This paper presnts a team-oriented programming method specially designed for multiple mobile robots. The team, which is a typical constitution structure in multi-robot system, forms after the user selects suitable rob...This paper presnts a team-oriented programming method specially designed for multiple mobile robots. The team, which is a typical constitution structure in multi-robot system, forms after the user selects suitable robots, assigns their roles and sets related parameters. Team behavior module are introduced for the team-level behavior description and the temporal chain of these modules, realized by finite state automata, partitions the team tasks into discrete operating states and triggers. A graphical programming tool is designed for the team task description with visual diagrams. The real robots experiment of adaptive formation shows the system＇s usability and effectivity.展开更多
The building information model/modeling （BIM） technology is currently applied in a broad range of applications and research for facility management, while the BIM-based mobile FM is difficult owing to various factor...The building information model/modeling （BIM） technology is currently applied in a broad range of applications and research for facility management, while the BIM-based mobile FM is difficult owing to various factors and environments. For example, the mobile applications usually require frequent cross-equipment compatibility. This paper proposes a reasonable BIM-based FM cross-platform framework and develops a mobile application on the basis of an existing BIM-based FM system. The developed mobile application is applied in a case study of a metro station project in Guangzhou to verify its effectiveness in FM practice. It helps maintenance staff in viewing BIMs, accessing related information, and updating maintenance records in a unique platform. The test results demonstrate that the proposed BIM-based cross-platform framework meet the FM application requirements and supports the extension of FM functions.展开更多
Mobile phone addiction is a growing concern among college students, with significant implications for their mental health. This study examines the complex relationship between mobile phone addiction and its impact on ...Mobile phone addiction is a growing concern among college students, with significant implications for their mental health. This study examines the complex relationship between mobile phone addiction and its impact on college students’ insomnia, symptoms of depression, and anxiety. A sample of 399 college students from traditional Chinese medicine colleges in Guangxi, China, completed the Mobile Phone Addiction Tendency Scale questionnaire. Among them, 155 students with high Mobile Phone Addiction Tendency scores were selected for the correlation study. The analysis revealed a strong association between mobile phone addiction and insomnia. Furthermore, mobile phone addiction was significantly associated with symptoms of depression, including feelings of sadness, worthlessness, and hopelessness, as well as heightened anxiety symptoms, such as excessive worry and restlessness. These findings emphasized the importance of targeted interventions and preventive measures to address the negative impact of mobile phone addiction on college students’ mental health.展开更多
By Mobile Edge Computing(MEC), computation-intensive tasks are offloaded from mobile devices to cloud servers, and thus the energy consumption of mobile devices can be notably reduced. In this paper, we study task off...By Mobile Edge Computing(MEC), computation-intensive tasks are offloaded from mobile devices to cloud servers, and thus the energy consumption of mobile devices can be notably reduced. In this paper, we study task offloading in multi-user MEC systems with heterogeneous clouds, including edge clouds and remote clouds. Tasks are forwarded from mobile devices to edge clouds via wireless channels, and they can be further forwarded to remote clouds via the Internet. Our objective is to minimize the total energy consumption of multiple mobile devices, subject to bounded-delay requirements of tasks. Based on dynamic programming, we propose an algorithm that minimizes the energy consumption, by jointly allocating bandwidth and computational resources to mobile devices. The algorithm is of pseudo-polynomial complexity. To further reduce the complexity, we propose an approximation algorithm with energy discretization, and its total energy consumption is proved to be within a bounded gap from the optimum. Simulation results show that, nearly 82.7% energy of mobile devices can be saved by task offloading compared with mobile device execution.展开更多
