This paper presents the rigorous study of mobile robot navigation techniques used so far.The step by step investigations of classical and reactive approaches are made here to understand the development of path plannin...This paper presents the rigorous study of mobile robot navigation techniques used so far.The step by step investigations of classical and reactive approaches are made here to understand the development of path planning strategies in various environmental conditions and to identify research gap.The classical approaches such as cell decomposition(CD),roadmap approach(RA),artificial potential field(APF);reactive approaches such as genetic algorithm(GA),fuzzy logic(FL),neural network(NN),firefly algorithm(FA),particle swarm optimization(PSO),ant colony optimization(ACO),bacterial foraging optimization(BFO),artificial bee colony(ABC),cuckoo search(CS),shuffled frog leaping algorithm(SFLA)and other miscellaneous algorithms(OMA)are considered for study.The navigation over static and dynamic condition is analyzed(for single and multiple robot systems)and it has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical approaches.It is also observed that the reactive approaches are used to improve the performance of the classical approaches as a hybrid algorithm.Hence,reactive approaches are more popular and widely used for path planning of mobile robot.The paper concludes with tabular data and charts comparing the frequency of individual navigational strategies which can be used for specific application in robotics.展开更多
The National Strong Motion Observation Network System （NSMONS） of China is briefly introduced in this paper. The NSMONS consists of permanent free-field stations, special observation arrays, mobile observatories and...The National Strong Motion Observation Network System （NSMONS） of China is briefly introduced in this paper. The NSMONS consists of permanent free-field stations, special observation arrays, mobile observatories and a network management system. During the Wenchuan Earthquake, over 1,400 components of acceleration records were obtained from 460 permanent free-field stations and three arrays for topographical effect and structural response observation in the network system from the main shock, and over 20,000 components of acceleration records from strong aftershocks occurred before August 1, 2008 were also obtained by permanent free-field stations of the NSMONS and 59 mobile instruments quickly deployed after the main shock. The strong motion recordings from the main shock and strong aftershocks are summarized in this paper. In the ground motion recordings, there are over 560 components with peak ground acceleration （PGA） over 10 Gal, the largest being 957.7 Gal. The largest PGA recorded during the aftershock exceeds 300 Gal.展开更多
Mobile communication standards have been developed into a new era of B5G and 6G.In recent years,low earth orbit(LEO)satellites and space Internet have become hot topics.The integrated satellite and terrestrial systems...Mobile communication standards have been developed into a new era of B5G and 6G.In recent years,low earth orbit(LEO)satellites and space Internet have become hot topics.The integrated satellite and terrestrial systems have been widely discussed by industries and academics,and even are expected to be applied in those huge constellations in construction.This paper points out the trends of two stages towards system integration of the terrestrial mobile communication and the satellite communications:to be compatible with 5G,and to be integrated within 6G.Based on analysis of the challenges of both stages,key technologies are thereafter analyzed in detail,covering both air interface currently discussed in 3GPP for B5G and also novel network architecture and related transmission technologies toward future 6G.展开更多
When plate tectonics started to occur on Earth and how it has evolved through time are two of the most fundamental questions in earth sciences. While gravity-driven subducting has been accepted as a critical condition...When plate tectonics started to occur on Earth and how it has evolved through time are two of the most fundamental questions in earth sciences. While gravity-driven subducting has been accepted as a critical condition for the operation of plate tectonics on Earth, it is intriguing how the dynamic regime and thermal state of subduction zones have affected the style of plate tectonics in Earth’s history. The metamorphic rocks of regional distribution along convergent plate boundaries record reworking of crustal rocks through dehydration and melting at lithospheric depths. The property of regional metamorphism is determined by both dynamic regime and thermal state of plate margins. The two variables have secularly evolved in Earth’s history, which is recorded by changes in the global distribution of metamorphic facies series through time. This results in two styles of plate tectonics. Modern-style plate tectonics has developed since the Neoproterozoic when plate margins were rigid enough for cold subducting, whereas ancient-style plate tectonics has developed since the Archean when plate margins were ductile enough for warm subducting. Such a difference is primarily dictated by higher mantle temperatures in the Archean than in the Phanerozoic. The development of plate subduction in both cold and warm realms is primarily dictated by the rheology of plate margins. This leads to a holistic model for the style of plate tectonics during different periods in Earth’s history.展开更多
