Optimizing routing and resource allocation in decentralized unmanned aerial vehicle(UAV)networks remains challenging due to interference and rapidly changing topologies.The authors introduce a novel framework combinin...Optimizing routing and resource allocation in decentralized unmanned aerial vehicle(UAV)networks remains challenging due to interference and rapidly changing topologies.The authors introduce a novel framework combining double deep Q-networks(DDQNs)and graph neural networks(GNNs)for joint routing and resource allocation.The framework uses GNNs to model the network topology and DDQNs to adaptively control routing and resource allocation,addressing interference and improving network performance.Simulation results show that the proposed approach outperforms traditional methods such as Closest-to-Destination(c2Dst),Max-SINR(mSINR),and Multi-Layer Perceptron(MLP)-based models,achieving approximately 23.5% improvement in throughput,50% increase in connection probability,and 17.6% reduction in number of hops,demonstrating its effectiveness in dynamic UAV networks.展开更多
Self-Centering Piston-Based Braced Frames(SC-PBBFs)are designed to curtail structural damage under severe ground motions.The self-centering mechanism in this bracing mitigates structural damage during an earthquake,th...Self-Centering Piston-Based Braced Frames(SC-PBBFs)are designed to curtail structural damage under severe ground motions.The self-centering mechanism in this bracing mitigates structural damage during an earthquake,thereby reducing post-earthquake repair costs and contributing to seismic resilience.However,non-structural components,particularly those sensitive to floor acceleration,remain vulnerable,resulting in prolonged func-tional recovery times.This paper aims to address this limitation by introducing a novel structural archetype,the Self-Centering Viscous-Based Braced Frame(SC-VBBF),which integrates superelastic shape memory alloy(SMA)bars,viscous dampers(VDs),and friction springs(FSs).A streamlined analytical approach relies on the strength decoupling of VD from other components using aλfactor to design SC-VBBFs.To evaluate the effectiveness of the hybrid brace,a set of 4-,8-,and 12-story archetypes equipped with SC-PBBs and SC-VBBFs are simulated in OpenSees and analyzed under various earthquake types,including crustal,subcrustal,and subduction events.The results demonstrate the superior performance of the SC-VBBF withλ≤0.5 system compared to SC-PBBFs in mitigating floor accelerations under design-level earthquakes and improving seismic resilience.展开更多
The hybrid series-parallel microgrid attracts more attention by combining the advantages of both the series-stacked voltage and parallel-expanded capacity.Low-voltage distributed generations(DGs)are connected in serie...The hybrid series-parallel microgrid attracts more attention by combining the advantages of both the series-stacked voltage and parallel-expanded capacity.Low-voltage distributed generations(DGs)are connected in series to form the intra-string,and then multiple strings are interconnected in parallel.For the existing control strategies,both intra-string and inter-string depend on the centralized or distributed control with high communication reliance.It has limited scalability and redundancy under abnormal conditions.Alternatively,in this study,an intra-string distributed and inter-string decentralized control framework is proposed.Within the string,a few DGs close to the AC bus are the leaders to get the string power information and the rest DGs are the followers to acquire the synchronization information through the droop-based distributed consistency.Specifically,the output of the entire string has the active power−angular frequency(ω-P)droop characteristic,and the decentralized control among strings can be autonomously guaranteed.Moreover,the secondary control is designed to realize multi-mode objectives,including on/off-grid mode switching,grid-connected power interactive management,and off-grid voltage quality regulation.As a result,the proposed method has the ability of plug-and-play capabilities,single-point failure redundancy,and seamless mode-switching.Experimental results are provided to verify the effectiveness of the proposed practical solution.展开更多
Topological information is very important for understanding different types of online web services,in particular,for online social networks(OSNs).People leverage such information for various applications,such as socia...Topological information is very important for understanding different types of online web services,in particular,for online social networks(OSNs).People leverage such information for various applications,such as social relationship modeling,community detection,user profiling,and user behavior prediction.However,the leak of such information will also pose severe challenges for user privacy preserving due to its usefulness in characterizing users.Large-scale web crawling-based information probing is a representative way for obtaining topological information of online web services.In this paper,we explore how to defend against topological information probing for online web services,with a particular focus on online decentralized web services such as Mastodon.Different from traditional centralized web services,the federated nature of decentralized web services makes