We investigate the green resource allocation to minimize the energy consumption of the users in mobile edge computing systems,where task offloading decisions,transmit power,and computation resource allocation are join...We investigate the green resource allocation to minimize the energy consumption of the users in mobile edge computing systems,where task offloading decisions,transmit power,and computation resource allocation are jointly optimized.The considered energy consumption minimization problem is a non-convex mixed-integer nonlinear programming problem,which is challenging to solve.Therefore,we develop a joint search and Successive Convex Approximation(SCA)scheme to optimize the non-integer variables and integer variables in the inner loop and outer loop,respectively.Specifically,in the inner loop,we solve the optimization problem with fixed task offloading decisions.Due to the non-convex objective function and constraints,this optimization problem is still non-convex,and thus we employ the SCA method to obtain a solution satisfying the Karush-Kuhn-Tucker conditions.In the outer loop,we optimize the offloading decisions through exhaustive search.However,the computational complexity of the exhaustive search method is greatly high.To reduce the complexity,a heuristic scheme is proposed to obtain a sub-optimal solution.Simulation results demonstrate the effectiveness of the developed schemes.展开更多
To reduce the risk of infection in medical personnel working in infectious-disease areas, we proposed ahyper-redundant mobile medical manipulator (HRMMM) to perform contact tasks in place of healthcare workers.A kinem...To reduce the risk of infection in medical personnel working in infectious-disease areas, we proposed ahyper-redundant mobile medical manipulator (HRMMM) to perform contact tasks in place of healthcare workers.A kinematics-based tracking algorithm was designed to obtain highly accurate pose tracking. A kinematic modelof the HRMMM was established and its global Jacobian matrix was deduced. An expression of the trackingerror based on the Rodrigues rotation formula was designed, and the relationship between tracking errors andgripper velocities was derived to ensure accurate object tracking. Considering the input constraints of the physicalsystem, a joint-constraint model of the HRMMM was established, and the variable-substitution method was usedto transform asymmetric constraints to symmetric constraints. All constraints were normalized by dividing bytheir maximum values. A hybrid controller based on pseudo-inverse (PI) and quadratic programming (QP) wasdesigned to satisfy the real-time motion-control requirements in medical events. The PI method was used whenthere was no input saturation, and the QP method was used when saturation occurred. A quadratic performanceindex was designed to ensure smooth switching between PI and QP. The simulation results showed that theHRMMM could approach the target pose with a smooth motion trajectory, while meeting different types of inputconstraints.展开更多
The evolution of technology in 1990s resulted in the enormous growth of smartphones and the propagation of mobile applications (App) that marked new opportunities for healthcare centers and medical education. Apps hav...The evolution of technology in 1990s resulted in the enormous growth of smartphones and the propagation of mobile applications (App) that marked new opportunities for healthcare centers and medical education. Apps have altered health services from patient’s health monitoring to specialist’s appointments and consultations from specialized health facilities. It can be argued that a healthy society can bring forth sustainable economic development to its full potential while an unhealthy society cannot. However, a free movement of people, labour and right to residence which was built across East Africa (EA) borders enabled Tanzania and Kenya borders to have enormous interactions. Subsequently, increase the risk of highly communicable diseases such as Tuberculosis and Sexually transmitted infections in such a way that medical attention is unavoidable along the borders. Statistically, Android Operating System (OS) owns 83% of Africa’s mobile OS market. In addition, 25,794,560 internet users reported by Tanzania Communications Regulatory Authority (TCRA) together with the 22.86 million internet users provided by Kenya Digital which is equivalent to 46% and 43% of internet penetration in year 2020, disclose the need for Android mobile application for mapping health facilities both online and offline using Google map API, which will solve residents’ need to healthcare services on the presence or shortage of internet connections;using either Swahili or English language via Smartphone devices. The App incorporates Monitoring and Evaluation (M & E) tool for tracking application usage which will ease Admin’s task to generate daily and monthly reports in Excel and Comma-Separated Values (CSV) formats. The developed system received positive feedback from EA citizens and residents in the Arusha region and Namanga border crossing where 90.2% of the system evaluation conducted between Dec 2020 and Apr 2021 agreed upon App usage.展开更多
