The blockchain trilemma—balancing decentralization,security,and scalability—remains a critical challenge in distributed ledger technology.Despite significant advancements,achieving all three attributes simultaneousl...The blockchain trilemma—balancing decentralization,security,and scalability—remains a critical challenge in distributed ledger technology.Despite significant advancements,achieving all three attributes simultaneously continues to elude most blockchain systems,often forcing trade-offs that limit their real-world applicability.This review paper synthesizes current research efforts aimed at resolving the trilemma,focusing on innovative consensus mechanisms,sharding techniques,layer-2 protocols,and hybrid architectural models.We critically analyze recent breakthroughs,including Directed Acyclic Graph(DAG)-based structures,cross-chain interoperability frameworks,and zero-knowledge proof(ZKP)enhancements,which aimto reconcile scalability with robust security and decentralization.Furthermore,we evaluate the trade-offs inherent in these approaches,highlighting their practical implications for enterprise adoption,decentralized finance(DeFi),and Web3 ecosystems.By mapping the evolving landscape of solutions,this review identifies gaps in currentmethodologies and proposes future research directions,such as adaptive consensus algorithms and artificial intelligence-driven(AI-driven)governance models.Our analysis underscores that while no universal solution exists,interdisciplinary innovations are progressively narrowing the trilemma’s constraints,paving the way for next-generation blockchain infrastructures.展开更多
Wastewater electrolysis cells(WECs)for decentralized wastewater treatment/reuse coupled with H_(2) production can reduce the carbon footprint associated with transportation of water,waste,and energy carrier.This study...Wastewater electrolysis cells(WECs)for decentralized wastewater treatment/reuse coupled with H_(2) production can reduce the carbon footprint associated with transportation of water,waste,and energy carrier.This study reports Ir-doped NiFe_(2)O_(4)(NFI,~5 at%Ir)spinel layer with TiO_(2) overlayer(NFI/TiO_(2)),as a scalable heterojunction anode for direct electrolysis of wastewater with circumneutral pH in a single-compartment cell.In dilute(0.1 M)NaCl solutions,the NFI/TiO_(2) marks superior activity and selectivity for chlorine evolution reaction,outperforming the benchmark IrO_(2).Robust operation in near-neutral pH was confirmed.Electroanalyses including operando X-ray absorption spectroscopy unveiled crucial roles of TiO_(2) which serves both as the primary site for Cl−chemisorption and a protective layer for NFI as an ohmic contact.Galvanostatic electrolysis of NH4+-laden synthetic wastewater demonstrated that NFI/TiO_(2)not only achieves quasi-stoichiometric NH_(4)^(+)-to-N_(2)conversion,but also enhances H_(2)generation efficiency with minimal competing reactions such as reduction of dissolved oxygen and reactive chlorine.The scaled-up WEC with NFI/TiO_(2)was demonstrated for electrolysis of toilet wastewater.展开更多
Traditional Internet of Things(IoT)architectures that rely on centralized servers for data management and decision-making are vulnerable to security threats and privacy leakage.To address this issue,blockchain has bee...Traditional Internet of Things(IoT)architectures that rely on centralized servers for data management and decision-making are vulnerable to security threats and privacy leakage.To address this issue,blockchain has been advocated for decentralized data management in a tamper-resistance,traceable,and transparent manner.However,a major issue that hinders the integration of blockchain and IoT lies in that,it is rather challenging for resource-constrained IoT devices to perform computation-intensive blockchain consensuses such as Proof-of-Work(PoW).Furthermore,the incentive mechanism of PoW pushes lightweight IoT nodes to aggregate their computing power to increase the possibility of successful block generation.Nevertheless,this eventually leads to the formation of computing power alliances,and significantly compromises the decentralization and security of BlockChain-aided IoT(BC-IoT)networks.To cope with these issues,we propose a lightweight consensus protocol for BC-IoT,called Proof-of-Trusted-Work(PoTW).The goal of the proposed consensus is to disincentivize the centralization of computing power and encourage the independent participation of lightweight IoT nodes in blockchain consensus.First,we put forth an on-chain reputation evaluation rule and a reputation chain for PoTW to enable the verifiability and traceability of nodes’reputations based on their contributions of computing power to the blockchain consensus,and we incorporate the multi-level block generation difficulty as a rewards for nodes to accumulate reputations.Second,we model the block generation process of PoTW and analyze the block throughput using the continuous time Markov chain.Additionally,we define and optimize the relative throughput gain to quantify and maximize the capability of PoTW that suppresses the computing power centralization(i.e.,centralization suppression).Furthermore,we investigate the impact of the computing power of the computing power alliance and the levels of block generation difficulty on the centralization suppression capability of PoTW.Finally,simulation results demonstrate the consistency of the analytical results in terms of block throughput.In particular,the results show that PoTW effectively reduces the block generation proportion of the computing power alliance compared with PoW,while simultaneously improving that of individual lightweight nodes.This indicates that PoTW is capable of suppressing the centralization of computing power to a certain degree.Moreover,as the levels of block generation difficulty in PoTW increase,its centralization suppression capability strengthens.展开更多
Intensely using online social networks(OSNs)makes users concerned about privacy of data.Given the centralized nature of these platforms,and since each platform has a particular storage mechanism,authentication,and acc...Intensely using online social networks(OSNs)makes users concerned about privacy of data.Given the centralized nature of these platforms,and since each platform has a particular storage mechanism,authentication,and access control,their users do not have the control and the right over their data.Therefore,users cannot easily switch between similar platforms or transfer data from one platform to another.These issues imply,among other things,a threat to privacy since such users depend on the interests of the service provider responsible for administering OSNs.As a strategy for the decentralization of the OSNs and,consequently,as a solution to the privacy problems in these environments,the so-called decentralized online social networks(DOSNs)have emerged.Unlike OSNs,DOSNs are decentralized content management platforms because they do not use centralized service providers.Although DOSNs address some of the privacy issues encountered in OSNs,DOSNs also pose significant challenges to consider,for example,access control to user profile information with high granularity.This work proposes developing an ontological model and a service to support privacy in DOSNs.The model describes the main concepts of privacy access control in DOSNs and their relationships.In addition,the service will consume the model to apply access control according to the policies represented in the model.Our model was evaluated in two phases to verify its compliance with the proposed domain.Finally,we evaluated our service with a performance evaluation,and the results were satisfactory concerning the response time of access control requests.展开更多
