77 resultados para Cooperative associations
Resumo:
In this paper we present experimental results for the dual robot transport of an extended payload. Two robotic rovers that were designed specifically for the extended payload transport task are described. Each rover incorporates a 4-DOF robot arm incorporating three active joints (one of which is a gripper), a passive wrist, and a mobile base which employs a rocker-bogie design. A set of behaviours has been developed to support the performance of the task, integrating simple sensing with controls. We describe the behaviours and their integration within the overall task structure. The experimental results presented focus on the manipulation elements of the task, but incorporate a complete cycle of pick-up, traversal, and putdown.
Resumo:
In this paper we consider a cooperative communication system where some a priori information of wireless channels is available at the transmitter. Several opportunistic relaying strategies are developed to fully utilize the available channel information. Then an explicit expression of the outage probability is developed for each proposed cooperative scheme as well as the diversity-multiplexing tradeoff by using order statistics. Our analytical results show that the more channel information available at the transmitter, the better performance a cooperative system can achieve. When the exact values of the source-relay channels are available, the performance loss at low SNR can be effectively suppressed. When the source node has the access to the source-relay and relay-destination channels, the full diversity can be achieved by costing only one extra channel used for relaying transmission, and an optimal diversity-multiplexing tradeoff can be achieved d(r) = (N + 1)(1 - 2r), where N is the number of all possible relaying nodes.
Resumo:
The aim of this paper is to study the impact of channel state information on the design of cooperative transmission protocols. This is motivated by the fact that the performance gain achieved by cooperative diversity comes at the price of the extra bandwidth resource consumption. Several opportunistic relaying strategies are developed to fully utilize the different types of a priori channel information. The information-theoretic measures such as outage probability and diversity-multiplexing tradeoff are developed for the proposed protocols. The analytical and numerical results demonstrate that the use of such a priori information increases the spectral efficiency of cooperative diversity, especially at low signal-to-noise ratio.
Resumo:
This paper proposes a full interference cancellation (FIC) approach for two-path cooperative communications. Unlike the single relay schemes, the two-path cooperative scheme involves two relay nodes, so that the source can continuously transmit data to the two relays alternatively and the full bandwidth efficiency with respect to the direct transmission can be retained. The two-path relay scheme may however suffer from inter-relay interference which is caused by the simultaneous transmission of the source and one of the relays at any time. In this paper, first the inter-relay interference is expressed as a single recursive term in the received signal, and then the FIC approach is proposed to fully remove the inter-relay interference. The FIC has not only better performance but also less complexity than existing approaches. Numerical examples are also given to verify the proposed approach.
Resumo:
The aim of this paper is to study the impact of channel state information on the design of cooperative transmission protocols. This is motivated by the fact that the performance gain achieved by cooperative diversity comes at the price of the extra bandwidth resource consumption. Several opportunistic relaying strategies are developed to fully utilize the different types of a priori channel information. The analytical and numerical results demonstrate that the use of such a priori information increases the spectral efficiency of cooperative diversity, especially at low signal-to-noise ratio.
Resumo:
This study investigates the superposition-based cooperative transmission system. In this system, a key point is for the relay node to detect data transmitted from the source node. This issued was less considered in the existing literature as the channel is usually assumed to be flat fading and a priori known. In practice, however, the channel is not only a priori unknown but subject to frequency selective fading. Channel estimation is thus necessary. Of particular interest is the channel estimation at the relay node which imposes extra requirement for the system resources. The authors propose a novel turbo least-square channel estimator by exploring the superposition structure of the transmission data. The proposed channel estimator not only requires no pilot symbols but also has significantly better performance than the classic approach. The soft-in-soft-out minimum mean square error (MMSE) equaliser is also re-derived to match the superimposed data structure. Finally computer simulation results are shown to verify the proposed algorithm.