This paper introduces a two-layer UDP datagram-based communication framework for developing networked mobile games. The framework consists of a physical layer and a data-link layer with a unified interface as a networ...This paper introduces a two-layer UDP datagram-based communication framework for developing networked mobile games. The framework consists of a physical layer and a data-link layer with a unified interface as a network communication mechanism. A standalone two-player mobile game, such as a chess game and the like, can be easily plugged on to the communication framework to become a corresponding networked mobile game.展开更多
Chinese college students have some drawbacks in English learning and mastering. Through a dozen years of English learning, some of them have high ability of passing examinations, but the practical application ability ...Chinese college students have some drawbacks in English learning and mastering. Through a dozen years of English learning, some of them have high ability of passing examinations, but the practical application ability is barely satisfactory with relatively poor listening level and oral expression ability. The objective cause for this situation is the relatively single and stylization English teaching model used by traditional colleges and universities. This model only emphasizes learning on class which greatly harms students＇ English learning enthusiasm and initiatives. The result is that although the students passed CET4 and CET6 long time before their graduation, they still not dare to open their mouth to speaking concerning face to face English communications. Over the years, the researches on how to improve college students＇ English application ability never stop and they did obtain some achievements and show some opportunities, for example, if we can bring APP （application programs） into college English listening class, it will largely meet students requirements on English learning and this can also replenish and perfect traditional English teaching model.展开更多
目的分析首发精神分裂症患者认知水平与血清高迁移率族蛋白B1(high mobil ity group protein B1,HMGB1)、胃饥饿素(Ghrelin)、程序性细胞死亡因子4(programmed cell death factor 4,PDCD4)的相关性。方法选定乌鲁木齐市第四人民医院2021...目的分析首发精神分裂症患者认知水平与血清高迁移率族蛋白B1(high mobil ity group protein B1,HMGB1)、胃饥饿素(Ghrelin)、程序性细胞死亡因子4(programmed cell death factor 4,PDCD4)的相关性。方法选定乌鲁木齐市第四人民医院2021年6月~2023年6月就诊的60例首发精神分裂症患者为研究对象,以MATRICS公认认知成套测验(MATRICS consensus cognitive battery,MCCB)量表对患者进行认知功能评价,以MCCB量表评价患者认知功能并分组,比较认知功能正常组(39例)、认知功能障碍组(21例)阳性阴性症状评定量表(PANSS)评分、血清HMGB1、Ghrelin、PDCD4水平的差异,Pearson分析血清HMGB1、Ghrelin、PDCD4与MCCB评分、PANSS评分的相关性。结果认知功能障碍组MCCB评分、血清Ghrelin、PDCD4水平均低于认知功能正常组(P<0.05);认知功能障碍组PANSS评分、血清HMGB1均高于认知功能正常组(P<0.05);血清HMGB1与MCCB评分呈负相关性(P<0.05,r值=-0.394),与PANSS评分呈正相关性(P<0.05,r值=0.405),血清Ghrelin、PDCD4与MCCB评分均呈正相关性(P均<0.05,r值=0.386、0.412),血清Ghrelin、PDCD4与PANSS评分均呈负相关性(P<0.05,r值=-0.392、-0.402)。结论首发精神分裂症患者血清Ghrelin、PDCD4水平较低,血清HMGB1水平较高,血清HMGB1、Ghrelin、PDCD4与首发精神分裂症患者认知功能具有相关性。展开更多
基金国家高技术研究发展计划(863计划)，the National Natural Science Foundation of China
文摘This paper presnts a team-oriented programming method specially designed for multiple mobile robots. The team, which is a typical constitution structure in multi-robot system, forms after the user selects suitable robots, assigns their roles and sets related parameters. Team behavior module are introduced for the team-level behavior description and the temporal chain of these modules, realized by finite state automata, partitions the team tasks into discrete operating states and triggers. A graphical programming tool is designed for the team task description with visual diagrams. The real robots experiment of adaptive formation shows the system＇s usability and effectivity.
基金Supported by the National High-tech Research and Development Program of China(2013AA041307)the National Natural Science Foundation of China(51478249)the Tsinghua University-Glodon Joint Research Centre for Building Information Model
文摘The building information model/modeling （BIM） technology is currently applied in a broad range of applications and research for facility management, while the BIM-based mobile FM is difficult owing to various factors and environments. For example, the mobile applications usually require frequent cross-equipment compatibility. This paper proposes a reasonable BIM-based FM cross-platform framework and develops a mobile application on the basis of an existing BIM-based FM system. The developed mobile application is applied in a case study of a metro station project in Guangzhou to verify its effectiveness in FM practice. It helps maintenance staff in viewing BIMs, accessing related information, and updating maintenance records in a unique platform. The test results demonstrate that the proposed BIM-based cross-platform framework meet the FM application requirements and supports the extension of FM functions.
