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Towards Energy-Efficiency: Integrating MATD3 Reinforcement Learning Method for Computational Offloading in RIS-Aided UAV-MEC Environments

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IEEE Internet of Things Journal 2025年

作者： Wu, Liangshun Zhang, Cong Zhang, Bin Du, Jianbo Qu, Junsuo Key Laboratory of Embedded System and Service Computing Tongji University Ministry of Education Shanghai201804 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai201210 China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Xi'an Key Laboratory of Advanced Control and Intelligent Process School of Automation Xi'an University of Posts & Telecommunications Xi'an710061 China Xinjiang University of Political Science and Law Tumushuke832003 China School of Remote Sensing and Information Engineering Wuhan University Wuhan430079 China Department of Computer City University of Hong Kong 999077 Hong Kong School of Communications and Information Engineering Xi'an University of Posts & Telecommunications Xi'an710061 China

With the proliferation of IoT devices, there is an escalating demand for enhanced computing and communication capabilities. Mobile Edge computing (MEC) addresses this need by relocating computing resources to the network edge, thereby delivering swifter and more efficient services. This paper introduces a computation offloading and energy consumption optimization framework that leverages Reconfigurable Intelligent Surfaces (RIS), Unmanned Aerial Vehicles (UAVs), and MEC. The scheme aims to maximize energy efficiency through the optimization of task allocation, RIS phase shifts, and UAV trajectories. By employing the Multi-Agent Twin Delayed Deep Deterministic Policy Gradient (MATD3) reinforcement learning algorithm, the paper further refines UAV trajectories and RIS configurations. The simulation results indicate that the proposed method surpasses the traditional Concave-Convex Procedure (CCCP) algorithm in both UAV trajectory control and RIS configuration, demonstrating quicker convergence and enhanced stability. The method proves to be adaptable to diverse environments and tasks, showcasing notable benefits in RIS-assisted interference suppression, particularly with large RIS, thereby enhancing UAV data reception rates. Additionally, MATD3 exhibits faster and smoother convergence for extended task durations and smaller RIS scenarios. Simulation results reveal that UAVs tend to move closer to RIS, with energy efficiency falling as IoT tasks increase, affirming the proposed algorithm's high energy efficiency and effectiveness. © 2025 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Performance Analysis of Quaternion vs Euler-based Approaches in Reduced INS/GNSS Fusion Techniques

Performance Analysis of Quaternion vs Euler-based Approaches...

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Telecommunications Conference (ITC-Egypt), International

作者： Maher Tarek Shady Zahran Ahmed Radi Sherif F Nafea Eyad S. Oda Alaa El-Din Sayed Hafez Control and Navigation Departement Technical Researches and Development Center Cairo Egypt College of Computing and Information technology Arab academy for Science Technology and Maritime Transport Cairo Egypt Technical Researches Center Cairo Egypt Electrical Engineering Department Suez Canal University Cairo Egypt Electrical Engineering Affiliate Instructor Alexandria University Cairo Egypt

Unmanned vehicle navigation using various combination of sensors in different fields, civilian or military, has always known to be a challenging and nontrivial task. Bayesian filter algorithms are usually being used for combining and optimally processing measurements provided by such sensors, considering the available knowledge such as the uncertainty in measurements. Since the performance of any navigation system mainly depends on the efficiency of the chosen filter algorithm associated with the utilized sensors’ quality, the choice of suitable filtering approach (according to the demand application) can be considered as a critical and essential designing point. In this paper, the performance of two different attitudes representation filtering approaches (Quaternion and Euler angles-based) is investigated, when applied in Multiplicative Extended Kalman Filter (MEKF) design. The overall performance and accuracy of both approaches were analyzed and compared during various GNSS signal outages for a self-driving cars application in straight and curved trajectory paths. Multiple in-filed experiments were conducted using a special setup that includes a MEMS-based SPATIAL Advanced Navigation INS/GNSS system where the output of both approaches was compared to the ground truth of a utilized reference navigation system. The comparison includes 1) Position, Velocity and Attitude (PVA) estimation accuracy, 2) processing time and computational complexity. Results concluded that each approach has its own merits in demerits where the Quaternion-based approach outperforms the Euler one in terms of PVA navigation solution estimation accuracy. On the other hand, a faster calculation for the Euler-based approach associated with lower computational complexity was significantly noticeable.