the identification of distributed crawlers even more difficult.We analyze the behavioral differences between legitimate users and crawlers in decentralized web services and highlight two key behavioral attributes that distinguish crawlers from legitimate users:instance interaction preferences and hop count in profile viewing patterns.Based on these insights:we propose a supervised machine learning-based framework for crawler detection,which is able to learn the federation-aware feature representations for users.To validate the framework’s effectiveness,we construct a labeled dataset that integrates real users with real-trace driven simulated crawlers in Mastodon.We use this dataset to train various supervised classifiers for crawler detection.Experimental results demonstrate that our framework can achieve an excellent classification performance.Moreover,it is observed that federation-aware features are effective in improving detection performance.展开更多
In response to the demand for seismic-resilient structures,various innovative solutions have emerged to reduce local damage and residual deformations,facilitating repair operations in the aftermath of high-intensity e...In response to the demand for seismic-resilient structures,various innovative solutions have emerged to reduce local damage and residual deformations,facilitating repair operations in the aftermath of high-intensity earth-quakes.This paper examines the seismic performance of a steel-concrete hybrid wall system equipped with a selfcentering solution to mitigate earthquake-induced residual deformations.The considered hybrid system includes a Reinforced Concrete(RC)shear wall with two steel side columns connected by coupling steel beams.In this study,a novel type of coupling beams featuring a friction-damped self-centering system is implemented.The system is referred to as Self-Centering Hybrid Single-Pier Coupled Wall(SC-SP-HCW)and aims to minimize damage and residual deformations after earthquakes,which in turn facilitates repairs and enhances seismic resilience.Unlike conventional self-centering coupling beams with post-tensioned tendons,the self-centering configuration in this system does not rely on a gap-opening mechanism at the wall-beam connection interface,eliminating frame expansion effects.The proposed self-centering devices can also be implemented as preassembled links,which facilitates installation and reduces uncertainties associated with the on-site posttensioning procedure.The seismic performance of SC-SP-HCWs is investigated through nonlinear static and incremental dynamic analyses on case study SC-SP-HCWs designed as the lateral load-resisting systems of an eight-story building.The seismic response of the case study SC-SP-HCWs is investigated,considering both local and global engineering demand parameters(EDPs).The results demonstrate the ability of the SC-SP-HCWs to significantly reduce earthquake-induced residual deformations without exacerbating damage to structural ele-ments typically observed in conventional coupled walls.展开更多
A self-centering bridge bent equipped with energy-dissipation(ED)beams is proposed.Quasi-static tests are conducted on self-centering bridge bents,both with and without ED beams,to validate the accuracy of the corresp...A self-centering bridge bent equipped with energy-dissipation(ED)beams is proposed.Quasi-static tests are conducted on self-centering bridge bents,both with and without ED beams,to validate the accuracy of the corresponding numerical models.The effects of various param-eters,such as the web area of ED beams,prestressing force of tendons,tendon arrangements,and number of column segments,on the seismic performance of self-centering bridge bents with ED beams are evaluated using the validated numerical model.The results demonstrate that the nu-merical models accurately replicate the quasi-static test results,with average errors in the lateral force remaining below 9.6%.The web area of ED beams significantly affects the strength,cumulative energy dissipation,and relative self-centering index(RSI)of the self-centering bridge bents.Increasing the prestressing force enhances the lateral force and self-centering capability of the bridge bents but has minimal effect on their ED capacity.Reducing the num-ber of segments in each column enhances the lateral force and cumulative hysteretic energy dissipation of the self-centering bridge bents while exerting an insignificant effect on the RSI.Thus,the proposed novel system is highly suitable for doubleor multicolumn piers supporting bridges in regions prone to strong earthquakes.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