文摘Mobile phone addiction is a growing concern among college students, with significant implications for their mental health. This study examines the complex relationship between mobile phone addiction and its impact on college students’ insomnia, symptoms of depression, and anxiety. A sample of 399 college students from traditional Chinese medicine colleges in Guangxi, China, completed the Mobile Phone Addiction Tendency Scale questionnaire. Among them, 155 students with high Mobile Phone Addiction Tendency scores were selected for the correlation study. The analysis revealed a strong association between mobile phone addiction and insomnia. Furthermore, mobile phone addiction was significantly associated with symptoms of depression, including feelings of sadness, worthlessness, and hopelessness, as well as heightened anxiety symptoms, such as excessive worry and restlessness. These findings emphasized the importance of targeted interventions and preventive measures to address the negative impact of mobile phone addiction on college students’ mental health.
基金the National Key R&D Program of China 2018YFB1800804the Nature Science Foundation of China (No. 61871254,No. 61861136003,No. 91638204)Hitachi Ltd.
文摘By Mobile Edge Computing(MEC), computation-intensive tasks are offloaded from mobile devices to cloud servers, and thus the energy consumption of mobile devices can be notably reduced. In this paper, we study task offloading in multi-user MEC systems with heterogeneous clouds, including edge clouds and remote clouds. Tasks are forwarded from mobile devices to edge clouds via wireless channels, and they can be further forwarded to remote clouds via the Internet. Our objective is to minimize the total energy consumption of multiple mobile devices, subject to bounded-delay requirements of tasks. Based on dynamic programming, we propose an algorithm that minimizes the energy consumption, by jointly allocating bandwidth and computational resources to mobile devices. The algorithm is of pseudo-polynomial complexity. To further reduce the complexity, we propose an approximation algorithm with energy discretization, and its total energy consumption is proved to be within a bounded gap from the optimum. Simulation results show that, nearly 82.7% energy of mobile devices can be saved by task offloading compared with mobile device execution.
基金This work was supported by National Key Research and Development Program of China under Grant 2021YFF0307602National Natural Science Foundation of China under Grant 61941104Beijing Nova Program under Grant Z211100002121161.
文摘We investigate the green resource allocation to minimize the energy consumption of the users in mobile edge computing systems,where task offloading decisions,transmit power,and computation resource allocation are jointly optimized.The considered energy consumption minimization problem is a non-convex mixed-integer nonlinear programming problem,which is challenging to solve.Therefore,we develop a joint search and Successive Convex Approximation(SCA)scheme to optimize the non-integer variables and integer variables in the inner loop and outer loop,respectively.Specifically,in the inner loop,we solve the optimization problem with fixed task offloading decisions.Due to the non-convex objective function and constraints,this optimization problem is still non-convex,and thus we employ the SCA method to obtain a solution satisfying the Karush-Kuhn-Tucker conditions.In the outer loop,we optimize the offloading decisions through exhaustive search.However,the computational complexity of the exhaustive search method is greatly high.To reduce the complexity,a heuristic scheme is proposed to obtain a sub-optimal solution.Simulation results demonstrate the effectiveness of the developed schemes.
基金the National Natural Science Foundation of China(No.52175103)。
文摘To reduce the risk of infection in medical personnel working in infectious-disease areas, we proposed ahyper-redundant mobile medical manipulator (HRMMM) to perform contact tasks in place of healthcare workers.A kinematics-based tracking algorithm was designed to obtain highly accurate pose tracking. A kinematic modelof the HRMMM was established and its global Jacobian matrix was deduced. An expression of the trackingerror based on the Rodrigues rotation formula was designed, and the relationship between tracking errors andgripper velocities was derived to ensure accurate object tracking. Considering the input constraints of the physicalsystem, a joint-constraint model of the HRMMM was established, and the variable-substitution method was usedto transform asymmetric constraints to symmetric constraints. All constraints were normalized by dividing bytheir maximum values. A hybrid controller based on pseudo-inverse (PI) and quadratic programming (QP) wasdesigned to satisfy the real-time motion-control requirements in medical events. The PI method was used whenthere was no input saturation, and the QP method was used when saturation occurred. A quadratic performanceindex was designed to ensure smooth switching between PI and QP. The simulation results showed that theHRMMM could approach the target pose with a smooth motion trajectory, while meeting different types of inputconstraints.