Mobile Edge Computing(MEC) is an emerging technology in 5G era which enables the provision of the cloud and IT services within the close proximity of mobile subscribers.It allows the availability of the cloud servers ...Mobile Edge Computing(MEC) is an emerging technology in 5G era which enables the provision of the cloud and IT services within the close proximity of mobile subscribers.It allows the availability of the cloud servers inside or adjacent to the base station.The endto-end latency perceived by the mobile user is therefore reduced with the MEC platform.The context-aware services are able to be served by the application developers by leveraging the real time radio access network information from MEC.The MEC additionally enables the compute intensive applications execution in the resource constraint devices with the collaborative computing involving the cloud servers.This paper presents the architectural description of the MEC platform as well as the key functionalities enabling the above features.The relevant state-of-the-art research efforts are then surveyed.The paper finally discusses and identifies the open research challenges of MEC.展开更多
Mobile edge computing （MEC） is a novel technique that can reduce mobiles＇ com- putational burden by tasks offioading, which emerges as a promising paradigm to provide computing capabilities in close proximity to mo...Mobile edge computing （MEC） is a novel technique that can reduce mobiles＇ com- putational burden by tasks offioading, which emerges as a promising paradigm to provide computing capabilities in close proximity to mobile users. In this paper, we will study the scenario where multiple mobiles upload tasks to a MEC server in a sing cell, and allocating the limited server resources and wireless chan- nels between mobiles becomes a challenge. We formulate the optimization problem for the energy saved on mobiles with the tasks being dividable, and utilize a greedy choice to solve the problem. A Select Maximum Saved Energy First （SMSEF） algorithm is proposed to realize the solving process. We examined the saved energy at different number of nodes and channels, and the results show that the proposed scheme can effectively help mobiles to save energy in the MEC system.展开更多
The rapid growth of mobile internet services has yielded a variety of computation-intensive applications such as virtual/augmented reality. Mobile Edge Computing (MEC), which enables mobile terminals to offload comput...The rapid growth of mobile internet services has yielded a variety of computation-intensive applications such as virtual/augmented reality. Mobile Edge Computing (MEC), which enables mobile terminals to offload computation tasks to servers located at the edge of the cellular networks, has been considered as an efficient approach to relieve the heavy computational burdens and realize an efficient computation offloading. Driven by the consequent requirement for proper resource allocations for computation offloading via MEC, in this paper, we propose a Deep-Q Network (DQN) based task offloading and resource allocation algorithm for the MEC. Specifically, we consider a MEC system in which every mobile terminal has multiple tasks offloaded to the edge server and design a joint task offloading decision and bandwidth allocation optimization to minimize the overall offloading cost in terms of energy cost, computation cost, and delay cost. Although the proposed optimization problem is a mixed integer nonlinear programming in nature, we exploit an emerging DQN technique to solve it. Extensive numerical results show that our proposed DQN-based approach can achieve the near-optimal performance。展开更多
文摘This paper presents the rigorous study of mobile robot navigation techniques used so far.The step by step investigations of classical and reactive approaches are made here to understand the development of path planning strategies in various environmental conditions and to identify research gap.The classical approaches such as cell decomposition(CD),roadmap approach(RA),artificial potential field(APF);reactive approaches such as genetic algorithm(GA),fuzzy logic(FL),neural network(NN),firefly algorithm(FA),particle swarm optimization(PSO),ant colony optimization(ACO),bacterial foraging optimization(BFO),artificial bee colony(ABC),cuckoo search(CS),shuffled frog leaping algorithm(SFLA)and other miscellaneous algorithms(OMA)are considered for study.The navigation over static and dynamic condition is analyzed(for single and multiple robot systems)and it has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical approaches.It is also observed that the reactive approaches are used to improve the performance of the classical approaches as a hybrid algorithm.Hence,reactive approaches are more popular and widely used for path planning of mobile robot.The paper concludes with tabular data and charts comparing the frequency of individual navigational strategies which can be used for specific application in robotics.
基金NSFC Under Grant No. 90715038MOST of China Under Grant No. 2006BAC13B02
文摘The National Strong Motion Observation Network System （NSMONS） of China is briefly introduced in this paper. The NSMONS consists of permanent free-field stations, special observation arrays, mobile observatories and a network management system. During the Wenchuan Earthquake, over 1,400 components of acceleration records were obtained from 460 permanent free-field stations and three arrays for topographical effect and structural response observation in the network system from the main shock, and over 20,000 components of acceleration records from strong aftershocks occurred before August 1, 2008 were also obtained by permanent free-field stations of the NSMONS and 59 mobile instruments quickly deployed after the main shock. The strong motion recordings from the main shock and strong aftershocks are summarized in this paper. In the ground motion recordings, there are over 560 components with peak ground acceleration （PGA） over 10 Gal, the largest being 957.7 Gal. The largest PGA recorded during the aftershock exceeds 300 Gal.
基金This work was supported in part by the National Science Fund for Distinguished Young Scholars in China under grant 61425012the National Science Foundation Project in China under grant 61931005 and 61731017.
