigatus(Af)is one of the most ubiquitous fungi and its infection potency is suggested to be strongly controlled by the host genetic back-ground.The aim of this study was to search for candidate genes associated with host susceptibility to Aspergillus fumigatus(Af)using an RNAseq approach in CC lines and hepatic gene expression.Methods:We studied 31 male mice from 25 CC lines at 8 weeks old;the mice were infected with Af.Liver tissues were extracted from these mice 5 days post-infection,and next-generation RNA-sequencing(RNAseq)was performed.The GENE-E analysis platform was used to generate a clustered heat map matrix.Results:Significant variation in body weight changes between CC lines was ob-served.Hepatic gene expression revealed 12 top prioritized candidate genes differ-entially expressed in resistant versus susceptible mice based on body weight changes.Interestingly,three candidate genes are located within genomic intervals of the previ-ously mapped quantitative trait loci(QTL),including Gm16270 and Stox1 on chromo-some 10 and Gm11033 on chromosome 8.Conclusions:Our findings emphasize the CC mouse model's power in fine mapping the genetic components underlying susceptibility towards Af.As a next step,eQTL analysis will be performed for our RNA-Seq data.Suggested candidate genes from our study will be further assessed with a human cohort with aspergillosis.

Research on the Path of Improving the Efficiency of Urban Community Governance from the Perspective of Collaborative Governance:A Case Study of Daqing City,China

Under the background of“co-construction,co-governance,and sharing,”the role of the grassroots level is becoming increasingly important.In the past,the governance body was single with blocked information,and the inefficient governance mode required gradual transformation.In order to achieve collaborative governance and break through the obstacles in grassroots governance,the key lies in how to play the role of the community,coordinate the relationship between citizens and the community,and allow the community to better play the role of grassroots governance.Under the guidance of the concept of collaborative governance and combined with relevant data,this paper discusses the problems and current situation of community governance in Daqing City,China,explores the path to improve the efficiency of urban community governance,and puts forward relevant constructive suggestions to better realize the role of community in grassroots governance.

The Pathways and Mechanisms for Collaborative Innovation in Vocational Education,Higher Education,and Continuing Education

Against the backdrop of rapid global economic development,the demand for education has gradually shifted from quantitative growth to qualitative improvement.Vocational education,higher education,and continuing education are crucial components of China’s education system,each serving different educational functions.However,the collaborative innovation among these three types of education is still in the preliminary exploration stage,with issues such as scattered resources and imperfect coordination mechanisms.This paper systematically reviews relevant domestic and international research and practical experiences,thoroughly analyzes the pathways,models,and mechanisms of collaborative innovation among these three types of education,and proposes practical and operational suggestions based on the actual situation in Xuzhou City.The study finds that collaboration between vocational education,higher education,and continuing education through innovation not only enhances the overall efficiency of educational resources but also promotes regional economic development and social progress.On this basis,this paper proposes specific measures such as building an education resource-sharing platform,promoting a chain-based talent training system,strengthening policy and institutional guarantees,and improving incentive mechanisms,aiming to provide a reference for local education administrators and contribute to the innovative development of education in China.

Research on Practical Teaching of Ideological and Political Courses in Colleges and Universities and Collaborative Education in the Second Classroom

In today’s society,the need for talent training is of utmost importance due to rapid development.To achieve high-quality talent training,we need to focus on building a collaborative education mechanism.Practical teaching and the second classroom,which serve as important carriers of educational talents,must align their educational goals and complement each other.This article explores the collaborative education mechanism of the second classroom and practical teaching for the ideological and political courses in colleges and universities.It proposes reasonable construction measures to provide some guidelines for teaching work.

Analysis of the Application Effect of Family Collaborative Care Model on Elderly Patients with Type 2 Diabetes Mellitus and the Situation of Self-Care Ability

Objective: To study the application effect of the family collaborative care model on elderly patients with type 2 diabetes mellitus and its influence on self-care ability. Methods: The elderly type 2 diabetes mellitus patients (400 cases) treated in our hospital between March 2020 and July 2023 were divided into two groups by randomized grouping method;the control group received the conventional nursing program, while the observation group received the family collaborative nursing model. Blood glucose level, self-care ability, and quality of life were compared between the groups. Results: The blood glucose level of the observation group was lower than that of the control group (P < 0.05). The self- care ability and quality of life scores of the observation group were higher than those of the control group (P < 0.05). Conclusion: The family collaborative care model for elderly patients with type 2 diabetes mellitus can promote their self- care ability, improve the effect of glycemic control, and improve their quality of life, and is suitable for further promotion and application.

Blockchain Security Threats and Collaborative Defense:A Literature Review

As a distributed database,the system security of the blockchain is of great significance to prevent tampering,protect privacy,prevent double spending,and improve credibility.Due to the decentralized and trustless nature of blockchain,the security defense of the blockchain system has become one of the most important measures.This paper comprehensively reviews the research progress of blockchain security threats and collaborative defense,and we first introduce the overview,classification,and threat assessment process of blockchain security threats.Then,we investigate the research status of single-node defense technology and multi-node collaborative defense technology and summarize the blockchain security evaluation indicators and evaluation methods.Finally,we discuss the challenges of blockchain security and future research directions,such as parallel detection and federated learning.This paper aims to stimulate further research and discussion on blockchain security,providing more reliable security guarantees for the use and development of blockchain technology to face changing threats and challenges through continuous updating and improvement of defense technologies.

Deep Reinforcement Learning-Based Collaborative Routing Algorithm for Clustered MANETs

Flexible adaptation to differentiated quality of service(QoS)is quite important for future 6G network with a variety of services.Mobile ad hoc networks(MANETs)are able to provide flexible communication services to users through self-configuration and rapid deployment.However,the dynamic wireless environment,the limited resources,and complex QoS requirements have presented great challenges for network routing problems.Motivated by the development of artificial intelligence,a deep reinforcement learning-based collaborative routing(DRLCR)algorithm is proposed.Both routing policy and subchannel allocation are considered jointly,aiming at minimizing the end-to-end(E2E)delay and improving the network capacity.After sufficient training by the cluster head node,the Q-network can be synchronized to each member node to select the next hop based on local observation.Moreover,we improve the performance of training by considering historical observations,which can improve the adaptability of routing policies to dynamic environments.Simulation results show that the proposed DRLCR algorithm outperforms other algorithms in terms of resource utilization and E2E delay by optimizing network load to avoid congestion.In addition,the effectiveness of the routing policy in a dynamic environment is verified.