This paper is concerned with the cooperative target stalking for a multi-unmanned surface vehicle(multi-USV)system.Based on the multi-agent deep deterministic policy gradient(MADDPG)algorithm,a multi-USV target stalki...This paper is concerned with the cooperative target stalking for a multi-unmanned surface vehicle(multi-USV)system.Based on the multi-agent deep deterministic policy gradient(MADDPG)algorithm,a multi-USV target stalking(MUTS)algorithm is proposed.Firstly,a V-type probabilistic data extraction method is proposed for the first time to overcome shortcomings of the MADDPG algorithm.The advantages of the proposed method are twofold:1)it can reduce the amount of data and shorten training time;2)it can filter out more important data in the experience buffer for training.Secondly,in order to avoid the collisions of USVs during the stalking process,an action constraint method called Safe DDPG is introduced.Finally,the MUTS algorithm and some existing algorithms are compared in cooperative target stalking scenarios.In order to demonstrate the effectiveness of the proposed MUTS algorithm in stalking tasks,mission operating scenarios and reward functions are well designed in this paper.The proposed MUTS algorithm can help the multi-USV system avoid internal collisions during the mission execution.Moreover,compared with some existing algorithms,the newly proposed one can provide a higher convergence speed and a narrower convergence domain.展开更多
Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems (SoS) for surface warship formation (CASoSSWF) to the biological immune s...Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems (SoS) for surface warship formation (CASoSSWF) to the biological immune system (BIS) according to the similarity of the defense mechanism and characteristics between the CASoSSWF and the BIS, and then designs the models of components and the architecture for a monitoring agent, a regulating agent, a killer agent, a pre-warning agent and a communicating agent by making use of the theories and methods of the artificial immune system, the multi-agent system (MAS), the vaccine and the danger theory (DT). Moreover a new immune multi-agent model using vaccine based on DT (IMMUVBDT) for the cooperative air-defense SoS is advanced. The immune response and immune mechanism of the CASoSSWF are analyzed. The model has a capability of memory, evolution, commendable dynamic environment adaptability and self-learning, and embodies adequately the cooperative air-defense mechanism for the CASoSSWF. Therefore it shows a novel idea for the CASoSSWF which can provide conception models for a surface warship formation operation simulation system.展开更多
The control of battery energy storage systems(BESSs)plays an important role in the management of microgrids.In this paper,the problem of balancing the state-ofcharge(SoC)of the networked battery units in a BESS while ...The control of battery energy storage systems(BESSs)plays an important role in the management of microgrids.In this paper,the problem of balancing the state-ofcharge(SoC)of the networked battery units in a BESS while meeting the total charging/discharging power requirement is formulated and solved as a distributed control problem.Conditions on the communication topology among the battery units are established under which a control law is designed for each battery unit to solve the control problem based on distributed average reference power estimators and distributed average unit state estimators.Two types of estimators are proposed.One achieves asymptotic estimation and the other achieves finite time estimation.We show that,under the proposed control laws,SoC balancing of all battery units is achieved and the total charging/discharging power of the BESS tracks the desired power.A simulation example is shown to verify the theoretical results.展开更多
The bandwidth resources allocation strategies of the existing Internet of Vehicles(IoV) are mainly base on the communication architecture of the traditional 802.11 x in the wireless local area network(WLAN). The tradi...The bandwidth resources allocation strategies of the existing Internet of Vehicles(IoV) are mainly base on the communication architecture of the traditional 802.11 x in the wireless local area network(WLAN). The traditional communication architecture of IoV will easily cause significant delay and low Packet Delivery Ratio(PDR) for disseminating critical security beacons under the condition of high-speed movement, distance-varying communication, and mixed traffic. This paper proposes a novel bandwidth-link resources cooperative allocation strategy to achieve better communication performance under the road conditions of intelligent transportation systems(ITS). Firstly, in traffic scenarios, based on the characteristic to predict the relative position of the mobile transceivers, a strategy is developed to cooperate on the mobile cellular network and the Dedicated Short-Range Communications(DSRC). Secondly, by adopting the general network simulator NS3, the dedicated mobile channel models that are suitable for the data interaction of ITS, is applied to confirm the feasibility and reliability of the strategy. Finally, by the simulation, comparison, and analysis of some critical performance parame-ters, we conclude that the novel strategy does not only reduce the system delay but also improve the other communication performance indicators, such as the PDR and communication capacity.展开更多