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Boosting So2-Tolerant Oxidation of Hg0 and Chlorobenzene Over Mnco2o4@Tio2 Catalyst Via Constructing Shielding Effects

SSRN

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SSRN 2023年

作者： Shi, Qiqi Gao, Pei Shen, Boxiong Zhang, Xiao Li, Shuhao Lyu, Honghong Liu, Shiyao Kang, Dongrui Zhang, Chenguang Tianjin Key Laboratory of Clean Energy and Pollution Control School of Energy and Environmental Engineering Hebei University of Technology Tianjin300401 China Department of Chemistry and Biotechnology School of Science Computing and Engineering Technologies Swinburne University of Technology MelbourneVIC3122 Australia CSIRO Manufacturing Private Bag 10 Clayton SouthVIC3169 Australia

Achieving efficient purification of Hg0 and CVOCs (chlorinated volatile organic compounds) in flue gas with the presence of SO2 is still an urgent problem. In this work, we developed a mesoporous MnCo2O4@TiO2 core-shell catalyst using hydrolysis method and applied it to catalytic purification of Hg0 and CVOCs (chlorobenzene as a simulated molecule). The results showed that MnCo2O4@TiO2 had strong SO2 resistance for Hg0 and chlorobenzene conversion. This could be attributed that the electronic interactions between MnCo2O4 and TiO2 induced the generation of more Co3+ active sites, moderate acidic sites, and weakened the deposition of sulfate. In addition, the enhanced SO2-resistance mechanism on the MnCo2O4@TiO2 core-shell catalysts for Hg0 and chlorobenzene conversion is discussed in detail. We deeply appreciate your consideration of our manuscript, and we look forward to receiving comments from the reviewers. If you have any queries, please don’t hesitate to contact me at the address below. © 2023, The Authors. All rights reserved.

关键词： Volatile organic compounds

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A Human-friendly Verbal Communication Platform for Multi-Robot Systems: Design and Principles

arXiv

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arXiv 2022年

作者： Carr, Christopher Wang, Peng Wang, Shenglin The Department of Mathematics and Computing Manchester Metropolitan University M15 6BH United Kingdom The Department of Automatic Control and Systems Engineering The University of Sheffield SheffieldS10 2TN United Kingdom

While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of multi-robot systems from the reliance on network infrastructures, this paper proposes a human-friendly verbal communication platform for multi-robot systems, following the deliberately designed principles of being adaptable, transparent, and secure. The platform is network independent and is subsequently capable of functioning in network infrastructure lacking environments from underwater to planet explorations. A series of experiments were conducted to demonstrate the platform’s capability in multi-robot systems communication and task coordination, showing its potential in infrastructure-free applications. To benefit the community, we have made the codes open source at GitHub. Copyright © 2022, The Authors. All rights reserved.

关键词： Multipurpose robots

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Difference in Uptake Pattern Heterogeneity and Reproducibility of Radiomics Features Between FAPI and FDG Pet/Ct Imaging of Tumors

Difference in Uptake Pattern Heterogeneity and Reproducibili...

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IEEE International Symposium on Biomedical Imaging

作者： Tianmeng Xu Yanchao Huang Tingting Ang Shuilin Chu Peiyin Luo Shunfang Wang Yufeng Zhang Lijun Lu Ganghua Tang Wenbing Lv School of Information and Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University Kunming China Department of Nuclear Medicine Laboratory for Quality Control and Evaluation of Radiopharmaceuticals Nanfang Hospital Southern Medical University Guangzhou China School of Biomedical Engineering and Guangdong Provincial Key Laboratory of Medical Image Processing Southern Medical University Guangzhou China

ISBN: (数字)9798350313338

ISBN: (纸本)9798350313345

To investigate the difference in uptake pattern heterogeneity between fluorodeoxyglucose (FDG) and fibroblast activation protein inhibitor (FAPI) PET/CT and the reproducibility of radiomics features with respect to different calculation methods of standardized uptake value (SUV). 210 patients with various tumors were involved. Among the extracted 497 radiomics features, there are only 20 features that exhibited an ICC difference of more than 0.25 between the two tracers when using different SUV calculation methods, revealing the similar influence of SUV calculation methods. In contrast, the ICC values for most texture features were generally lower (0.22-0.39) between FDG and FAPI PET images, indicating a large difference in uptake pattern heterogeneity between the two tracers. Our results demonstrated that the influence of SUV calculation methods on the reproducibility of FDG and FAPI PET features is similar. The uptake pattern heterogeneity characterized by radiomics features between FDG and FAPI PET images is significantly different.