In this paper, we study the decentralized federated learning problem, which involves the collaborative training of a global model among multiple devices while ensuring data privacy.In classical federated learning, the...In this paper, we study the decentralized federated learning problem, which involves the collaborative training of a global model among multiple devices while ensuring data privacy.In classical federated learning, the communication channel between the devices poses a potential risk of compromising private information. To reduce the risk of adversary eavesdropping in the communication channel, we propose TRADE(transmit difference weight) concept. This concept replaces the decentralized federated learning algorithm's transmitted weight parameters with differential weight parameters, enhancing the privacy data against eavesdropping. Subsequently, by integrating the TRADE concept with the primal-dual stochastic gradient descent(SGD)algorithm, we propose a decentralized TRADE primal-dual SGD algorithm. We demonstrate that our proposed algorithm's convergence properties are the same as those of the primal-dual SGD algorithm while providing enhanced privacy protection. We validate the algorithm's performance on fault diagnosis task using the Case Western Reserve University dataset, and image classification tasks using the CIFAR-10 and CIFAR-100 datasets,revealing model accuracy comparable to centralized federated learning. Additionally, the experiments confirm the algorithm's privacy protection capability.展开更多
Federated Graph Learning (FGL) enables model training without requiring each client to share local graph data, effectively breaking data silos by aggregating the training parameters from each terminal while safeguardi...Federated Graph Learning (FGL) enables model training without requiring each client to share local graph data, effectively breaking data silos by aggregating the training parameters from each terminal while safeguarding data privacy. Traditional FGL relies on a centralized server for model aggregation;however, this central server presents challenges such as a single point of failure and high communication overhead. Additionally, efficiently training a robust personalized local model for each client remains a significant objective in federated graph learning. To address these issues, we propose a decentralized Federated Graph Learning framework with efficient communication, termed Decentralized Federated Graph Learning via Surrogate Model (SD_FGL). In SD_FGL, each client is required to maintain two models: a private model and a surrogate model. The surrogate model is publicly shared and can exchange and update information directly with any client, eliminating the need for a central server and reducing communication overhead. The private model is independently trained by each client, allowing it to calculate similarity with other clients based on local data as well as information shared through the surrogate model. This enables the private model to better adjust its training strategy and selectively update its parameters. Additionally, local differential privacy is incorporated into the surrogate model training process to enhance privacy protection. Testing on three real-world graph datasets demonstrates that the proposed framework improves accuracy while achieving decentralized Federated Graph Learning with lower communication overhead and stronger privacy safeguards.展开更多
Energy access remains a critical challenge in rural South Sudan,with communities heavily relying on expensive and unfriendly environmental energy sources such as diesel generators and biomass.This study addresses the ...Energy access remains a critical challenge in rural South Sudan,with communities heavily relying on expensive and unfriendly environmental energy sources such as diesel generators and biomass.This study addresses the predicament by evaluating the feasibility of renewable energy-based decentralized electrification in the selected village ofDoleibHill,UpperNile,South Sudan.Using a demand assessment and theMulti-Tier Framework(MTF)approach,it categorizes households,public facilities,private sector,Non-GovernmentalOrganizations(NGOs)and business energy needs and designs an optimized hybrid energy system incorporating solar Photovoltaic(PV),wind turbines,batteries,and a generator.The proposed system,simulated in Hybrid Optimization Model Electric Renewable(HOMER)Pro,demonstrates strong economic viability,with a present worth of$292,145,an annual worth of$22,854,a return on investment(ROI)of 36.5%,and an internal rate of return(IRR)of 42.1%.The simple payback period is 2.31 years,and the discounted payback period is 2.62 years.The system achieves a levelized cost of energy(LCOE)of$0.276/kWh and significantly reduces dependence on diesel,producing 798,800 kWh annually fromwind energy.This research provides a replicable model for cost-effective,sustainable rural electrification,offering valuable insights for policymakers and energy planners seeking to expand electricity access in off-grid communities.展开更多
Despite the increasing global emphasis on decentralized disaster risk reduction(DRR),the capacity of local institutions to implement eff ective risk governance strategies remains inconsistent and often inadequate.This...Despite the increasing global emphasis on decentralized disaster risk reduction(DRR),the capacity of local institutions to implement eff ective risk governance strategies remains inconsistent and often inadequate.This study conducted a comparative analysis of institutional vulnerability at the municipal level in two hazard-prone regions:Teziutlán,Mexico,and Tola,Nicaragua.It employed comparative case study methods alongside structured surveys administered to local DRR actors.An integrated analytical framework was used,synthesizing the Pressure and Release model,the Forensic Investigations of Disasters approach,the MOVE framework,and the Institutional Analysis and Development model.The research identified key institutional vulnerabilities,including preparedness,coordination,information access,infrastructure,legal enforcement,climate integration,and informal governance.The findings indicate that the deficiencies within these institutions are not merely technical but are significantly influenced by systemic disparities in power,resource allocation,and political stability.Both municipalities exhibit notable gaps between formal DRR mandates and their operational implementation,reflecting a structural disjunction between institutions articulated in policy(institutions-in-form)and those in practice(institutions-inuse).The study concluded that eff ectively addressing institutional vulnerability necessitates transitioning from compliancedriven reforms towards integrated strategies that foster institutional learning,enhance cross-sectoral coordination,promote climate adaptation,and acknowledge informal and community-based governance structures.These findings off er policyrelevant insights for national and regional policymakers seeking to strengthen the institutional foundations of local DRR implementation within Latin America and comparable decentralized governance contexts.展开更多
We analyzed the magnitude of land use land cover changes and identified drivers of those changes at Awash National Park, Ethiopia, using aerial photographs, satellite images and field observation. Scattered bushland—...We analyzed the magnitude of land use land cover changes and identified drivers of those changes at Awash National Park, Ethiopia, using aerial photographs, satellite images and field observation. Scattered bushland—the most important habitat for the wild animals, declined drastically. Areas under grassland, farmland or open land increased over the study period. Policy and park border demarcation issues were identified as drivers of change before 1995 (before decentralization), whereas livestock grazing was indicated to be the leading driver of change after 1995. Major events and causes that largely explained these changes include immigration of the Ittu community, land tenure system, drought, poaching, use policy issues and regional economic and infrastructural development. Our study reveals that the sustainability of the park calls for an immediate action to reduce the ever increasing human and livestock pressure on park resources.展开更多