文摘Mobile communication standards have been developed into a new era of B5G and 6G.In recent years,low earth orbit(LEO)satellites and space Internet have become hot topics.The integrated satellite and terrestrial systems have been widely discussed by industries and academics,and even are expected to be applied in those huge constellations in construction.This paper points out the trends of two stages towards system integration of the terrestrial mobile communication and the satellite communications:to be compatible with 5G,and to be integrated within 6G.Based on analysis of the challenges of both stages,key technologies are thereafter analyzed in detail,covering both air interface currently discussed in 3GPP for B5G and also novel network architecture and related transmission technologies toward future 6G.
基金supported by the Strategic Priority Research Program of Chinese Academy of Sciences (XDB18020303)the National Natural Science Foundation of China (41590620 and 41890831).
文摘When plate tectonics started to occur on Earth and how it has evolved through time are two of the most fundamental questions in earth sciences. While gravity-driven subducting has been accepted as a critical condition for the operation of plate tectonics on Earth, it is intriguing how the dynamic regime and thermal state of subduction zones have affected the style of plate tectonics in Earth’s history. The metamorphic rocks of regional distribution along convergent plate boundaries record reworking of crustal rocks through dehydration and melting at lithospheric depths. The property of regional metamorphism is determined by both dynamic regime and thermal state of plate margins. The two variables have secularly evolved in Earth’s history, which is recorded by changes in the global distribution of metamorphic facies series through time. This results in two styles of plate tectonics. Modern-style plate tectonics has developed since the Neoproterozoic when plate margins were rigid enough for cold subducting, whereas ancient-style plate tectonics has developed since the Archean when plate margins were ductile enough for warm subducting. Such a difference is primarily dictated by higher mantle temperatures in the Archean than in the Phanerozoic. The development of plate subduction in both cold and warm realms is primarily dictated by the rheology of plate margins. This leads to a holistic model for the style of plate tectonics during different periods in Earth’s history.
文摘Mobile Edge Computing(MEC) is an emerging technology in 5G era which enables the provision of the cloud and IT services within the close proximity of mobile subscribers.It allows the availability of the cloud servers inside or adjacent to the base station.The endto-end latency perceived by the mobile user is therefore reduced with the MEC platform.The context-aware services are able to be served by the application developers by leveraging the real time radio access network information from MEC.The MEC additionally enables the compute intensive applications execution in the resource constraint devices with the collaborative computing involving the cloud servers.This paper presents the architectural description of the MEC platform as well as the key functionalities enabling the above features.The relevant state-of-the-art research efforts are then surveyed.The paper finally discusses and identifies the open research challenges of MEC.
基金supported by NSFC(No. 61571055)fund of SKL of MMW (No. K201815)Important National Science & Technology Specific Projects(2017ZX03001028)
文摘Mobile edge computing （MEC） is a novel technique that can reduce mobiles＇ com- putational burden by tasks offioading, which emerges as a promising paradigm to provide computing capabilities in close proximity to mobile users. In this paper, we will study the scenario where multiple mobiles upload tasks to a MEC server in a sing cell, and allocating the limited server resources and wireless chan- nels between mobiles becomes a challenge. We formulate the optimization problem for the energy saved on mobiles with the tasks being dividable, and utilize a greedy choice to solve the problem. A Select Maximum Saved Energy First （SMSEF） algorithm is proposed to realize the solving process. We examined the saved energy at different number of nodes and channels, and the results show that the proposed scheme can effectively help mobiles to save energy in the MEC system.
基金the National Natural Science Foundation of China under Grants No. 61572440 and No. 61502428the Zhejiang Provincial Natural Science Foundation of China under Grants No. LR16F010003 and No. LY19F020033.
文摘The rapid growth of mobile internet services has yielded a variety of computation-intensive applications such as virtual/augmented reality. Mobile Edge Computing (MEC), which enables mobile terminals to offload computation tasks to servers located at the edge of the cellular networks, has been considered as an efficient approach to relieve the heavy computational burdens and realize an efficient computation offloading. Driven by the consequent requirement for proper resource allocations for computation offloading via MEC, in this paper, we propose a Deep-Q Network (DQN) based task offloading and resource allocation algorithm for the MEC. Specifically, we consider a MEC system in which every mobile terminal has multiple tasks offloaded to the edge server and design a joint task offloading decision and bandwidth allocation optimization to minimize the overall offloading cost in terms of energy cost, computation cost, and delay cost. Although the proposed optimization problem is a mixed integer nonlinear programming in nature, we exploit an emerging DQN technique to solve it. Extensive numerical results show that our proposed DQN-based approach can achieve the near-optimal performance。