关键词： Proteins Protein engineering Inhibitors Fibroblasts Feature extraction Reproducibility of results Radiomics

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Acid Etching-Induced Ce3+−O−Mn4+ Active Sites of SmCe0.1Mn1.9O5 Mullite for Enhanced Elimination of Hg0 and Chlorobenzene: Byproduct Analysis

SSRN

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SSRN 2023年

作者： Shi, Qiqi Zhang, Chenguang Shen, Boxiong Zhang, Xiao Lyu, Honghong Li, Shuhao Kang, Dongrui Bian, Yao Tianjin Key Laboratory of Clean Energy and Pollution Control School of Energy and Environmental Engineering Hebei University of Technology Tianjin300401 China Department of Chemistry and Biotechnology School of Science Computing and Engineering Technologies Swinburne University of Technology MelbourneVIC3122 Australia CSIRO Manufacturing Private Bag 10 Clayton SouthVIC3169 Australia

The efficient control of co-existing Hg0 and chlorobenzene in flue gas through catalytic oxidation is a major challenge in the field of energy and environmental engineering. In this study, a porous SmCe0.1Mn1.9O5 catalyst is prepared via a sol-gel method followed with acid etching for the synergistic elimination of Hg0 and chlorobenzene. The optimized Ce-SM-E exhibits near 100% removal efficiency of Hg0 within 100-400 oC and 90% chlorobenzene conversion above 275 °C, as well as excellent performance under complex flue gas conditions. The Ce substituting Mn3+ in the mullite structure enables favorable electron transfers from SmMn2O5 to CeO2 while causing more active defects. Subsequent acid etching removes the surface Sm species and modulates the electronic state of Mn atoms, inducing formation of more Ce3+-O-Mn4+ active sites, consequently enhancing the redox cycle. Especially, the generation of aldehydes, aromatic rings, maleate species and monodentate carbonate species are considered as the main rate-limiting steps in the CB degradation path. The effect of complex flue gas components (SO2, NO, H2O, etc) on the distribution of reaction byproducts is analyzed. The sulfation poisoning from SO2 consumes reactive oxygen species and promotes more dichlorobenzenes through electrophilic reactions. The presence of NH3/NO and H2O are found to promote the generation of NH4Cl and HCl, respectively, but the addition of which also generates much oxygen-containing byproducts such as acetophenone, benzoyl chloride and benzenecarboxylic acid via the Friedel-Crafts reaction. These results provide a promising approach for engineering efficient catalysts and benefit the evaluation of environmental risk under industrial conditions. © 2023, The Authors. All rights reserved.

关键词： Manganese compounds

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Attacking Digital Twins of Robotic Systems to Compromise Security and Safety

arXiv

引用

arXiv 2022年

作者： Carr, Christopher Wang, Shenglin Wang, Peng Han, Liangxiu Department of Mathematics and Computing Manchester Metropolitan University M15 6BH United Kingdom Department of Automatic Control and Systems Engineering The University of Sheffield SheffieldS10 2TN United Kingdom

Security and safety are of paramount importance to human-robot interaction, either for autonomous robots or human-robot collaborative manufacturing. The intertwined relationship of security and safety has imposed new challenges on the emerging digital twin systems of various types of robots. To be specific, the attack of either the cyber-physical system or the digital-twin system could cause severe consequences to the other. Particularly, the attack of a digital-twin system that is synchronised with a cyber-physical system could cause lateral damage to humans and other surrounding facilities. This paper demonstrates that for Robot Operating System (ROS) driven systems, attacks such as the person in the middle attack of the digital-twin system could eventually lead to a collapse of the cyber-physical system, whether it is an industrial robot or an autonomous mobile robot, causing unexpected consequences. We also discuss potential solutions to alleviate such attacks. Copyright © 2022, The Authors. All rights reserved.

