Cooperative Scheme Research Articles

Design of Intelligent Distributed Cable Laying System Based on Multi-machine Cooperative Control Strategy

Abstract To solve the problems of complicated long-distance cable laying process, low laying efficiency and easy cable damage, an intelligent distributed cable laying system based on a multi-machine coordination strategy is proposed in this paper. Firstly, the multi-machine cooperative control strategy of cable clamping push laying is proposed, which solves the problem of complex and low efficiency of long-distance cable laying. Secondly, the intelligent cable-laying machine is developed to realize the perception and adaptive control of the cable-laying field conditions. Finally, an intelligent distributed cable laying system based on a multi-machine cooperative control strategy is developed. The combination of a multi-machine cooperative control strategy and an intelligent cable laying machine further strengthens the cooperation and stability of the whole system and provides a more intelligent and efficient way for cable laying.

Mode-switching cooperative defense strategy for the orbit pursuit-evasion-defense game

This paper presents a mode-switching collaborative defense strategy for spacecraft pursuit-evasion-defense scenarios. In these scenarios, the pursuer tries to avoid the defender while capturing the evader, while the evader and defender form an alliance to prevent the pursuer from achieving its goal. First, the behavioral modes of the pursuer, including attack and avoidance modes, were established using differential game theory. These modes are then recognized by an interactive multiple model-matching algorithm (IMM), that uses several smooth variable structure filters to match the modes of the pursuer and update their probabilities in real time. Based on the linear-quadratic optimization theory, combined with the results of strategy identification, a two-way cooperative optimal strategy for the defender and evader is proposed, where the evader aids the defender to intercept the pursuer by performing luring maneuvers. Simulation results show that the interactive multi-model algorithm based on several smooth variable structure filters perform well in the strategy identification of the pursuer, and the cooperative defense strategy based on strategy identification has good interception performance when facing pursuers, who are able to flexibly adjust their game objectives.

Robust Cooperative Control for Heterogeneous Uncertain Nonlinear High-Order Fully Actuated Multiagent Systems.

This research is intended to address a robust cooperative control problem of heterogeneous uncertain nonlinear high-order fully actuated multiagent systems (HUN-HOFAMASs). A nonlinear HOFA system model is used to describe the multiagent systems (MASs) with heterogeneous uncertain nonlinear dynamics, which is called the HUN-HOFAMASs. A predictive terminal sliding-mode control-based robust cooperative control scheme is presented to address this problem. In this scheme, heterogeneous nonlinear dynamics of original system are offset to establish a linear constant HOFA system with the help of full actuation feature. Then, a terminal sliding-mode variable for enhancing the system robustness is introduced to handle the uncertainties. Furthermore, a linear incremental prediction model is developed in a HOFA form by means of a Diophantine equation. According to this model, the multistep terminal sliding-mode predictions are yielded to optimize the robust cooperative control performance and compensate for the network-induced communication constraints in the feedback and forward channels. Based on a linear matrix inequality (LMI) method, a necessary and sufficient criterion is derived to discuss the simultaneous consensus and stability of closed-loop HUN-HOFAMASs. The simulation and comparison results of cooperative flying around of multiple spacecraft system are shown to illustrate the capability and advantage of the presented predictive terminal sliding-mode control for robust cooperative control.

The Effects of Cooperative Learning on Creative Writing and Self-Efficacy in Portuguese and Mathematics

Cooperative learning is a pedagogical practice widely endorsed in the literature to enhance students’ creative writing skills. This methodology promotes the development of originality, fosters openness to new ideas, provides opportunities for interaction and tossing ideas around, and subsequently contributes to boosting creative textual production. This study aims to assess the impact of incorporating cooperative learning strategies on developing creative writing skills and enhancing self-efficacy among 6th-grade students. Additionally, this study reflects on using cooperative learning methods in the classroom setting, namely the roundtable and the cooperative graffiti. The participants were 34 students from two classes of the 6th grade of the 2nd cycle of basic school: an experimental group, where cooperative learning applies, and a control group, conducted using a traditional lecture. The study used a quasi-experimental design, incorporating pre-test and post-test. The non-parametric Wilcoxon signed-rank test was used to assess within-group changes in pre-test and post-test scores for both the experimental and control groups. The findings from both classes suggest that cooperative learning is more effective than a traditional lecture in building creative writing skills and self-efficacy in Portuguese (first language) and maths.