To address local concrete damage in joint areas at the footing of prefabricated assembled self-centering bridge piers(PASPs)in seismic design,a damage transfer configuration(DTC)was proposed,based on the bridge pier s...To address local concrete damage in joint areas at the footing of prefabricated assembled self-centering bridge piers(PASPs)in seismic design,a damage transfer configuration(DTC)was proposed,based on the bridge pier structure configuration and the mechanism of local damage formation.Integrating the DTC into the PASP,numerical models of a previous experimental reference PASP and a PASP with damage transfer configuration(DTPASP)were established using the finite element software ABAQUS with a concrete damage plasticity(CDP)model.The models were then compared with experimental results regarding damage distribution,hysteresis curves,energy dissipation capacity,the joint opening degree,and residual displacement.The findings indicate that the finite element model developed in this study can well reflect the experimental results of the reference PASP.The incorporation of the DTC proved to be beneficial in preserving structural integrity,bearing capacity,and the functionality of the core structure of bridge piers following an earthquake.Meanwhile,this addition did not exert a significant influence on the seismic behavior of the core structure of the bridge pier.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
Inspired by the collective behaviors observed in bird flocks and fish schools,this paper proposes a novel Decentralized Model Predictive Flocking Control(DMPFC)framework to enable UAV swarms to autonomously track pred...Inspired by the collective behaviors observed in bird flocks and fish schools,this paper proposes a novel Decentralized Model Predictive Flocking Control(DMPFC)framework to enable UAV swarms to autonomously track predefined reference trajectories while avoiding collisions and maintaining a stable quasi[Math Processing Error]-lattice formation.Unlike traditional approaches that rely on switching between predefined swarm formations,this framework utilizes identical local interaction rules for each UAV,allowing them to dynamically adjust their control inputs based on the motion states of neighboring UAVs,external environmental factors,and the desired reference trajectory,thereby enabling the swarm to adapt its formation dynamically.Through iterative state updates,the UAVs achieve consensus,allowing the swarm to follow the reference trajectory while self-organizing into a cohesive and stable group structure.To enhance computational efficiency,the framework integrates a closed-form solution for the optimization process,enabling real-time implementation even on computationally constrained micro-quadrotors.Theoretical analysis demonstrates that the proposed method ensures swarm consensus,maintains desired inter-agent distances,and stabilizes the swarm formation.Extensive simulations and real-world experiments validate the approach’s effectiveness and practicality,demonstrating that the proposed method achieves velocity consensus within approximately 200 ms and forms a stable quasi[Math Processing Error]-lattice structure nearly ten times faster than traditional models,with trajectory tracking errors on the order of millimeters.This underscores its potential for robust and efficient UAV swarm coordination in complex scenarios.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
Dear Editor,SO(3)SO(3)This letter proposes a continuous-time semi-decentralized algorithm to minimize a sum of local cost functions on over a multi-agent network.Inspired by the distributed subgradient method in[1],th...Dear Editor,SO(3)SO(3)This letter proposes a continuous-time semi-decentralized algorithm to minimize a sum of local cost functions on over a multi-agent network.Inspired by the distributed subgradient method in[1],the algorithm combines a consensus protocol on with a local Riemannian gradient term,but the state of each agent evolves on the nonlinear manifold.In absence of global information for each node,a coordinator is introduced in the communication network to ensure that all agents achieve convergence with consensus.Resorting to Lyapunov approaches,it is shown that the proposed algorithm reaches an optimal solution.展开更多
This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,t...This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.展开更多
Decentralized finance(DeFi)has revolutionized traditional financial paradigms by enabling innovative,permissionless financial transactions.Among these,flash loans represent a significant breakthrough,offering rapid li...Decentralized finance(DeFi)has revolutionized traditional financial paradigms by enabling innovative,permissionless financial transactions.Among these,flash loans represent a significant breakthrough,offering rapid liquidity without collateral requirements.However,the very features that make flash loans appealing also expose DeFi ecosystems to severe security threats.This paper presents a systematic analysis of flash loan attack methodologies,their implications,and potential countermeasures.We formalize the problem via a game-theoretic model,delineating the interactions between malicious actors and security mechanisms.Through detailed case studies of major flash loan attacks,we illustrate common exploit strategies and vulnerabilities within smart contracts.Furthermore,we propose a comprehensive,multilayered security framework that integrates real-time anomaly detection,enhanced smart contract verification,decentralized governance improvements,and cross-platform intelligence sharing.Empirical analysis leveraging blockchain security datasets underscores the viability of these mitigative measures.Our findings contribute to the broader discourse on DeFi security by providing a structured approach to mitigating the systemic risks associated with flash loans,thereby enhancing the resilience of decentralized financial systems.展开更多