Resumo:
Purpose – To describe some research done, as part of an EPSRC funded project, to assist engineers working together on collaborative tasks. Design/methodology/approach – Distributed finite state modelling and agent techniques are used successfully in a new hybrid self-organising decision making system applied to collaborative work support. For the particular application, analysis of the tasks involved has been performed and these tasks are modelled. The system then employs a novel generic agent model, where task and domain knowledge are isolated from the support system, which provides relevant information to the engineers. Findings – The method is applied in the despatch of transmission commands within the control room of The National Grid Company Plc (NGC) – tasks are completed significantly faster when the system is utilised. Research limitations/implications – The paper describes a generic approach and it would be interesting to investigate how well it works in other applications. Practical implications – Although only one application has been studied, the methodology could equally be applied to a general class of cooperative work environments. Originality/value – One key part of the work is the novel generic agent model that enables the task and domain knowledge, which are application specific, to be isolated from the support system, and hence allows the method to be applied in other domains.
Resumo:
Capsule: Different urban breeding bird communities are associated with different habitat types, but, although community species diversity varies significantly, total bird density does not. Aims: To investigate the association between breeding bird communities and habitats within Bristol, UK and how these communities vary in terms of species diversity and total bird abundance. Methods: Breeding density data for 70 species in the metropolitan area of Bristol, UK were subjected to de-trended correspondence analysis to identify the number of different communities present and their indicator species. These data were then used to identify patterns of habitat association with each community and differences in species richness and total bird density. Results: Three communities were identified: a rural community associated with woodland, managed grassland and inland water; a suburban community associated with buildings and residential gardens; and an intermediate community that shared some of these habitat characteristics. Species richness, but not total bird abundance, was lowest in the suburban community. Conclusion: The diversity of species in urban areas appears to be most dependent upon the availability of patches of natural and semi-natural habitats. Residential gardens support fewer species, but those species that are present may be found at high densities.
Resumo:
This paper proposes the full interference cancellation (FIC) algorithm to cancel the inter-relay interference (IRI) in the two-path cooperative system. Arising from simultaneous data transmission from the source and relay nodes, IRI may significantly decrease the performance if it is not carefully handled. Compared to the existing partial interference cancellation (PIC) scheme, the FIC approach is more robust yet with less complexity. Numerical results are also given to verify the proposed scheme.
Resumo:
As the incidence of obesity is reaching 'epidemic' proportions, there is currently widespread interest in the impact of dietary components on body-weight and food intake regulation. The majority of data available from both epidemiological and intervention studies provide evidence of a negative but modest association between milk and dairy product consumption and BMI and other measures of adiposity, with indications that higher intakes result in increased weight loss and lean tissue maintenance during energy restriction. The purported physiological and molecular mechanisms underlying the impact of dairy constituents on adiposity are incompletely understood but may include effects on lipolysis, lipogeneis and fatty acid absorption. Furthermore, accumulating evidence indicates an impact of dairy constituents, in particular whey protein derivatives, on appetite regulation and food intake. The present review summarises available data and provides an insight into the likely contribution of dairy foods to strategies aimed at appetite regulation, weight loss or the prevention of weight gain.
Resumo:
Two controlled microcosm experiments aimed at a critical re-assessment of the contributions of divergent arbuscular mycorrhizal (AM) fungi to plant mineral nutrition were established that specifically targeted Plantago lanceolata–Glomus intraradices (B.B/E) and –Gigaspora margarita (BEG 34) symbioses developed in a native, nutrient limited, coastal dune soil. Plant tissue nitrogen (N), phosphorus (P) and potassium (K) status as well as plant growth parameters and levels of mycorrhizal colonization were assessed at harvest. In addition to the general well-established mycorrhizal facilitation of P uptake, the study was able to demonstrate a G. intraradices-specific contribution to improved plant nitrogen and potassium nutrition. In the two respective experiments, G. intraradices-inoculated plants had 27.8% and 40.8% more total N and 55.8% and 23.3% more total K when compared to Gi. margarita inoculated counterparts. Dissimilar overall contribution of the two isolates to plant nutrition was identified in AM-genus specific differences in plant tissue N:P:K ratios. G. intraradices inoculated and non-mycorrhizal plants generally exhibited N:P:K ratios indicative of P limitation whereas for Gi.margarita mycorrhizal plants, corresponding ratios strongly implied either N or K limitation. The study provides further evidence highlighting AM functional biodiversity in respect to plant nutrient limitation experienced by mycorrhizal P. lanceolata in an ecologically relevant soil system.