Persistent predators: Zooarchaeological evidence for specialized horse hunting at Schöningen 13II-4

The Schöningen 13II-4 site is a marvel of Paleolithic archaeology. With the extraordinary preservation of complete wooden spears and butchered large mammal bones dating from the Middle Pleistocene, Schöningen maintains a prominent position in the halls of human origins worldwide. Here, we present the first analysis of the complete large mammal faunal assemblage from Schöningen 13II-4, drawing on multiple lines of zooarchaeological and taphonomic evidence to expose the full spectrum of hominin activities at the site—before, during, and after the hunt. Horse (Equus mosbachensis) remains dominate the assemblage and suggest a recurrent ambush hunting strategy along the margins of the Schöningen paleo-lake. In this regard, Schöningen 13II-4 provides the first undisputed evidence for hunting of a single prey species that can be studied from an in situ, open-air context. The Schöningen hominins likely relied on cooperative hunting strategy to target horse family groups, to the near exclusion of bachelor herds. Horse kills occurred during all seasons, implying a year-round presence of hominins on the Schöningen landscape. All portions of prey skeletons are represented in the assemblage, many complete and in semiarticulation, with little transport of skeletal parts away from the site. Butchery marks are abundant, and adult carcasses were processed more thoroughly than were juveniles. Numerous complete, unmodified bones indicated that lean meat and marrow were not always so highly prized, especially in events involving multiple kills when fat and animal hides may have received greater attention. The behaviors displayed at Schöningen continue to challenge our perceptions and models of past hominin lifeways, further cementing Schöningen's standing as the archetype for understanding hunting adaptations during the European Middle Pleistocene.

Mixed-Zero-Sum-Game-Based Memory Event-Triggered Cooperative Control of Heterogeneous MASs Against DoS Attacks.

This article studies the problem of memory event-triggered cooperative adaptive control of heterogeneous nonlinear multiagent systems (MASs) under denial-of-service (DoS) attacks based on the multiplayer mixed zero-sum (ZS) game strategy. First, a neural-network-based reinforcement learning scheme is structured to obtain the Nash equilibrium solution of the proposed multiplayer mixed ZS game scheme. Then, a memory-based event-triggered mechanism considering the historical data is proposed. This effectively avoids incorrect triggering information caused by unknown external factors. Moreover, thanks to the idea of switching topology, the mixed ZS game problem under the influence of node-based DoS attacks is solved efficiently. In accordance with the Lyapunov stability theory, it is proved that all signals of heterogeneous MASs are bounded, all heterogeneous followers can track the trajectory of the leader during the no-attack period, the attacked follower can achieve stabilization control during the attack period, and the remaining nonattacked followers can achieve cooperative control during the attack period. Finally, the effectiveness of the designed memory-event-triggered-based mixed ZS game cooperative control strategy is tested by the given simulation results.

Optimal economic operation of smart home devices based on home microgrids and time-of-use tariffs

Abstract In this paper, a two-layer model is proposed for smart devices in a home energy management system in order to optimize residential energy use under time-of-use tariffs and home microgrids. Home smart devices are modelled based on their power consumption attributes and building thermal resistance. An HVAC-transferable device cooperative operation strategy is introduced to construct the economic optimization of the upper-level HVAC operation and the lower-level transferable device operation. This strategy reduces home power costs while maintaining user comfort. By iteratively solving the two-layer model, the optimal power consumption scheme for home smart devices is determined.

Third party interventions promote cooperation on the interdependent networks: A perspective based on prospect theory.