A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The prop...A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The proposed FTAPN can be used to model and illustrate both the structural and dynamic aspects of CMRS, which is a typical multi-agent system (MAS). At the same time, supervised learning is supported in FTAPN. As a special type of high-level object, agent is introduced into FTAPN, which is used as a common modeling object in its model. The proposed FTAPN can not only be used to model CMRS and represent system aging effect, but also be refined into the object-oriented implementation easily. At the same time, it can also be regarded as a conceptual and practical artificial intelligence (AI) tool for multi-agent systems (MAS) into the mainstream practice of the software development.展开更多
According to the legal definitions of land transfer under shareholding cooperative systems,rural groups,collective rights of members,and this paper discloses the necessity of protecting the collective rights of member...According to the legal definitions of land transfer under shareholding cooperative systems,rural groups,collective rights of members,and this paper discloses the necessity of protecting the collective rights of members.In terms of qualification definition of members,rights of fetus,married daughters and sons in law cannot be guaranteed.In terms of rights protection,partial rights cannot be assured,power of personal stake inthe collective members is imperfect which results in inadequate,unbalanced,shaky and unpunctuated benefits.Based on objective and subjectivecauses,the democratic management rights of members in land transfer process have been weakened or even deprived,the protection of the basiclife is hard to realize.The paper proposes that it is necessary to build the social protection mechanisms of rural land shareholding cooperative sys-tems.The first is to treat those members that own land,attending the shareholding cooperation but having not taken part in the land transfer proces-sion as the protection objects.The second is in the procession of land transfer,making it clear the compensation standards of land transfer,estab-lishing the intermediate agencies of land transfer and performing the collective economic organizing functions.The third is that the account capital ofsocial protection is contributed together by personal member,the land users(shareholding cooperative companies) and government.The fourth isto pay more attention to the added value and safety management of capital operation.展开更多
In this study, a distributed optimal control problem for <em>n</em> × <em>n</em> cooperative hyperbolic systems with infinite order operators and Dirichlet conditions are considered. The e...In this study, a distributed optimal control problem for <em>n</em> × <em>n</em> cooperative hyperbolic systems with infinite order operators and Dirichlet conditions are considered. The existence and uniqueness of the state of these systems are proved. The necessary and sufficient conditions for optimality of distributed control with constraints are found, and the set of equations and inequalities that defining the optimal control of these systems is also obtained. Finally, some examples for the control problem without constraints are given.展开更多
This paper focuses on the distributed cooperative learning(DCL)problem for a class of discrete-time strict-feedback multi-agent systems under directed graphs.Compared with the previous DCL works based on undirected gr...This paper focuses on the distributed cooperative learning(DCL)problem for a class of discrete-time strict-feedback multi-agent systems under directed graphs.Compared with the previous DCL works based on undirected graphs,two main challenges lie in that the Laplacian matrix of directed graphs is nonsymmetric,and the derived weight error systems exist n-step delays.Two novel lemmas are developed in this paper to show the exponential convergence for two kinds of linear time-varying(LTV)systems with different phenomena including the nonsymmetric Laplacian matrix and time delays.Subsequently,an adaptive neural network(NN)control scheme is proposed by establishing a directed communication graph along with n-step delays weight updating law.Then,by using two novel lemmas on the extended exponential convergence of LTV systems,estimated NN weights of all agents are verified to exponentially converge to small neighbourhoods of their common optimal values if directed communication graphs are strongly connected and balanced.The stored NN weights are reused to structure learning controllers for the improved control performance of similar control tasks by the“mod”function and proper time series.A simulation comparison is shown to demonstrate the validity of the proposed DCL method.展开更多