In rapid socio-economic developme nt,the process of concentration and dispersal of various elements tends to be more dramatic,tremendously in fluencing the shaping and transform ation of the space in metropolitan area...In rapid socio-economic developme nt,the process of concentration and dispersal of various elements tends to be more dramatic,tremendously in fluencing the shaping and transform ation of the space in metropolitan area.Survey of spatial concentration and decent ralization has thus become a basic me thod in examining metropolitan spatial evolution.In this research,three elements were selected as the essential indicato rs of the process:demographic density distribu-tion,employment density distribut ion and business office location.Performance of these elements in Nanji ng City was exam-ined historically.As Nanjing City c ould be regarded as a representative of metropolitan areas in China,its s ituation large-ly suggestes the general characteristics in similar areas of China.Hence based on the investigation of Nanji ng City,four general implications were highligh ted.First,metropolitan areas inChina are in a violentprocess and shift of spatialconcentra-tion and decentralization.Second,from now to at least the near future,c oncentration will continue to be the central fea-ture.Third,the landscape of metrop olitan areas basically exhibits a dual structure character.The gap in en vironmental and ecological qualities among different districts will continue for a l ong time.Fourth,Central Business District(CBD)is playing an important role in helpi ng to convert the traditionally single-centered city structure into a polycentric one.展开更多
While China's economic growth has been impressive since 1978, regional disparity in terms of provincial per capita GDP has been increasing. On the other hand, this rapid but uneven growth was accompanied by China&...While China's economic growth has been impressive since 1978, regional disparity in terms of provincial per capita GDP has been increasing. On the other hand, this rapid but uneven growth was accompanied by China's deepening openness and structural reforms including the development of non-state-owned enterprises (non-SOEs) and fiscal decentralization. Based on quantitative analyses, this paper tries to explore the features of regional disparity in China and the relationships between regional growth and China's openness and economic structure reforms in the period from 1981 to 2000. The paper finds that the catching-up of the coastal region to the initially rich provinces, which are mainly located in inland areas, brought about a convergence of the growth pattern across provinces in the 1980s.The subsequent divergence in the provincial growth rates between the coast and the interior generated an enlarging regional disparity in China in the 1990s. The ever-faster growth in the coastal region was benefited by China's openness and the development of non-state-owned enterprises. The development of non-state-owned enterprises underlies the higher operational efficiency in the coastal region. Additionally, with the insignificant regression results, fiscal decentralization was observed to facilitate faster growth in the coast region. The findings justify the initiative of the 'West Region Development Strategy' and offer some policy implications for China.展开更多
This article provides a coherent framework within which to understand China’s development model,as well as the successes and the failures of China’s decentralization approach to reform.The combination of political c...This article provides a coherent framework within which to understand China’s development model,as well as the successes and the failures of China’s decentralization approach to reform.The combination of political centralization and economic decentralization provide local government with enough incentives to develop local economies,in particular incentives to promote market privatisation locally.However,the relative evaluation-based incentive schemes lead to inter- regional market segmentation,increasing inter-regional development gaps and the unequal provision of certain public goods.The success of early-stage reform can be attributed to the benefits of the decentralization approach.The next stage reform should however focus on minimizing the associated costs.China’s gradualist reform can be seen as a mechanism design issue under the control of central government.Therefore,it is essential to take both the costs and benefits of the decentralization approach into account in the design of the next-stage reform package.展开更多
The objective of this article is to speculate on resort restructuring in the market-oriented reform process in China.Previous studies show that spatial disequilibrium was aggravated by decentralization,which leads to ...The objective of this article is to speculate on resort restructuring in the market-oriented reform process in China.Previous studies show that spatial disequilibrium was aggravated by decentralization,which leads to the difference in tourism policy and investment,public goods,and service;a profound analytical framework is much needed for further empirical studies.This article has reviewed the relevant studies on links between decentralization and restructuring,spatial influences of decentralization on tourism,based on which we put forward the theoretical framework of resort spatial restructuring from the view of political economy analysis,then we elaborate on and discuss it based on the example of Sanya,China.In short,the article suggests that decentralization of fiscal responsibilities and institutional power contributes to the spatial disequilibrium of tourism industrial structure,land use,public infrastructure and service facilities,and to community inequality.Interests of government,investors,and community should be comprehensively coordinated in the resort spatial restructuring process from three aspects:restructuring government,optimizing space structure,and tourism industry.Furthermore,we argue that resort restructuring in the context of Sanya requires coordination of various interest groups through four ways:restructure the government power under administrative division adjustment,optimizing spatial structure,expanding industrial space to diversified tourism products,and building resort management services organization.Finally,we discussed some policy requirements for resort sustainable development.展开更多
The argument over fiscal decentralization and carbon dioxide emission(CO_(2))reduction has received much attention.However,evidence to back this claim is limited.Economic theory predicts that fiscal decentralization a...The argument over fiscal decentralization and carbon dioxide emission(CO_(2))reduction has received much attention.However,evidence to back this claim is limited.Economic theory predicts that fiscal decentralization affects environmental quality,but the specifics of this relationship are still up for debate.Some scholars noted that fiscal decentralization might lead to a race to the top,whereas others contended that it would result in a race to the bottom.In light of the current debates in environmental and development economics,this study aims to provide insight into how this relationship may function in South Africa from 1960 to 2020.In contrast to the existing research,the present study uses a novel dynamic autoregressive distributed lag simulation approach to assess the positive and negative changes in fiscal decentralization,scale effect,technique effect,technological innovation,foreign direct investment,energy consumption,industrial growth,and trade openness on CO_(2)emissions.The following are the main findings:(i)Fiscal decentralization had a CO_(2)emission reduction impact in the short and long run,highlighting the presence of the race to the top approach.(ii)Economic growth(as represented by the scale effect)eroded ecological integrity.However,its square(as expressed by technique effect)aided in strengthening ecological protection,validating the environmental Kuznets curve hypothesis.(iii)CO_(2)emissions were driven by energy utilization,trade openness,industrial value-added,and foreign direct investment,whereas technological innovation boosted ecological integrity.Findings suggest that further fiscal decentralization should be undertaken through further devolution of power to local entities,particularly regarding environmental policy issues,to maintain South Africa’s ecological sustainability.South Africa should also establish policies to improve environmental sustainability by strengthening a lower layer of government and clarifying responsibilities at the national and local levels to fulfill the energy-saving functions of fiscal expenditures.展开更多