关键词： Cyber Physical System

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Air Traffic Management and Communication over ATN/IPS for Future Datalink Communication

Air Traffic Management and Communication over ATN/IPS for Fu...

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Integrated Communications, Navigation and Surveillance Conference, ICNS

作者： Emre Aydoğan Sergun Özmen Fulya Aybek Cetek Rosa María Arnaldo Valdés Raquel Delgado-Aguilera Jurado Angel Ernesto Carmona Fernández Adrián Martínez Miralles Tommaso Vendruscolo Stefano Bonelli Daniel Delahaye Supatcha Chaimatanan Feng Chen Raouf Hamzaoui Air Traffic Control Department Faculty of Aeronautics and Astronautics Eskişehir Technical University Eskişehir Türkiye Turkish Airlines Îstanbul Türkiye Department of Aerospace Systems Air Transport and Airports Universidad Politėcnica de Madrid Madrid Spain Servicios Aeronáuticos Control y Navegación Madrid Spain Deep Blue srl Rome Italy OPTIM Lab École Nationale de l 'Aviation Civile (ENAC) Toulouse France Faculty of Computing Engineering and Media De Montfort University Leicester UK

ISBN: (数字)9798331534738

ISBN: (纸本)9798331534745

The growing demand for air traffic presents challenges in air traffic management, making seamless gate-to-gate communication essential. Traditional radio frequency communication faces limitations such as weather dependency and frequency restrictions. To address these issues, data link communications have gained importance, using VHF channels, satellite systems, and ATN/IPS-based networks. This study introduces the ATMACA (Air Traffic Management and Communication Over ATN/IPS) protocol, an advanced context management framework for ATN/IPS, designed to enhance aviation communications. ATMACA integrates instant messaging and software-defined nodes to improve connectivity, session continuity, and mobility management across networks and devices. It ensures seamless user interaction, reduces pilot workload, and enhances flight safety through automated Air Traffic control (ATC) sector handoff in controller-Pilot Data Link Communications (CPDLC) and Data Link Initiation Capability (DLIC) applications. Another key innovation of the ATMACA framework is Green Route Operations (GRO), which enables real-time trajectory prediction and optimization.

关键词： Wind Temperature distribution Technological innovation Surveillance Green products User centered design Routing protocols Real-time systems Trajectory Air traffic control

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Numerical simulation of water entry of a wedge into waves 30

Numerical simulation of water entry of a wedge into waves

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30th International Ocean and Polar engineering Conference, ISOPE 2020

作者： Wang, Kai Ma, Xin Bai, Wei Li, Yibin School of Control Science and Engineering Shandong University JinanShandong Province China Department of Computing and Mathematics Manchester Metropolitan University Manchester United Kingdom

ISBN: (纸本)9781880653845

The open source CFD library OpenFOAM is used to simulate the process of the crane lifting cargo into the water. In this paper, overset mesh strategy and the overInterDyMFoam solver are used to solve the process of two-dimensional water entry of a wedge. Firstly, the pressure coefficient distribution and free surface profile of wedges with different deadrise angles into the calm water with constant velocity or free-falling are calculated. Furthermore, water entry of a wedge into a wave was studied. The accuracy of the code is verified by comparing with the published academic data and experimental results. © 2020 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Arctic engineering

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Numerical simulation of cylinder falling in flow using openfoam 30

Numerical simulation of cylinder falling in flow using openf...

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30th International Ocean and Polar engineering Conference, ISOPE 2020

作者： Chen, Wenshu Ma, Xin Bai, Wei Li, Yibin School of Control Science and Engineering Shandong University JinanShandong Province China Department of Computing and Mathematics Manchester Metropolitan University Manchester United Kingdom

ISBN: (纸本)9781880653845

In the process of offshore working, payloads of offshore cranes may suffer from flow disturbances. In this work, OpenFOAM is used to simulate the interaction between payloads and the ocean flow after it enters water. Firstly, two-dimensional model of flow around cylinder at a low Reynolds and the cylinder free-falling in fluids are verified with the existing data to verify the model. On this basis, the overset dynamic grid technique is used to simulate the free fall of the horizontal cylinder in flow. The extensive simulation results can be used to further study the safe movement control of underwater payloads. © 2020 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Circular cylinders

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