Third-party intervention is a beneficial means to alleviate conflicts and promote cooperation among disputants. The decision-making of disputants is closely related to the intensity of the impact of third-party intervention on their profits. Actually, disputants often decide whether to adopt cooperative strategies based on their own perceived rather than actual gains or losses brought about by third-party intervention. We, therefore, introduce prospect theory to explore the formation and maintenance of cooperation in a system composed of third parties and disputants, which, respectively, constitute two sub-networks of the interdependent networks. Both interveners and disputants participate in a prisoner's dilemma game, and the third-party intervener will pay a certain price to impose certain punishments on the defectors of the disputed layer. The simulation results show that the introduction of third-party intervention based on the prospect theory alleviates the conflicts in the dispute layer and promotes cooperation among disputants, which indicates that third parties such as governments or organizations should appropriately consider the risk attitudes of disputants when mediating their conflicts. The level of cooperation at the dispute layer is inversely proportional to the intervention cost and directly proportional to the intervention intensity. Our research may shed some new light on the study of the evolution of cooperation under third-party intervention.

The influence of cooperative learning strategy on social studies pre-service teachers’ attitudes towards cybercrime prevention

This study investigates the influence of cooperative learning strategy on Social Studies pre-service teachers' attitudes toward cybercrime prevention. The study employed a quasi-experimental research design of the pre-test, post-test, and control group design. The population comprised pre-service teachers enrolled in Social Studies education departments across three universities in the Southwest region of Nigeria. A multistage sampling procedure was employed, selecting intact classes from each university. The research utilized a comprehensive set of instruments, including the Cooperative Learning Strategy Guide and Lecture Note (CLSG), Conventional Method Guide and Lecture Note (CMG), and Attitude to Cybercrime Prevention Scale (ACPS). Data analysis was conducted using descriptive and inferential statistics. All Hypotheses were tested at a significance level of 0.05. The findings showed that using cooperative learning strategies positively affects Social Studies pre-service teachers' attitudes toward cybercrime prevention. This approach encourages active engagement, collaboration, group discussions, problem-solving, and sharing learning experiences. These results revealed the necessity for tailored approaches to address attitude change effectively. Integrating cooperative learning strategies into higher education can help pre-service teachers take a proactive approach to cybercrime prevention. This will improve their knowledge and skills while promoting a safer digital learning environment for students.

Cooperative Learning Approaches and Students’ Performance in Mathematics in Public Secondary Schools in Rwanda

The study investigated the impact of cooperative learning approaches on student performance in mathematics in public secondary schools in Rwanda. It focused on three key areas: the role of face-to-face interaction, the influence of group accountability, and the effect of interpersonal skills on students’ academic success. The target population included 101 students, 95 math teachers, and 35 school leaders, totaling 231 respondents from public secondary schools in Nyaruguru, with a sample size of 146 determined using the Yamane formula. Primary data were collected through questionnaires, while secondary data were obtained via interviews and observations. The study employed purposive, stratified, and simple random sampling, utilizing both quantitative and qualitative methodologies. Results indicated strong support for the benefits of cooperative learning. For face-to-face interaction, 71.9% of respondents strongly agreed that it promotes collaboration and problem solving, while 60.9% acknowledged it helps them identify their strengths and weaknesses quickly. Additionally, 61.3% felt that personalized support from teachers enhances their learning experience. Regarding group accountability, 71.9% noted that it motivates students to work harder and seek help, and 62.5% believed it fosters a sense of collective responsibility. Importantly, 73.4% agreed that group accountability contributes to a positive learning environment. The study recommends that educational planners create effective settings to enhance student achievement and encourage active engagement. Schools should integrate cooperative learning strategies into their curricula, and parents should be informed about their benefits to support group activities. Finally, the curriculum should allow flexibility to incorporate diverse cooperative learning methods, reflecting the varied impacts observed in the study.