By motivating local governments to fght for financial resources, China＇s tax sharing reform has affected the structure of financial decentralization and inflated local financial systems, thus spawning regional financ...By motivating local governments to fght for financial resources, China＇s tax sharing reform has affected the structure of financial decentralization and inflated local financial systems, thus spawning regional financial risks. Based on theoretical analysis and empirical evidence, this paper has arrived at the following findings： due to different policy objectives, central and local governments exhibit different fiscal and financial behaviors; public finance and financial sector have become financing instruments with certain convertibility under local economic growth framework,＂ fiscal decentralization inevitably affects financial decentralization and lays the foundation for provincial fiscal disparities, resulting in a certain spatial effect of interprovincial fiscal variable; fnancial explicit centralization/implicit decentralization and fiscal centralization have fueled local competition for financial resources and resulted in correlation between the spatial effects of provincial financial and fiscal variables, and moreover, their mismatch has also spawned fiscal and financial risks on various fronts. Hence, setting clear boundaries of financial centralization and decentralization and ensuring local government fiscal accountability is the key to the prevention and mitigation of fiscal and financial risks in China.展开更多
Centralized storage and identity identification methods pose many risks,including hacker attacks,data misuse,and single points of failure.Additionally,existing centralized identity management methods face interoperabi...Centralized storage and identity identification methods pose many risks,including hacker attacks,data misuse,and single points of failure.Additionally,existing centralized identity management methods face interoperability issues and rely on a single identity provider,leaving users without control over their identities.Therefore,this paper proposes a mechanism for identity identification and data sharing based on decentralized identifiers.The scheme utilizes blockchain technology to store the identifiers and data hashed on the chain to ensure permanent identity recognition and data integrity.Data is stored on InterPlanetary File System(IPFS)to avoid the risk of single points of failure and to enhance data persistence and availability.At the same time,compliance with World Wide Web Consortium(W3C)standards for decentralized identifiers and verifiable credentials increases the mechanism’s scalability and interoperability.展开更多
Controversies exist in literature regarding what indicators should be employed to measure China's fiscal decentralization. This paper measures China's fiscal decentralization by the sharing ratios of county-le...Controversies exist in literature regarding what indicators should be employed to measure China's fiscal decentralization. This paper measures China's fiscal decentralization by the sharing ratios of county-level VAT and corporate income tax(CIT). This approach avoids such problems as homogeneous denominator, and reflects the intricate interactions between governments at different levels. Based on extensive sources including the National Fiscal Statistical Information at Prefecture and County Levels and China County(City) Socio-Economic Statistical Yearbook over the 1998-2007 period, our estimation and analysis led to the following findings:(1) Since 2002, counties have retained a falling share of revenues;(2) a multidimensional horizontal comparison reveals a pattern in the county-level tax sharing ratio, i.e. counties in central and eastern regions retain a higher share of tax revenues compared with those in western and northwestern regions.These findings explain the fiscal difficulties at the grassroots level, and can be used to conduct a quantitative analysis of the determinants and economic effects of China's fiscal decentralization."展开更多
The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the ne...The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’attention.First,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is adopted.Then,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as followers.Its equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention pricing.Moreover,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is demonstrated.Finally,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different conditions.This study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.展开更多
This paper investigates the problem of decentralized multi-robot cooperative localization.This problem involves collaboratively estimating the poses of a group of robots with respect to a common reference coordinate s...This paper investigates the problem of decentralized multi-robot cooperative localization.This problem involves collaboratively estimating the poses of a group of robots with respect to a common reference coordinate system using robot-to-robot relative measurements and intermittent absolute measurements in a distributed manner.To address this problem,we present a decentralized fusion method that enables batch updating to handle relative measurements from multiple robots simultaneously.This method can improve both the accuracy and computational efficiency of cooperative localization.To reduce communication costs and reliance on connectivity,we do not maintain the inter-robot state correlations.Instead,we adopt a covariance intersection(CI)technique to design an upper bound that replaces unknown joint correlations.We propose an optimization method to determine a tight upper bound for the correlations in the joint update.The consistency and convergence of our proposed algorithm is theoretically analyzed.Furthermore,we conduct Monte Carlo numerical simulations and real-world experiments to demonstrate that the proposed method outperforms existing approaches in terms of both accuracy and consistency.展开更多
With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current era.The more complex tasks require not only that th...With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current era.The more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot system.Consequently,research on the multi-robot control system of spherical amphibious robots is very important.Presently,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control system.Existing systems primarily use a centralized control methodology.Although the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the enemy.The central node may not only fail to accomplish the task,but also lose control of other robots,with severe consequences.To solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain technology.First,the point-to-point information network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control system.On this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve decentralization.The experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.展开更多
文摘The blockchain trilemma—balancing decentralization,security,and scalability—remains a critical challenge in distributed ledger technology.Despite significant advancements,achieving all three attributes simultaneously continues to elude most blockchain systems,often forcing trade-offs that limit their real-world applicability.This review paper synthesizes current research efforts aimed at resolving the trilemma,focusing on innovative consensus mechanisms,sharding techniques,layer-2 protocols,and hybrid architectural models.We critically analyze recent breakthroughs,including Directed Acyclic Graph(DAG)-based structures,cross-chain interoperability frameworks,and zero-knowledge proof(ZKP)enhancements,which aimto reconcile scalability with robust security and decentralization.Furthermore,we evaluate the trade-offs inherent in these approaches,highlighting their practical implications for enterprise adoption,decentralized finance(DeFi),and Web3 ecosystems.By mapping the evolving landscape of solutions,this review identifies gaps in currentmethodologies and proposes future research directions,such as adaptive consensus algorithms and artificial intelligence-driven(AI-driven)governance models.Our analysis underscores that while no universal solution exists,interdisciplinary innovations are progressively narrowing the trilemma’s constraints,paving the way for next-generation blockchain infrastructures.