In recent years, the overall strength of Western developed countries, led by the United States, has declined relatively, resulting in a trend of decentralization. This has posed severe challenges to the traditional gl...In recent years, the overall strength of Western developed countries, led by the United States, has declined relatively, resulting in a trend of decentralization. This has posed severe challenges to the traditional global governance system with regard to trade, security, and multilateral cooperation. However, this trend also provides a historical opportunity to transform the global governance system into one that is more inclusive and equitable. This can be seen in the reconstruction of value priorities, the adjustment of governance focus, the reform of governance mechanisms, and the promotion of new mechanisms. Only by adhering to openness and inclusiveness and balancing rights and responsibilities can we build a future governance order that conforms to the common interests of all humanity.展开更多
AIM:To investigate the characteristics and associated factors of intraocular lens(IOL)tilt and decentration after transscleral suture-fixated IOL surgery in congenital ectopia lentis(CEL).METHODS:CEL patients undergoi...AIM:To investigate the characteristics and associated factors of intraocular lens(IOL)tilt and decentration after transscleral suture-fixated IOL surgery in congenital ectopia lentis(CEL).METHODS:CEL patients undergoing transscleral suture-fixated IOL surgery were divided into two groups based on implanted IOL type(three-piece IOL or one-piece IOL).The IOL tilt and decentration at 3-month and 1-year postoperative were measured.Multivariate regression analyses were performed to identify the associated factors of IOL tilt and decentration as well as longitudinal changes.RESULTS:The 61 CEL patients(mean age 9.07±5.05y)in three-piece IOL(M/F:14/7)group had a greater tilt than those with one-piece IOL(M/F:28/12)group both at 3-month postoperative(horizontal:P=0.024;vertical:P=0.048)and 1-year postoperative(horizontal:P=0.011;vertical:P=0.001).Three-piece IOL group had a greater longitudinal change between 3-month postoperative to 1-year postoperative in IOL tilt(horizontal:P=0.028;vertical:P=0.026)and a greater longitudinal change in horizontal IOL decentration than one-piece IOL group(P<0.05).The longer axial length(AL)was associated with the longitudinal changes in IOL tilt(P=0.039),while the three-piece IOL was associated with the longitudinal changes in horizontal IOL decentration 1-year postoperatively(P=0.011).CONCLUSION:IOL tilt is greater in the three-piece IOL group than that in the one-piece IOL group 1-year postoperatively.The three-piece IOL is associated with greater longitudinal changes of IOL decentration,while longer AL is associated with longitudinal changes of IOL tilt.For CEL patients,more stable IOL type should be selected and patients with longer AL warrant closer monitoring.展开更多
The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized...The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.展开更多
文摘Optimizing routing and resource allocation in decentralized unmanned aerial vehicle(UAV)networks remains challenging due to interference and rapidly changing topologies.The authors introduce a novel framework combining double deep Q-networks(DDQNs)and graph neural networks(GNNs)for joint routing and resource allocation.The framework uses GNNs to model the network topology and DDQNs to adaptively control routing and resource allocation,addressing interference and improving network performance.Simulation results show that the proposed approach outperforms traditional methods such as Closest-to-Destination(c2Dst),Max-SINR(mSINR),and Multi-Layer Perceptron(MLP)-based models,achieving approximately 23.5% improvement in throughput,50% increase in connection probability,and 17.6% reduction in number of hops,demonstrating its effectiveness in dynamic UAV networks.
文摘Self-Centering Piston-Based Braced Frames(SC-PBBFs)are designed to curtail structural damage under severe ground motions.The self-centering mechanism in this bracing mitigates structural damage during an earthquake,thereby reducing post-earthquake repair costs and contributing to seismic resilience.However,non-structural components,particularly those sensitive to floor acceleration,remain vulnerable,resulting in prolonged func-tional recovery times.This paper aims to address this limitation by introducing a novel structural archetype,the Self-Centering Viscous-Based Braced Frame(SC-VBBF),which integrates superelastic shape memory alloy(SMA)bars,viscous dampers(VDs),and friction springs(FSs).A streamlined analytical approach relies on the strength decoupling of VD from other components using aλfactor to design SC-VBBFs.To evaluate the effectiveness of the hybrid brace,a set of 4-,8-,and 12-story archetypes equipped with SC-PBBs and SC-VBBFs are simulated in OpenSees and analyzed under various earthquake types,including crustal,subcrustal,and subduction events.The results demonstrate the superior performance of the SC-VBBF withλ≤0.5 system compared to SC-PBBFs in mitigating floor accelerations under design-level earthquakes and improving seismic resilience.
基金supported by the Smart Grid-National Science and Technology Major Project(2025ZD0804500)the National Natural Science Foundation of China under Grant 52307232the Hunan Provincial Natural Science Foundation of China under Grant 2024JJ4055.