Application of strategies for teaching and learning for tenth grade students

The research focuses on tenth grade students at Unidad Educativa del Milenio Simón Bolívar en Pimocha, Babahoyo, Ecuador, to improve their reading comprehension skills through the use of cooperative learning strategies. Quantitative and qualitative methods were used to collect data in focus groups through surveys, standardized tests, interviews, observation checklists, and discussions. The sample consisted of twelve students who were evenly distributed between two classes. The results of the research showed that students who participated in cooperative learning activities significantly improved their reading comprehension skills; students achieved an average increase of 24.1% in their reading comprehension test scores. These results were supported by interviews and discussions in focus groups, which emphasized the importance of peer interaction and continuous feedback. Cooperative learning strategies, such as scaffolding instruction and collaboration activities, have been proven effective in improving reading comprehension skills. These findings highlight the importance of applying innovative teaching techniques in secondary education.

OPTIMIZING PROCESSOR WORKLOADS AND SYSTEM EFFICIENCY THROUGH GAME-THEORETIC MODELS IN DISTRIBUTED SYSTEMS

The primary goal of this research is to examine how different strategic behaviors adopted by processors affect the workload management and overall efficiency of the system. Specifically, the study focuses on the attainment of a pure strategy Nash Equilibrium and explores its implications on system performance. In this context, Nash Equilibrium is considered as a state where no player has anything to gain by changing only their own strategy unilaterally, suggesting a stable, yet not necessarily optimal, configuration under strategic interactions. The paper rigorously develops a formal mathematical model and employs extensive simulations to validate the theoretical findings, thus ensuring the reliability of the proposed model. Additionally, adaptive algorithms for dynamic task allocation are proposed, aimed at enhancing system flexibility and efficiency in real-time processing environments. Key results from this study highlight that while Nash Equilibrium fosters stability within the system, the adoption of optimal cooperative strategies significantly improves operational efficiency and minimizes transaction costs. These findings are illustrated through detailed 3D plots and tabulated results, which provide a detailed examination of how strategic decisions influence system performance under varying conditions, such as fluctuating system loads and migration costs. The analysis also examines the balance between individual processor job satisfaction and overall system performance, highlighting the effect of rigid task reallocation frameworks. Through this study, the paper not only improves our understanding of strategic interactions within computational systems but also provides key ideas that could guide the development of more efficient computational frameworks for various applications.

A cooperative methodology for multi‐roller automation in pavement construction considering trajectory planning and collaborative operation

AbstractIntelligent compaction, particularly fully autonomous compaction, has emerged as a widely accepted innovative technology for enhancing compaction quality and efficiency. When multiple rollers are concurrently engaged in compaction within the same region, the trajectory planning for each roller and cooperative control become pivotal factors in ensuring efficient and safe compaction. This paper presents a comprehensive methodology framework for achieving safe and efficient cooperative operations in multi‐roller automation application. Initially, conventional rollers are retrofitted with autonomous functionality, allowing them to automatically follow preset trajectories through a tracking control algorithm. A trajectory planning method is then proposed, tailored for multi‐roller operations. Subsequently, a series of cooperative control strategies are outlined to determine the optimal timing for executing compaction tasks. Additionally, a cooperative control strategy is proposed for multi‐roller operations, known as “move forward and backward together” control, which ensures the rollers initiate and cease movement without colliding. Finally, the proposed trajectory planning method and cooperative control strategies are validated through field tests conducted on a 100‐m‐long, 12‐m‐wide compaction test site. These tests include single‐roller trials, two‐roller‐in‐a‐row experiments, and multi‐roller cooperation tests. The average trajectory tracking error is maintained below 15 cm, and the effectiveness of the control strategies is demonstrated.