In this study, boundary control problems with Neumann conditions for 2 × 2 cooperative hyperbolic systems involving infinite order operators are considered. The existence and uniqueness of the states of these sys...In this study, boundary control problems with Neumann conditions for 2 × 2 cooperative hyperbolic systems involving infinite order operators are considered. The existence and uniqueness of the states of these systems are proved, and the formulation of the control problem for different observation functions is discussed.展开更多
The existence and uniqueness of the state for 2 × 2 Dirichlet cooperative elliptic systems under conjugation conditions are proved using Lax-Milgram lemma, then the boundary control for these systems is discussed...The existence and uniqueness of the state for 2 × 2 Dirichlet cooperative elliptic systems under conjugation conditions are proved using Lax-Milgram lemma, then the boundary control for these systems is discussed. The set of equations and inequalities that characterizes this boundary control is found by theory of Lions, Sergienko and Deineka. The problem for cooperative Neumann elliptic systems under conjugation conditions is also considered. Finally, the problem for <em>n</em> × <em>n</em> cooperative elliptic systems under conjugation conditions is established.展开更多
A novel scheme‘user assisted cooperative relaying in beamspace massive multiple input multiple output(M-MIMO)non-orthogonal multiple access(NOMA)system’has been proposed to improve coverage area,spectrum and energy ...A novel scheme‘user assisted cooperative relaying in beamspace massive multiple input multiple output(M-MIMO)non-orthogonal multiple access(NOMA)system’has been proposed to improve coverage area,spectrum and energy efficiency for millimeter wave(mmWave)communications.A downlink system for M users,where base station(BS)is equipped with beamforming lens antenna structure having NRF radio frequency(RF)chains,has been considered.A dynamic cluster of users is formed within a beam and the intermediate users(in that cluster)between beam source and destination(user)act as relaying stations.By the use of successive interference cancellation(SIC)technique of NOMA within a cluster,the relaying stations relay the symbols with improved power to the destination.For maximizing achievable sum rate,transmit precoding and dynamic power allocation for both intra and inter beam power optimization are implemented.Simulations for performance evaluation are carried out to validate that the proposed system outperforms the conventional beamspace M-MIMO NOMA system for mmWave communications in terms of spectrum and energy efficiency.展开更多
Road intersections are important nodes for the convergence,turning,and diversion of traffic flows in the urban road network,but at the same time,due to the large traffic volume and conflict points at the intersection,...Road intersections are important nodes for the convergence,turning,and diversion of traffic flows in the urban road network,but at the same time,due to the large traffic volume and conflict points at the intersection,it has become a traffic congestion and accident-prone area,which seriously affects road traffic safety and vehicle traffic efficiency.Therefore,it is of great significance to study the collaborative control strategy of urban intersections.This paper analyzes and summarizes the methods of intersection cooperative control based on intelligent connected vehicles in recent years,and looks forward to the future development trend and prospects of the combination of intersection cooperative control and Vehicle-Infrastructure Cooperation System.展开更多
In this paper, we consider cooperative hyperbolic systems involving Schr?dinger operator defined on ?Rn. First we prove the existence and uniqueness of the state for these systems. Then we find the necessary and suffi...In this paper, we consider cooperative hyperbolic systems involving Schr?dinger operator defined on ?Rn. First we prove the existence and uniqueness of the state for these systems. Then we find the necessary and sufficient conditions of optimal control for such systems of the boundary type. We also find the necessary and sufficient conditions of optimal control for same systems when the observation is on the boundary.展开更多
Control systems are being changed from wired to wireless communications because of flexibility, mobility and extensibility of wireless communication systems;however the reliability of wireless communications is suspec...Control systems are being changed from wired to wireless communications because of flexibility, mobility and extensibility of wireless communication systems;however the reliability of wireless communications is suspected. In this paper, we propose cooperative communication scheme for wireless control systems which consist of a controller and multiple machines;these machines cooperatively work in a group and for the same duty. In the proposed method, the controller can communicate with machines directly or via other machines, whereas in the conventional method, the controller only communicates with machines directly. The simple 2-link arm plant is used to evaluate our proposed system, and the simulation results indicate that the proposed method is more accurate, and more stable than the conventional method.展开更多
This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface ...This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.展开更多