基金supported by the National Research Foundation of Korea(NRF)grants(2022R1A2C4001228,2022M3H4A4097524,2022M3I3A1082499,and 2021M3I3A1084818)the Technology Innovation Program(20026415)of the Ministry of Trade,Industry&Energy(MOTIE,Korea)the supports from Nanopac for fabrication of scaled-up reactor.
文摘Wastewater electrolysis cells(WECs)for decentralized wastewater treatment/reuse coupled with H_(2) production can reduce the carbon footprint associated with transportation of water,waste,and energy carrier.This study reports Ir-doped NiFe_(2)O_(4)(NFI,~5 at%Ir)spinel layer with TiO_(2) overlayer(NFI/TiO_(2)),as a scalable heterojunction anode for direct electrolysis of wastewater with circumneutral pH in a single-compartment cell.In dilute(0.1 M)NaCl solutions,the NFI/TiO_(2) marks superior activity and selectivity for chlorine evolution reaction,outperforming the benchmark IrO_(2).Robust operation in near-neutral pH was confirmed.Electroanalyses including operando X-ray absorption spectroscopy unveiled crucial roles of TiO_(2) which serves both as the primary site for Cl−chemisorption and a protective layer for NFI as an ohmic contact.Galvanostatic electrolysis of NH4+-laden synthetic wastewater demonstrated that NFI/TiO_(2)not only achieves quasi-stoichiometric NH_(4)^(+)-to-N_(2)conversion,but also enhances H_(2)generation efficiency with minimal competing reactions such as reduction of dissolved oxygen and reactive chlorine.The scaled-up WEC with NFI/TiO_(2)was demonstrated for electrolysis of toilet wastewater.
基金supported in part by National Key R&D Program of China(Grant No.2021YFB1714100)in part by the National Natural Science Foundation of China(NSFC)under Grant 62371239+5 种基金in part by the the Program of Science and Technology Cooperation of Nanjing with International/Hong Kong,Macao and Taiwan(Grant No.202401019)in part by the Guangdong Basic and Applied Basic Research Foundation(Grant No.2024A1515012407)in part by the the Research Center for FinTech and Digital-Intelligent Management at Shenzhen University,in part by the National Natural Science Foundation of China under Grant 62271192in part by the Equipment Pre-Research Joint Research Program of Ministry of Education under Grant 8091B032129in part by the Major Science and Technology Projects of Longmen Laboratory under Grant 231100220300 and 231100220200in part by the Central Plains Leading Talent in Scientific and Technological Innovation Program under Grant 244200510048.
文摘Traditional Internet of Things(IoT)architectures that rely on centralized servers for data management and decision-making are vulnerable to security threats and privacy leakage.To address this issue,blockchain has been advocated for decentralized data management in a tamper-resistance,traceable,and transparent manner.However,a major issue that hinders the integration of blockchain and IoT lies in that,it is rather challenging for resource-constrained IoT devices to perform computation-intensive blockchain consensuses such as Proof-of-Work(PoW).Furthermore,the incentive mechanism of PoW pushes lightweight IoT nodes to aggregate their computing power to increase the possibility of successful block generation.Nevertheless,this eventually leads to the formation of computing power alliances,and significantly compromises the decentralization and security of BlockChain-aided IoT(BC-IoT)networks.To cope with these issues,we propose a lightweight consensus protocol for BC-IoT,called Proof-of-Trusted-Work(PoTW).The goal of the proposed consensus is to disincentivize the centralization of computing power and encourage the independent participation of lightweight IoT nodes in blockchain consensus.First,we put forth an on-chain reputation evaluation rule and a reputation chain for PoTW to enable the verifiability and traceability of nodes’reputations based on their contributions of computing power to the blockchain consensus,and we incorporate the multi-level block generation difficulty as a rewards for nodes to accumulate reputations.Second,we model the block generation process of PoTW and analyze the block throughput using the continuous time Markov chain.Additionally,we define and optimize the relative throughput gain to quantify and maximize the capability of PoTW that suppresses the computing power centralization(i.e.,centralization suppression).Furthermore,we investigate the impact of the computing power of the computing power alliance and the levels of block generation difficulty on the centralization suppression capability of PoTW.Finally,simulation results demonstrate the consistency of the analytical results in terms of block throughput.In particular,the results show that PoTW effectively reduces the block generation proportion of the computing power alliance compared with PoW,while simultaneously improving that of individual lightweight nodes.This indicates that PoTW is capable of suppressing the centralization of computing power to a certain degree.Moreover,as the levels of block generation difficulty in PoTW increase,its centralization suppression capability strengthens.
基金Fundação de AmparoàPesquisa do Estado da Bahia(FAPESB),Coordenação de Aperfeiçoamento de Pessoal de Nível Superior(CAPES)Conselho Nacional de Desenvolvimento Científico e Tecnológico(CNPq)organizations for supporting the Graduate Program in Computer Science at the Federal University of Bahia.
文摘Intensely using online social networks(OSNs)makes users concerned about privacy of data.Given the centralized nature of these platforms,and since each platform has a particular storage mechanism,authentication,and access control,their users do not have the control and the right over their data.Therefore,users cannot easily switch between similar platforms or transfer data from one platform to another.These issues imply,among other things,a threat to privacy since such users depend on the interests of the service provider responsible for administering OSNs.As a strategy for the decentralization of the OSNs and,consequently,as a solution to the privacy problems in these environments,the so-called decentralized online social networks(DOSNs)have emerged.Unlike OSNs,DOSNs are decentralized content management platforms because they do not use centralized service providers.Although DOSNs address some of the privacy issues encountered in OSNs,DOSNs also pose significant challenges to consider,for example,access control to user profile information with high granularity.This work proposes developing an ontological model and a service to support privacy in DOSNs.The model describes the main concepts of privacy access control in DOSNs and their relationships.In addition,the service will consume the model to apply access control according to the policies represented in the model.Our model was evaluated in two phases to verify its compliance with the proposed domain.Finally,we evaluated our service with a performance evaluation,and the results were satisfactory concerning the response time of access control requests.