文摘The hybrid series-parallel microgrid attracts more attention by combining the advantages of both the series-stacked voltage and parallel-expanded capacity.Low-voltage distributed generations(DGs)are connected in series to form the intra-string,and then multiple strings are interconnected in parallel.For the existing control strategies,both intra-string and inter-string depend on the centralized or distributed control with high communication reliance.It has limited scalability and redundancy under abnormal conditions.Alternatively,in this study,an intra-string distributed and inter-string decentralized control framework is proposed.Within the string,a few DGs close to the AC bus are the leaders to get the string power information and the rest DGs are the followers to acquire the synchronization information through the droop-based distributed consistency.Specifically,the output of the entire string has the active power−angular frequency(ω-P)droop characteristic,and the decentralized control among strings can be autonomously guaranteed.Moreover,the secondary control is designed to realize multi-mode objectives,including on/off-grid mode switching,grid-connected power interactive management,and off-grid voltage quality regulation.As a result,the proposed method has the ability of plug-and-play capabilities,single-point failure redundancy,and seamless mode-switching.Experimental results are provided to verify the effectiveness of the proposed practical solution.
基金funded by the National Key R&D Program of China under Grant(No.2022YFB3102901)National Natural Science Foundation of China(No.62072115,No.62102094)Shanghai Science and Technology Innovation Action Plan Project(No.22510713600).
文摘Topological information is very important for understanding different types of online web services,in particular,for online social networks(OSNs).People leverage such information for various applications,such as social relationship modeling,community detection,user profiling,and user behavior prediction.However,the leak of such information will also pose severe challenges for user privacy preserving due to its usefulness in characterizing users.Large-scale web crawling-based information probing is a representative way for obtaining topological information of online web services.In this paper,we explore how to defend against topological information probing for online web services,with a particular focus on online decentralized web services such as Mastodon.Different from traditional centralized web services,the federated nature of decentralized web services makes the identification of distributed crawlers even more difficult.We analyze the behavioral differences between legitimate users and crawlers in decentralized web services and highlight two key behavioral attributes that distinguish crawlers from legitimate users:instance interaction preferences and hop count in profile viewing patterns.Based on these insights:we propose a supervised machine learning-based framework for crawler detection,which is able to learn the federation-aware feature representations for users.To validate the framework’s effectiveness,we construct a labeled dataset that integrates real users with real-trace driven simulated crawlers in Mastodon.We use this dataset to train various supervised classifiers for crawler detection.Experimental results demonstrate that our framework can achieve an excellent classification performance.Moreover,it is observed that federation-aware features are effective in improving detection performance.
基金supported by the European Union’s Horizon 2020 research and innovation program under grant agreement No.101027745(Marie Sklodowska-Curie Research Grant Scheme H2020-MSCA-IF-2020:Self-Centering Earthquake-Resilient Hybrid Steel-Concrete Shear Walls with Rocking Beams-SC-HYBWalls)the support from the Royal Society-Interna-tional Exchange programme under the grant agreement IES\R3\213175.
文摘In response to the demand for seismic-resilient structures,various innovative solutions have emerged to reduce local damage and residual deformations,facilitating repair operations in the aftermath of high-intensity earth-quakes.This paper examines the seismic performance of a steel-concrete hybrid wall system equipped with a selfcentering solution to mitigate earthquake-induced residual deformations.The considered hybrid system includes a Reinforced Concrete(RC)shear wall with two steel side columns connected by coupling steel beams.In this study,a novel type of coupling beams featuring a friction-damped self-centering system is implemented.The system is referred to as Self-Centering Hybrid Single-Pier Coupled Wall(SC-SP-HCW)and aims to minimize damage and residual deformations after earthquakes,which in turn facilitates repairs and enhances seismic resilience.Unlike conventional self-centering coupling beams with post-tensioned tendons,the self-centering configuration in this system does not rely on a gap-opening mechanism at the wall-beam connection interface,eliminating frame expansion effects.The proposed self-centering devices can also be implemented as preassembled links,which facilitates installation and reduces uncertainties associated with the on-site posttensioning procedure.The seismic performance of SC-SP-HCWs is investigated through nonlinear static and incremental dynamic analyses on case study SC-SP-HCWs designed as the lateral load-resisting systems of an eight-story building.The seismic response of the case study SC-SP-HCWs is investigated,considering both local and global engineering demand parameters(EDPs).The results demonstrate the ability of the SC-SP-HCWs to significantly reduce earthquake-induced residual deformations without exacerbating damage to structural ele-ments typically observed in conventional coupled walls.