A mobile satellite indoor signal is proposed to model perfor mance of cooperative communication protocols and maximal ra tio combining.Cooperative diversity can improve the reliability of satellite system and increase...A mobile satellite indoor signal is proposed to model perfor mance of cooperative communication protocols and maximal ra tio combining.Cooperative diversity can improve the reliability of satellite system and increase data speed or expand cell radi us by lessening the effects of fading.Performance is determined by measured bit error rates(BERs)in different types of coopera tive protocols and indoor systems(e.g.GSM and WCDMA net works).The effect of performance on cooperative terminals lo cated at different distances from an indoor cellular system is al so discussed.The proposed schemes provide higher signal-tonoise ratio(SNR)-around 1.6 dB and 2.6 dB gap at BER 10-2for amplify-and-forward(AF)and decode-and-forward(DF)cooperative protocols,respectively,when the cooperative termi nal is located 10 m from the WCDMA indoor system.Coopera tive protocols improve effective power utilization and,hence,improve performance and cell coverage of the mobile satellite network.展开更多
The minimum energy per bit(EPB)as the energy efficiency(EE)metric in an automatic retransmission request(ARQ)based multi-hop system is analyzed under power and throughput constraints.Two ARQ protocols including type-I...The minimum energy per bit(EPB)as the energy efficiency(EE)metric in an automatic retransmission request(ARQ)based multi-hop system is analyzed under power and throughput constraints.Two ARQ protocols including type-I(ARQ-I)and repetition redundancy(ARQ-RR)are considered and expressions for the optimal power allocation(PA)are obtained.Using the obtained optimal powers,the EE-throughput tradeoff(EETT)is analyzed and the EETT closed-form expressions for both ARQ protocols and in arbitrary average channel gain values are obtained.It is shown that how different throughput requirements,especially the high levels,affect the EE performance.Additionally,asymptotic analysis is made in the feasible high throughput values and lower and upper EETT bounds are derived for ARQ-I protocol.To evaluate the EE a distributed PA scenario,as a benchmark,is presented and the energy savinggain obtained from the optimal PA in comparison with the distributed PA for ARQ-I and ARQ-RR protocols is discussed in different throughput values and node locations.展开更多
Intelligent autonomous vehicles have received a great degree of attention in recent years. Although the technology required for these vehicles is relatively advanced, the challenge is firstly to ensure that drivers ca...Intelligent autonomous vehicles have received a great degree of attention in recent years. Although the technology required for these vehicles is relatively advanced, the challenge is firstly to ensure that drivers can understand the capabilities and limitations of such systems and secondly to design a system that can handle the interaction between the driver and the automated intelligent system. In this study, we describe an approach using different strategies for an autonomous system and a driver to drive a vehicle cooperatively. The proposed strategies are referred to as cooperative planning and control and determine when and how the path projected by the autonomous system can be changed safely by the driver to a path that he wishes to follow. The first phase of the project is described, covering the design and implementation of an autonomous test vehicle. Experiments are carried out with a driver to test the cooperative planning and control concepts proposed here.展开更多
基金supported in part by the National Natural Science Foundation of China(61873335,61833011,62173164)the Project of Science and Technology Commission of Shanghai Municipality,China(20ZR1420200,21SQBS01600,22JC1401400,19510750300,21190780300)the Natural Science Foundation of Jiangsu Province of China(BK20201451)。
文摘This paper is concerned with the cooperative target stalking for a multi-unmanned surface vehicle(multi-USV)system.Based on the multi-agent deep deterministic policy gradient(MADDPG)algorithm,a multi-USV target stalking(MUTS)algorithm is proposed.Firstly,a V-type probabilistic data extraction method is proposed for the first time to overcome shortcomings of the MADDPG algorithm.The advantages of the proposed method are twofold:1)it can reduce the amount of data and shorten training time;2)it can filter out more important data in the experience buffer for training.Secondly,in order to avoid the collisions of USVs during the stalking process,an action constraint method called Safe DDPG is introduced.Finally,the MUTS algorithm and some existing algorithms are compared in cooperative target stalking scenarios.In order to demonstrate the effectiveness of the proposed MUTS algorithm in stalking tasks,mission operating scenarios and reward functions are well designed in this paper.The proposed MUTS algorithm can help the multi-USV system avoid internal collisions during the mission execution.Moreover,compared with some existing algorithms,the newly proposed one can provide a higher convergence speed and a narrower convergence domain.