基金supported by the National Key Research and Development Program of China(2022YFB3305904)the National Natural Science Foundation of China(62133003,61991403,61991400)+4 种基金the Open Project of State Key Laboratory of Synthetical Automation for Process Industries(SAPI-2024-KFKT-05,SAPI-2024-KFKT-08)China Academy of Engineering Institute of Land Cooperation Consulting Project(2023-DFZD-60-02,N2424004)the Fundamental Research Funds for the Central UniversitiesShanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Key Research and Development Program of Liaoning Province(2023JH26/10200011)
文摘In this paper, we study the decentralized federated learning problem, which involves the collaborative training of a global model among multiple devices while ensuring data privacy.In classical federated learning, the communication channel between the devices poses a potential risk of compromising private information. To reduce the risk of adversary eavesdropping in the communication channel, we propose TRADE(transmit difference weight) concept. This concept replaces the decentralized federated learning algorithm's transmitted weight parameters with differential weight parameters, enhancing the privacy data against eavesdropping. Subsequently, by integrating the TRADE concept with the primal-dual stochastic gradient descent(SGD)algorithm, we propose a decentralized TRADE primal-dual SGD algorithm. We demonstrate that our proposed algorithm's convergence properties are the same as those of the primal-dual SGD algorithm while providing enhanced privacy protection. We validate the algorithm's performance on fault diagnosis task using the Case Western Reserve University dataset, and image classification tasks using the CIFAR-10 and CIFAR-100 datasets,revealing model accuracy comparable to centralized federated learning. Additionally, the experiments confirm the algorithm's privacy protection capability.
基金supported by InnerMongolia Natural Science Foundation Project(2021LHMS06003)Inner Mongolia University Basic Research Business Fee Project(114).
文摘Federated Graph Learning (FGL) enables model training without requiring each client to share local graph data, effectively breaking data silos by aggregating the training parameters from each terminal while safeguarding data privacy. Traditional FGL relies on a centralized server for model aggregation;however, this central server presents challenges such as a single point of failure and high communication overhead. Additionally, efficiently training a robust personalized local model for each client remains a significant objective in federated graph learning. To address these issues, we propose a decentralized Federated Graph Learning framework with efficient communication, termed Decentralized Federated Graph Learning via Surrogate Model (SD_FGL). In SD_FGL, each client is required to maintain two models: a private model and a surrogate model. The surrogate model is publicly shared and can exchange and update information directly with any client, eliminating the need for a central server and reducing communication overhead. The private model is independently trained by each client, allowing it to calculate similarity with other clients based on local data as well as information shared through the surrogate model. This enables the private model to better adjust its training strategy and selectively update its parameters. Additionally, local differential privacy is incorporated into the surrogate model training process to enhance privacy protection. Testing on three real-world graph datasets demonstrates that the proposed framework improves accuracy while achieving decentralized Federated Graph Learning with lower communication overhead and stronger privacy safeguards.
文摘Energy access remains a critical challenge in rural South Sudan,with communities heavily relying on expensive and unfriendly environmental energy sources such as diesel generators and biomass.This study addresses the predicament by evaluating the feasibility of renewable energy-based decentralized electrification in the selected village ofDoleibHill,UpperNile,South Sudan.Using a demand assessment and theMulti-Tier Framework(MTF)approach,it categorizes households,public facilities,private sector,Non-GovernmentalOrganizations(NGOs)and business energy needs and designs an optimized hybrid energy system incorporating solar Photovoltaic(PV),wind turbines,batteries,and a generator.The proposed system,simulated in Hybrid Optimization Model Electric Renewable(HOMER)Pro,demonstrates strong economic viability,with a present worth of$292,145,an annual worth of$22,854,a return on investment(ROI)of 36.5%,and an internal rate of return(IRR)of 42.1%.The simple payback period is 2.31 years,and the discounted payback period is 2.62 years.The system achieves a levelized cost of energy(LCOE)of$0.276/kWh and significantly reduces dependence on diesel,producing 798,800 kWh annually fromwind energy.This research provides a replicable model for cost-effective,sustainable rural electrification,offering valuable insights for policymakers and energy planners seeking to expand electricity access in off-grid communities.
基金the support of the National Council of Humanities,Sciences,and Technologies(CONAHCYT)for awarding a student fellowship to Gema Velásquez-EspinozaDGAPA-UNAM for the financial support provided through Project PAPIIT IN300823。
文摘Despite the increasing global emphasis on decentralized disaster risk reduction(DRR),the capacity of local institutions to implement eff ective risk governance strategies remains inconsistent and often inadequate.This study conducted a comparative analysis of institutional vulnerability at the municipal level in two hazard-prone regions:Teziutlán,Mexico,and Tola,Nicaragua.It employed comparative case study methods alongside structured surveys administered to local DRR actors.An integrated analytical framework was used,synthesizing the Pressure and Release model,the Forensic Investigations of Disasters approach,the MOVE framework,and the Institutional Analysis and Development model.The research identified key institutional vulnerabilities,including preparedness,coordination,information access,infrastructure,legal enforcement,climate integration,and informal governance.The findings indicate that the deficiencies within these institutions are not merely technical but are significantly influenced by systemic disparities in power,resource allocation,and political stability.Both municipalities exhibit notable gaps between formal DRR mandates and their operational implementation,reflecting a structural disjunction between institutions articulated in policy(institutions-in-form)and those in practice(institutions-inuse).The study concluded that eff ectively addressing institutional vulnerability necessitates transitioning from compliancedriven reforms towards integrated strategies that foster institutional learning,enhance cross-sectoral coordination,promote climate adaptation,and acknowledge informal and community-based governance structures.These findings off er policyrelevant insights for national and regional policymakers seeking to strengthen the institutional foundations of local DRR implementation within Latin America and comparable decentralized governance contexts.