基金The National Natural Science Foundation of China(No.52278189)Zhejiang Provincial Natural Science Foundation of China(No.LY24E080002).
文摘A self-centering bridge bent equipped with energy-dissipation(ED)beams is proposed.Quasi-static tests are conducted on self-centering bridge bents,both with and without ED beams,to validate the accuracy of the corresponding numerical models.The effects of various param-eters,such as the web area of ED beams,prestressing force of tendons,tendon arrangements,and number of column segments,on the seismic performance of self-centering bridge bents with ED beams are evaluated using the validated numerical model.The results demonstrate that the nu-merical models accurately replicate the quasi-static test results,with average errors in the lateral force remaining below 9.6%.The web area of ED beams significantly affects the strength,cumulative energy dissipation,and relative self-centering index(RSI)of the self-centering bridge bents.Increasing the prestressing force enhances the lateral force and self-centering capability of the bridge bents but has minimal effect on their ED capacity.Reducing the num-ber of segments in each column enhances the lateral force and cumulative hysteretic energy dissipation of the self-centering bridge bents while exerting an insignificant effect on the RSI.Thus,the proposed novel system is highly suitable for doubleor multicolumn piers supporting bridges in regions prone to strong earthquakes.
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National Natural Science Foundation of China under Grant Nos.51408359,52278527 and 52478536。
文摘To address local concrete damage in joint areas at the footing of prefabricated assembled self-centering bridge piers(PASPs)in seismic design,a damage transfer configuration(DTC)was proposed,based on the bridge pier structure configuration and the mechanism of local damage formation.Integrating the DTC into the PASP,numerical models of a previous experimental reference PASP and a PASP with damage transfer configuration(DTPASP)were established using the finite element software ABAQUS with a concrete damage plasticity(CDP)model.The models were then compared with experimental results regarding damage distribution,hysteresis curves,energy dissipation capacity,the joint opening degree,and residual displacement.The findings indicate that the finite element model developed in this study can well reflect the experimental results of the reference PASP.The incorporation of the DTC proved to be beneficial in preserving structural integrity,bearing capacity,and the functionality of the core structure of bridge piers following an earthquake.Meanwhile,this addition did not exert a significant influence on the seismic behavior of the core structure of the bridge pier.
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.
基金supported in part by the Guangdong Provincial Universities'Characteristic Innovation Project under Grant 2024KTSCX360in part by the Guangdong Educational Science Planning Project under Grant 2023GXJK837.
文摘Inspired by the collective behaviors observed in bird flocks and fish schools,this paper proposes a novel Decentralized Model Predictive Flocking Control(DMPFC)framework to enable UAV swarms to autonomously track predefined reference trajectories while avoiding collisions and maintaining a stable quasi[Math Processing Error]-lattice formation.Unlike traditional approaches that rely on switching between predefined swarm formations,this framework utilizes identical local interaction rules for each UAV,allowing them to dynamically adjust their control inputs based on the motion states of neighboring UAVs,external environmental factors,and the desired reference trajectory,thereby enabling the swarm to adapt its formation dynamically.Through iterative state updates,the UAVs achieve consensus,allowing the swarm to follow the reference trajectory while self-organizing into a cohesive and stable group structure.To enhance computational efficiency,the framework integrates a closed-form solution for the optimization process,enabling real-time implementation even on computationally constrained micro-quadrotors.Theoretical analysis demonstrates that the proposed method ensures swarm consensus,maintains desired inter-agent distances,and stabilizes the swarm formation.Extensive simulations and real-world experiments validate the approach’s effectiveness and practicality,demonstrating that the proposed method achieves velocity consensus within approximately 200 ms and forms a stable quasi[Math Processing Error]-lattice structure nearly ten times faster than traditional models,with trajectory tracking errors on the order of millimeters.This underscores its potential for robust and efficient UAV swarm coordination in complex scenarios.
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supported by the National Key Research and Development Program of China(2022YFA1004701)the National Natural Science Foundation of China(72271187,62373283)Shanghai Municipal Science and Technology Major(2021SHZDZX0100).