文摘Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems (SoS) for surface warship formation (CASoSSWF) to the biological immune system (BIS) according to the similarity of the defense mechanism and characteristics between the CASoSSWF and the BIS, and then designs the models of components and the architecture for a monitoring agent, a regulating agent, a killer agent, a pre-warning agent and a communicating agent by making use of the theories and methods of the artificial immune system, the multi-agent system (MAS), the vaccine and the danger theory (DT). Moreover a new immune multi-agent model using vaccine based on DT (IMMUVBDT) for the cooperative air-defense SoS is advanced. The immune response and immune mechanism of the CASoSSWF are analyzed. The model has a capability of memory, evolution, commendable dynamic environment adaptability and self-learning, and embodies adequately the cooperative air-defense mechanism for the CASoSSWF. Therefore it shows a novel idea for the CASoSSWF which can provide conception models for a surface warship formation operation simulation system.
基金relates to Department of Navy award(N00014-20-1-2858)。
文摘The control of battery energy storage systems(BESSs)plays an important role in the management of microgrids.In this paper,the problem of balancing the state-ofcharge(SoC)of the networked battery units in a BESS while meeting the total charging/discharging power requirement is formulated and solved as a distributed control problem.Conditions on the communication topology among the battery units are established under which a control law is designed for each battery unit to solve the control problem based on distributed average reference power estimators and distributed average unit state estimators.Two types of estimators are proposed.One achieves asymptotic estimation and the other achieves finite time estimation.We show that,under the proposed control laws,SoC balancing of all battery units is achieved and the total charging/discharging power of the BESS tracks the desired power.A simulation example is shown to verify the theoretical results.
基金supported in part by the National Natural Science Foundation of China (No.61573171)the Major Information Projects of State Ministry of Transportation (No.2013-364-836-900)
文摘The bandwidth resources allocation strategies of the existing Internet of Vehicles(IoV) are mainly base on the communication architecture of the traditional 802.11 x in the wireless local area network(WLAN). The traditional communication architecture of IoV will easily cause significant delay and low Packet Delivery Ratio(PDR) for disseminating critical security beacons under the condition of high-speed movement, distance-varying communication, and mixed traffic. This paper proposes a novel bandwidth-link resources cooperative allocation strategy to achieve better communication performance under the road conditions of intelligent transportation systems(ITS). Firstly, in traffic scenarios, based on the characteristic to predict the relative position of the mobile transceivers, a strategy is developed to cooperate on the mobile cellular network and the Dedicated Short-Range Communications(DSRC). Secondly, by adopting the general network simulator NS3, the dedicated mobile channel models that are suitable for the data interaction of ITS, is applied to confirm the feasibility and reliability of the strategy. Finally, by the simulation, comparison, and analysis of some critical performance parame-ters, we conclude that the novel strategy does not only reduce the system delay but also improve the other communication performance indicators, such as the PDR and communication capacity.
文摘A cooperative multi-robot system (CMRS) modeling method called fuzzy timed agent based Petri nets (FTAPN) is proposed in this paper, which has been extended from fuzzy timed object-oriented Petri net (FTOPN). The proposed FTAPN can be used to model and illustrate both the structural and dynamic aspects of CMRS, which is a typical multi-agent system (MAS). At the same time, supervised learning is supported in FTAPN. As a special type of high-level object, agent is introduced into FTAPN, which is used as a common modeling object in its model. The proposed FTAPN can not only be used to model CMRS and represent system aging effect, but also be refined into the object-oriented implementation easily. At the same time, it can also be regarded as a conceptual and practical artificial intelligence (AI) tool for multi-agent systems (MAS) into the mainstream practice of the software development.
基金Supported by the Collective Impact Survey of Rural Collective Members' Rights on the Land Transfer of National College Innovative Pilot Projects of 2009 (081035716)
文摘According to the legal definitions of land transfer under shareholding cooperative systems,rural groups,collective rights of members,and this paper discloses the necessity of protecting the collective rights of members.In terms of qualification definition of members,rights of fetus,married daughters and sons in law cannot be guaranteed.In terms of rights protection,partial rights cannot be assured,power of personal stake inthe collective members is imperfect which results in inadequate,unbalanced,shaky and unpunctuated benefits.Based on objective and subjectivecauses,the democratic management rights of members in land transfer process have been weakened or even deprived,the protection of the basiclife is hard to realize.The paper proposes that it is necessary to build the social protection mechanisms of rural land shareholding cooperative sys-tems.The first is to treat those members that own land,attending the shareholding cooperation but having not taken part in the land transfer proces-sion as the protection objects.The second is in the procession of land transfer,making it clear the compensation standards of land transfer,estab-lishing the intermediate agencies of land transfer and performing the collective economic organizing functions.The third is that the account capital ofsocial protection is contributed together by personal member,the land users(shareholding cooperative companies) and government.The fourth isto pay more attention to the added value and safety management of capital operation.