文摘We analyzed the magnitude of land use land cover changes and identified drivers of those changes at Awash National Park, Ethiopia, using aerial photographs, satellite images and field observation. Scattered bushland—the most important habitat for the wild animals, declined drastically. Areas under grassland, farmland or open land increased over the study period. Policy and park border demarcation issues were identified as drivers of change before 1995 (before decentralization), whereas livestock grazing was indicated to be the leading driver of change after 1995. Major events and causes that largely explained these changes include immigration of the Ittu community, land tenure system, drought, poaching, use policy issues and regional economic and infrastructural development. Our study reveals that the sustainability of the park calls for an immediate action to reduce the ever increasing human and livestock pressure on park resources.
文摘In rapid socio-economic developme nt,the process of concentration and dispersal of various elements tends to be more dramatic,tremendously in fluencing the shaping and transform ation of the space in metropolitan area.Survey of spatial concentration and decent ralization has thus become a basic me thod in examining metropolitan spatial evolution.In this research,three elements were selected as the essential indicato rs of the process:demographic density distribu-tion,employment density distribut ion and business office location.Performance of these elements in Nanji ng City was exam-ined historically.As Nanjing City c ould be regarded as a representative of metropolitan areas in China,its s ituation large-ly suggestes the general characteristics in similar areas of China.Hence based on the investigation of Nanji ng City,four general implications were highligh ted.First,metropolitan areas inChina are in a violentprocess and shift of spatialconcentra-tion and decentralization.Second,from now to at least the near future,c oncentration will continue to be the central fea-ture.Third,the landscape of metrop olitan areas basically exhibits a dual structure character.The gap in en vironmental and ecological qualities among different districts will continue for a l ong time.Fourth,Central Business District(CBD)is playing an important role in helpi ng to convert the traditionally single-centered city structure into a polycentric one.
文摘While China's economic growth has been impressive since 1978, regional disparity in terms of provincial per capita GDP has been increasing. On the other hand, this rapid but uneven growth was accompanied by China's deepening openness and structural reforms including the development of non-state-owned enterprises (non-SOEs) and fiscal decentralization. Based on quantitative analyses, this paper tries to explore the features of regional disparity in China and the relationships between regional growth and China's openness and economic structure reforms in the period from 1981 to 2000. The paper finds that the catching-up of the coastal region to the initially rich provinces, which are mainly located in inland areas, brought about a convergence of the growth pattern across provinces in the 1980s.The subsequent divergence in the provincial growth rates between the coast and the interior generated an enlarging regional disparity in China in the 1990s. The ever-faster growth in the coastal region was benefited by China's openness and the development of non-state-owned enterprises. The development of non-state-owned enterprises underlies the higher operational efficiency in the coastal region. Additionally, with the insignificant regression results, fiscal decentralization was observed to facilitate faster growth in the coast region. The findings justify the initiative of the 'West Region Development Strategy' and offer some policy implications for China.
基金This paper is one of the research results of China Centre for Economic Studies at Fudan University and also one of the research results of Fudan University 985 China International Economic Competitiveness Research and Innovation Institution.The authors gratefully acknowledge the helpful comments of many domestic and foreign scholars on this paper.
文摘This article provides a coherent framework within which to understand China’s development model,as well as the successes and the failures of China’s decentralization approach to reform.The combination of political centralization and economic decentralization provide local government with enough incentives to develop local economies,in particular incentives to promote market privatisation locally.However,the relative evaluation-based incentive schemes lead to inter- regional market segmentation,increasing inter-regional development gaps and the unequal provision of certain public goods.The success of early-stage reform can be attributed to the benefits of the decentralization approach.The next stage reform should however focus on minimizing the associated costs.China’s gradualist reform can be seen as a mechanism design issue under the control of central government.Therefore,it is essential to take both the costs and benefits of the decentralization approach into account in the design of the next-stage reform package.
基金financial support for this study from National Natural Science Foundation of China[grant number:413711784130114141361033]
文摘The objective of this article is to speculate on resort restructuring in the market-oriented reform process in China.Previous studies show that spatial disequilibrium was aggravated by decentralization,which leads to the difference in tourism policy and investment,public goods,and service;a profound analytical framework is much needed for further empirical studies.This article has reviewed the relevant studies on links between decentralization and restructuring,spatial influences of decentralization on tourism,based on which we put forward the theoretical framework of resort spatial restructuring from the view of political economy analysis,then we elaborate on and discuss it based on the example of Sanya,China.In short,the article suggests that decentralization of fiscal responsibilities and institutional power contributes to the spatial disequilibrium of tourism industrial structure,land use,public infrastructure and service facilities,and to community inequality.Interests of government,investors,and community should be comprehensively coordinated in the resort spatial restructuring process from three aspects:restructuring government,optimizing space structure,and tourism industry.Furthermore,we argue that resort restructuring in the context of Sanya requires coordination of various interest groups through four ways:restructure the government power under administrative division adjustment,optimizing spatial structure,expanding industrial space to diversified tourism products,and building resort management services organization.Finally,we discussed some policy requirements for resort sustainable development.
文摘The argument over fiscal decentralization and carbon dioxide emission(CO_(2))reduction has received much attention.However,evidence to back this claim is limited.Economic theory predicts that fiscal decentralization affects environmental quality,but the specifics of this relationship are still up for debate.Some scholars noted that fiscal decentralization might lead to a race to the top,whereas others contended that it would result in a race to the bottom.In light of the current debates in environmental and development economics,this study aims to provide insight into how this relationship may function in South Africa from 1960 to 2020.In contrast to the existing research,the present study uses a novel dynamic autoregressive distributed lag simulation approach to assess the positive and negative changes in fiscal decentralization,scale effect,technique effect,technological innovation,foreign direct investment,energy consumption,industrial growth,and trade openness on CO_(2)emissions.The following are the main findings:(i)Fiscal decentralization had a CO_(2)emission reduction impact in the short and long run,highlighting the presence of the race to the top approach.(ii)Economic growth(as represented by the scale effect)eroded ecological integrity.However,its square(as expressed by technique effect)aided in strengthening ecological protection,validating the environmental Kuznets curve hypothesis.(iii)CO_(2)emissions were driven by energy utilization,trade openness,industrial value-added,and foreign direct investment,whereas technological innovation boosted ecological integrity.Findings suggest that further fiscal decentralization should be undertaken through further devolution of power to local entities,particularly regarding environmental policy issues,to maintain South Africa’s ecological sustainability.South Africa should also establish policies to improve environmental sustainability by strengthening a lower layer of government and clarifying responsibilities at the national and local levels to fulfill the energy-saving functions of fiscal expenditures.