文摘Dear Editor,SO(3)SO(3)This letter proposes a continuous-time semi-decentralized algorithm to minimize a sum of local cost functions on over a multi-agent network.Inspired by the distributed subgradient method in[1],the algorithm combines a consensus protocol on with a local Riemannian gradient term,but the state of each agent evolves on the nonlinear manifold.In absence of global information for each node,a coordinator is introduced in the communication network to ensure that all agents achieve convergence with consensus.Resorting to Lyapunov approaches,it is shown that the proposed algorithm reaches an optimal solution.
基金supported by the National Natural Science Foundation of China(U21A20477,61722302,61573069,61903290)the Fundamental Research Funds for the Central Universities(DUT19ZD218).
文摘This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.
基金supported by the Sichuan Science and Technology Program(2024YFHZ0161).
文摘Decentralized finance(DeFi)has revolutionized traditional financial paradigms by enabling innovative,permissionless financial transactions.Among these,flash loans represent a significant breakthrough,offering rapid liquidity without collateral requirements.However,the very features that make flash loans appealing also expose DeFi ecosystems to severe security threats.This paper presents a systematic analysis of flash loan attack methodologies,their implications,and potential countermeasures.We formalize the problem via a game-theoretic model,delineating the interactions between malicious actors and security mechanisms.Through detailed case studies of major flash loan attacks,we illustrate common exploit strategies and vulnerabilities within smart contracts.Furthermore,we propose a comprehensive,multilayered security framework that integrates real-time anomaly detection,enhanced smart contract verification,decentralized governance improvements,and cross-platform intelligence sharing.Empirical analysis leveraging blockchain security datasets underscores the viability of these mitigative measures.Our findings contribute to the broader discourse on DeFi security by providing a structured approach to mitigating the systemic risks associated with flash loans,thereby enhancing the resilience of decentralized financial systems.
文摘In recent years, the overall strength of Western developed countries, led by the United States, has declined relatively, resulting in a trend of decentralization. This has posed severe challenges to the traditional global governance system with regard to trade, security, and multilateral cooperation. However, this trend also provides a historical opportunity to transform the global governance system into one that is more inclusive and equitable. This can be seen in the reconstruction of value priorities, the adjustment of governance focus, the reform of governance mechanisms, and the promotion of new mechanisms. Only by adhering to openness and inclusiveness and balancing rights and responsibilities can we build a future governance order that conforms to the common interests of all humanity.
基金Supported by the National Natural Science Foundation of China(No.81900841)the Guangzhou Major Difficult and Rare Diseases Project(No.2024MDRD05)+2 种基金the Guangdong Basic and Applied Basic Research Foundation(No.2021A1515011673No.2022A1515011181)the Guangzhou Basic Research Program,City&University(Institute)Joint Funding Project(No.SL2023A03J00514).
文摘AIM:To investigate the characteristics and associated factors of intraocular lens(IOL)tilt and decentration after transscleral suture-fixated IOL surgery in congenital ectopia lentis(CEL).METHODS:CEL patients undergoing transscleral suture-fixated IOL surgery were divided into two groups based on implanted IOL type(three-piece IOL or one-piece IOL).The IOL tilt and decentration at 3-month and 1-year postoperative were measured.Multivariate regression analyses were performed to identify the associated factors of IOL tilt and decentration as well as longitudinal changes.RESULTS:The 61 CEL patients(mean age 9.07±5.05y)in three-piece IOL(M/F:14/7)group had a greater tilt than those with one-piece IOL(M/F:28/12)group both at 3-month postoperative(horizontal:P=0.024;vertical:P=0.048)and 1-year postoperative(horizontal:P=0.011;vertical:P=0.001).Three-piece IOL group had a greater longitudinal change between 3-month postoperative to 1-year postoperative in IOL tilt(horizontal:P=0.028;vertical:P=0.026)and a greater longitudinal change in horizontal IOL decentration than one-piece IOL group(P<0.05).The longer axial length(AL)was associated with the longitudinal changes in IOL tilt(P=0.039),while the three-piece IOL was associated with the longitudinal changes in horizontal IOL decentration 1-year postoperatively(P=0.011).CONCLUSION:IOL tilt is greater in the three-piece IOL group than that in the one-piece IOL group 1-year postoperatively.The three-piece IOL is associated with greater longitudinal changes of IOL decentration,while longer AL is associated with longitudinal changes of IOL tilt.For CEL patients,more stable IOL type should be selected and patients with longer AL warrant closer monitoring.
文摘The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.