文摘In this study, a distributed optimal control problem for <em>n</em> × <em>n</em> cooperative hyperbolic systems with infinite order operators and Dirichlet conditions are considered. The existence and uniqueness of the state of these systems are proved. The necessary and sufficient conditions for optimality of distributed control with constraints are found, and the set of equations and inequalities that defining the optimal control of these systems is also obtained. Finally, some examples for the control problem without constraints are given.
基金supported in part by the Guangdong Natural Science Foundation(2019B151502058)in part by the National Natural Science Foundation of China(61890922,61973129)+1 种基金in part by the Major Key Project of PCL(PCL2021A09)in part by the Guangdong Basic and Applied Basic Research Foundation(2021A1515012004)。
文摘This paper focuses on the distributed cooperative learning(DCL)problem for a class of discrete-time strict-feedback multi-agent systems under directed graphs.Compared with the previous DCL works based on undirected graphs,two main challenges lie in that the Laplacian matrix of directed graphs is nonsymmetric,and the derived weight error systems exist n-step delays.Two novel lemmas are developed in this paper to show the exponential convergence for two kinds of linear time-varying(LTV)systems with different phenomena including the nonsymmetric Laplacian matrix and time delays.Subsequently,an adaptive neural network(NN)control scheme is proposed by establishing a directed communication graph along with n-step delays weight updating law.Then,by using two novel lemmas on the extended exponential convergence of LTV systems,estimated NN weights of all agents are verified to exponentially converge to small neighbourhoods of their common optimal values if directed communication graphs are strongly connected and balanced.The stored NN weights are reused to structure learning controllers for the improved control performance of similar control tasks by the“mod”function and proper time series.A simulation comparison is shown to demonstrate the validity of the proposed DCL method.
文摘In this study, boundary control problems with Neumann conditions for 2 × 2 cooperative hyperbolic systems involving infinite order operators are considered. The existence and uniqueness of the states of these systems are proved, and the formulation of the control problem for different observation functions is discussed.
文摘The existence and uniqueness of the state for 2 × 2 Dirichlet cooperative elliptic systems under conjugation conditions are proved using Lax-Milgram lemma, then the boundary control for these systems is discussed. The set of equations and inequalities that characterizes this boundary control is found by theory of Lions, Sergienko and Deineka. The problem for cooperative Neumann elliptic systems under conjugation conditions is also considered. Finally, the problem for <em>n</em> × <em>n</em> cooperative elliptic systems under conjugation conditions is established.
文摘A novel scheme‘user assisted cooperative relaying in beamspace massive multiple input multiple output(M-MIMO)non-orthogonal multiple access(NOMA)system’has been proposed to improve coverage area,spectrum and energy efficiency for millimeter wave(mmWave)communications.A downlink system for M users,where base station(BS)is equipped with beamforming lens antenna structure having NRF radio frequency(RF)chains,has been considered.A dynamic cluster of users is formed within a beam and the intermediate users(in that cluster)between beam source and destination(user)act as relaying stations.By the use of successive interference cancellation(SIC)technique of NOMA within a cluster,the relaying stations relay the symbols with improved power to the destination.For maximizing achievable sum rate,transmit precoding and dynamic power allocation for both intra and inter beam power optimization are implemented.Simulations for performance evaluation are carried out to validate that the proposed system outperforms the conventional beamspace M-MIMO NOMA system for mmWave communications in terms of spectrum and energy efficiency.
基金Tinajin Research Tnnovation Project for Postgraduate Students:Research on multi-sensor fusion vehicle detection algorithm in complex weather conditions(2020YJSS086).