基金National Social Science Foundation Key Project "Strategic Study on China's Financial Security in the 13th Five-Year Plan Period"(Grant No.15AJY017)National Social Science Foundation General Project "Study on Regional Risks,Moderate Decentralization and Local Financial System Reform"(Grant No.14BJY192)
文摘By motivating local governments to fght for financial resources, China＇s tax sharing reform has affected the structure of financial decentralization and inflated local financial systems, thus spawning regional financial risks. Based on theoretical analysis and empirical evidence, this paper has arrived at the following findings： due to different policy objectives, central and local governments exhibit different fiscal and financial behaviors; public finance and financial sector have become financing instruments with certain convertibility under local economic growth framework,＂ fiscal decentralization inevitably affects financial decentralization and lays the foundation for provincial fiscal disparities, resulting in a certain spatial effect of interprovincial fiscal variable; fnancial explicit centralization/implicit decentralization and fiscal centralization have fueled local competition for financial resources and resulted in correlation between the spatial effects of provincial financial and fiscal variables, and moreover, their mismatch has also spawned fiscal and financial risks on various fronts. Hence, setting clear boundaries of financial centralization and decentralization and ensuring local government fiscal accountability is the key to the prevention and mitigation of fiscal and financial risks in China.
文摘Centralized storage and identity identification methods pose many risks,including hacker attacks,data misuse,and single points of failure.Additionally,existing centralized identity management methods face interoperability issues and rely on a single identity provider,leaving users without control over their identities.Therefore,this paper proposes a mechanism for identity identification and data sharing based on decentralized identifiers.The scheme utilizes blockchain technology to store the identifiers and data hashed on the chain to ensure permanent identity recognition and data integrity.Data is stored on InterPlanetary File System(IPFS)to avoid the risk of single points of failure and to enhance data persistence and availability.At the same time,compliance with World Wide Web Consortium(W3C)standards for decentralized identifiers and verifiable credentials increases the mechanism’s scalability and interoperability.
文摘Controversies exist in literature regarding what indicators should be employed to measure China's fiscal decentralization. This paper measures China's fiscal decentralization by the sharing ratios of county-level VAT and corporate income tax(CIT). This approach avoids such problems as homogeneous denominator, and reflects the intricate interactions between governments at different levels. Based on extensive sources including the National Fiscal Statistical Information at Prefecture and County Levels and China County(City) Socio-Economic Statistical Yearbook over the 1998-2007 period, our estimation and analysis led to the following findings:(1) Since 2002, counties have retained a falling share of revenues;(2) a multidimensional horizontal comparison reveals a pattern in the county-level tax sharing ratio, i.e. counties in central and eastern regions retain a higher share of tax revenues compared with those in western and northwestern regions.These findings explain the fiscal difficulties at the grassroots level, and can be used to conduct a quantitative analysis of the determinants and economic effects of China's fiscal decentralization."
基金supported by the National Natural Science Foundation of China(62103411)the Science and Technology Development Fund of Macao SAR(0093/2023/RIA2,0050/2020/A1)。
文摘The attention is a scarce resource in decentralized autonomous organizations(DAOs),as their self-governance relies heavily on the attention-intensive decision-making process of“proposal and voting”.To prevent the negative effects of pro-posers’attention-capturing strategies that contribute to the“tragedy of the commons”and ensure an efficient distribution of attention among multiple proposals,it is necessary to establish a market-driven allocation scheme for DAOs’attention.First,the Harberger tax-based attention markets are designed to facilitate its allocation via continuous and automated trading,where the individualized Harberger tax rate(HTR)determined by the pro-posers’reputation is adopted.Then,the Stackelberg game model is formulated in these markets,casting attention to owners in the role of leaders and other competitive proposers as followers.Its equilibrium trading strategies are also discussed to unravel the intricate dynamics of attention pricing.Moreover,utilizing the single-round Stackelberg game as an illustrative example,the existence of Nash equilibrium trading strategies is demonstrated.Finally,the impact of individualized HTR on trading strategies is investigated,and results suggest that it has a negative correlation with leaders’self-accessed prices and ownership duration,but its effect on their revenues varies under different conditions.This study is expected to provide valuable insights into leveraging attention resources to improve DAOs’governance and decision-making process.
文摘This paper investigates the problem of decentralized multi-robot cooperative localization.This problem involves collaboratively estimating the poses of a group of robots with respect to a common reference coordinate system using robot-to-robot relative measurements and intermittent absolute measurements in a distributed manner.To address this problem,we present a decentralized fusion method that enables batch updating to handle relative measurements from multiple robots simultaneously.This method can improve both the accuracy and computational efficiency of cooperative localization.To reduce communication costs and reliance on connectivity,we do not maintain the inter-robot state correlations.Instead,we adopt a covariance intersection(CI)technique to design an upper bound that replaces unknown joint correlations.We propose an optimization method to determine a tight upper bound for the correlations in the joint update.The consistency and convergence of our proposed algorithm is theoretically analyzed.Furthermore,we conduct Monte Carlo numerical simulations and real-world experiments to demonstrate that the proposed method outperforms existing approaches in terms of both accuracy and consistency.
基金supported in part by the National Natural Science Foundation of China under Grant 61703305in part by the Key Research Program of the Natural Science Foundation of Tianjin under Grant 18JCZDJC38500in part by the Innovative Cooperation Project of Tianjin Scientific and Technological under Grant 18PTZWHZ00090.
文摘With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current era.The more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot system.Consequently,research on the multi-robot control system of spherical amphibious robots is very important.Presently,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control system.Existing systems primarily use a centralized control methodology.Although the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the enemy.The central node may not only fail to accomplish the task,but also lose control of other robots,with severe consequences.To solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain technology.First,the point-to-point information network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control system.On this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve decentralization.The experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.