文摘The evolution of technology in 1990s resulted in the enormous growth of smartphones and the propagation of mobile applications (App) that marked new opportunities for healthcare centers and medical education. Apps have altered health services from patient’s health monitoring to specialist’s appointments and consultations from specialized health facilities. It can be argued that a healthy society can bring forth sustainable economic development to its full potential while an unhealthy society cannot. However, a free movement of people, labour and right to residence which was built across East Africa (EA) borders enabled Tanzania and Kenya borders to have enormous interactions. Subsequently, increase the risk of highly communicable diseases such as Tuberculosis and Sexually transmitted infections in such a way that medical attention is unavoidable along the borders. Statistically, Android Operating System (OS) owns 83% of Africa’s mobile OS market. In addition, 25,794,560 internet users reported by Tanzania Communications Regulatory Authority (TCRA) together with the 22.86 million internet users provided by Kenya Digital which is equivalent to 46% and 43% of internet penetration in year 2020, disclose the need for Android mobile application for mapping health facilities both online and offline using Google map API, which will solve residents’ need to healthcare services on the presence or shortage of internet connections;using either Swahili or English language via Smartphone devices. The App incorporates Monitoring and Evaluation (M & E) tool for tracking application usage which will ease Admin’s task to generate daily and monthly reports in Excel and Comma-Separated Values (CSV) formats. The developed system received positive feedback from EA citizens and residents in the Arusha region and Namanga border crossing where 90.2% of the system evaluation conducted between Dec 2020 and Apr 2021 agreed upon App usage.
文摘This paper introduces a two-layer UDP datagram-based communication framework for developing networked mobile games. The framework consists of a physical layer and a data-link layer with a unified interface as a network communication mechanism. A standalone two-player mobile game, such as a chess game and the like, can be easily plugged on to the communication framework to become a corresponding networked mobile game.
文摘Chinese college students have some drawbacks in English learning and mastering. Through a dozen years of English learning, some of them have high ability of passing examinations, but the practical application ability is barely satisfactory with relatively poor listening level and oral expression ability. The objective cause for this situation is the relatively single and stylization English teaching model used by traditional colleges and universities. This model only emphasizes learning on class which greatly harms students＇ English learning enthusiasm and initiatives. The result is that although the students passed CET4 and CET6 long time before their graduation, they still not dare to open their mouth to speaking concerning face to face English communications. Over the years, the researches on how to improve college students＇ English application ability never stop and they did obtain some achievements and show some opportunities, for example, if we can bring APP （application programs） into college English listening class, it will largely meet students requirements on English learning and this can also replenish and perfect traditional English teaching model.
文摘目的分析首发精神分裂症患者认知水平与血清高迁移率族蛋白B1(high mobil ity group protein B1,HMGB1)、胃饥饿素(Ghrelin)、程序性细胞死亡因子4(programmed cell death factor 4,PDCD4)的相关性。方法选定乌鲁木齐市第四人民医院2021年6月~2023年6月就诊的60例首发精神分裂症患者为研究对象,以MATRICS公认认知成套测验(MATRICS consensus cognitive battery,MCCB)量表对患者进行认知功能评价,以MCCB量表评价患者认知功能并分组,比较认知功能正常组(39例)、认知功能障碍组(21例)阳性阴性症状评定量表(PANSS)评分、血清HMGB1、Ghrelin、PDCD4水平的差异,Pearson分析血清HMGB1、Ghrelin、PDCD4与MCCB评分、PANSS评分的相关性。结果认知功能障碍组MCCB评分、血清Ghrelin、PDCD4水平均低于认知功能正常组(P<0.05);认知功能障碍组PANSS评分、血清HMGB1均高于认知功能正常组(P<0.05);血清HMGB1与MCCB评分呈负相关性(P<0.05,r值=-0.394),与PANSS评分呈正相关性(P<0.05,r值=0.405),血清Ghrelin、PDCD4与MCCB评分均呈正相关性(P均<0.05,r值=0.386、0.412),血清Ghrelin、PDCD4与PANSS评分均呈负相关性(P<0.05,r值=-0.392、-0.402)。结论首发精神分裂症患者血清Ghrelin、PDCD4水平较低,血清HMGB1水平较高,血清HMGB1、Ghrelin、PDCD4与首发精神分裂症患者认知功能具有相关性。