文摘Road intersections are important nodes for the convergence,turning,and diversion of traffic flows in the urban road network,but at the same time,due to the large traffic volume and conflict points at the intersection,it has become a traffic congestion and accident-prone area,which seriously affects road traffic safety and vehicle traffic efficiency.Therefore,it is of great significance to study the collaborative control strategy of urban intersections.This paper analyzes and summarizes the methods of intersection cooperative control based on intelligent connected vehicles in recent years,and looks forward to the future development trend and prospects of the combination of intersection cooperative control and Vehicle-Infrastructure Cooperation System.
文摘In this paper, we consider cooperative hyperbolic systems involving Schr?dinger operator defined on ?Rn. First we prove the existence and uniqueness of the state for these systems. Then we find the necessary and sufficient conditions of optimal control for such systems of the boundary type. We also find the necessary and sufficient conditions of optimal control for same systems when the observation is on the boundary.
文摘Control systems are being changed from wired to wireless communications because of flexibility, mobility and extensibility of wireless communication systems;however the reliability of wireless communications is suspected. In this paper, we propose cooperative communication scheme for wireless control systems which consist of a controller and multiple machines;these machines cooperatively work in a group and for the same duty. In the proposed method, the controller can communicate with machines directly or via other machines, whereas in the conventional method, the controller only communicates with machines directly. The simple 2-link arm plant is used to evaluate our proposed system, and the simulation results indicate that the proposed method is more accurate, and more stable than the conventional method.
基金Supported by the State Key Program of National Natural Science Foundation of China (No. 60832009), Natural Science Foundation of Bcijing (No. 4102044), Innovative Project for Young Researchers in Central Higher Education Institutions, China (No. 2009RC0119) and New Generation of Broadband Wireless Mobile Communication Networks of Major Projects of National Science and Technology (No.2009ZX03003-003-01).
文摘This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.
文摘A mobile satellite indoor signal is proposed to model perfor mance of cooperative communication protocols and maximal ra tio combining.Cooperative diversity can improve the reliability of satellite system and increase data speed or expand cell radi us by lessening the effects of fading.Performance is determined by measured bit error rates(BERs)in different types of coopera tive protocols and indoor systems(e.g.GSM and WCDMA net works).The effect of performance on cooperative terminals lo cated at different distances from an indoor cellular system is al so discussed.The proposed schemes provide higher signal-tonoise ratio(SNR)-around 1.6 dB and 2.6 dB gap at BER 10-2for amplify-and-forward(AF)and decode-and-forward(DF)cooperative protocols,respectively,when the cooperative termi nal is located 10 m from the WCDMA indoor system.Coopera tive protocols improve effective power utilization and,hence,improve performance and cell coverage of the mobile satellite network.
文摘The minimum energy per bit(EPB)as the energy efficiency(EE)metric in an automatic retransmission request(ARQ)based multi-hop system is analyzed under power and throughput constraints.Two ARQ protocols including type-I(ARQ-I)and repetition redundancy(ARQ-RR)are considered and expressions for the optimal power allocation(PA)are obtained.Using the obtained optimal powers,the EE-throughput tradeoff(EETT)is analyzed and the EETT closed-form expressions for both ARQ protocols and in arbitrary average channel gain values are obtained.It is shown that how different throughput requirements,especially the high levels,affect the EE performance.Additionally,asymptotic analysis is made in the feasible high throughput values and lower and upper EETT bounds are derived for ARQ-I protocol.To evaluate the EE a distributed PA scenario,as a benchmark,is presented and the energy savinggain obtained from the optimal PA in comparison with the distributed PA for ARQ-I and ARQ-RR protocols is discussed in different throughput values and node locations.
文摘Intelligent autonomous vehicles have received a great degree of attention in recent years. Although the technology required for these vehicles is relatively advanced, the challenge is firstly to ensure that drivers can understand the capabilities and limitations of such systems and secondly to design a system that can handle the interaction between the driver and the automated intelligent system. In this study, we describe an approach using different strategies for an autonomous system and a driver to drive a vehicle cooperatively. The proposed strategies are referred to as cooperative planning and control and determine when and how the path projected by the autonomous system can be changed safely by the driver to a path that he wishes to follow. The first phase of the project is described, covering the design and implementation of an autonomous test vehicle. Experiments are carried out with a driver to test the cooperative planning and control concepts proposed here.