PACC: A platoon-based adaptive cruise control strategy based on leader-following information topology to mitigate traffic oscillations under CAV environment

Traffic oscillations, often induced by repetitive acceleration and deceleration maneuvers in vehicles’ car-following behaviors, can cause many negative impacts on the traffic flow. With the development of connected and automated vehicle (CAV) technologies recently, scholars have made numerous effects on mitigating the propagation of traffic oscillations through a variety of advanced CAV control strategies, especially those related to the CAV platoon control. Different from the previous works, this paper proposed a platoon-based adaptive cruise control (PACC) strategy for CAV platoon to mitigate the traffic oscillations. The strategy is designed based on the novel and unique leader-following (LF) information topology. Built on the classical proportional-derivative (PD) controller that is implemented in the adaptive cruise control (ACC) strategy of autonomous vehicles (AVs), the PACC strategy is exquisitely designed to ensure the string stability of entire CAV platoon and the critically damped condition of each following CAV in the platoon. Credit to the rapid response of following CAV to the vibration of leading CAV’s dynamic status under LF information topology and the thorough consideration of string stability and damping characteristics in the PD controller design, the PACC strategy enables the CAV platoon to mitigate the traffic oscillations more efficiently than the existing cooperative adaptive cruise control (CACC) and ACC strategies. The numerical experiment for the mixed traffic flow on a single-lane ring road indicates that, when the CAV platoon adopts the PACC strategy, the performance of traffic flow in terms of operational efficiency, driving safety, passenger’s comfort, and fuel economy is substantially enhanced, compared with CACC and ACC strategies. In addition, the performance of PACC strategy gradually improves with the increase of market penetration rate (MPR) of CAVs and length of CAV platoon. Overall, the proposed PACC strategy is a promising solution to the mitigation of traffic oscillation under the CAV environment.

Water-Soluble Rotaxane-Type Porphyrin Dyes as a Highly Membrane-Permeable and Durable Photosensitizer Suitable for Photodynamic Therapy.

Porphyrins have emerged as highly effective photosensitizers in the field of photodynamic therapy (PDT) because of their high singlet oxygen generation efficiency. However, most porphyrin derivatives do not have adequate water solubility and cell membrane permeability suitable for use in PDT. In addition, they frequently suffer from low durability under photoirradiation. Here, we propose rotaxane-type photosensitizers, in which a porphyrin axle is irreversibly encapsulated within cyclodextrins (CDs), to overcome the drawbacks of porphyrins for PDT. The rotaxane-type photosensitizers were synthesized in high yields by employing a cooperative capture strategy. The CD derivatives worked as a transparent shell to impart a porphyrin axle not only with water solubility but also with photostability. These rotaxanes showed higher cell membrane permeability and photoinduced cytotoxic abilities than talaporfin sodium, presently used as a clinical photosensitizer. The rotaxane-based photosensitizer could have potential for being ideal PDT drugs.

Robust cooperative hub location optimization considering demand uncertainty and hub disruptions

Amidst the rise of economic globalization and increased commodity trading, the logistics industry is experiencing rapid growth, encountering intricate transportation demands and fierce market competition. Simultaneously, it faces challenges related to infrastructure development and resource allocation efficiency. To enhance the adaptability and robustness of transportation networks when facing uncertain demands and potential hub disruptions, this paper proposes a two-stage robust optimization model for cooperative hub location problem. The model utilizes a hybrid algorithm that effectively combines the global search capability of genetic algorithms with the step-by-step optimization efficiency of Benders decomposition. Case study analyses demonstrate that, irrespective of the uncertainty environment, the cooperative model maintains lower total costs. Particularly in the case of large demand fluctuations, its cost advantages over non-cooperative models become notably prominent, showcasing remarkable performance in meeting service demands and enhancing resource utilization. Additionally, in cooperative networks, hub disruptions have a more significant impact on hub location decisions, with penalty and supplementary costs further exacerbating this influence. These research findings offer crucial insights for management practices: in uncertain market environments, adopting cooperative and robust planning strategies is pivotal for mitigating operational risks. When making decisions on cooperative hub location selection, carriers should comprehensively consider the interaction between uncertainty and economic benefits to achieve an optimal balance between risk and cost, ensuring the sustained economic feasibility of cooperative ventures.

Enhancing Cooperative Lane-Changing for Intelligent Connected Vehicles: A DDPG-Based Approach

Current research on lane-changing for intelligent connected vehicles (ICVs) primarily focuses on the control of a single ICV. Even studies on cooperative lane-changing among multiple ICVs often use fixed control algorithms, which are difficult to adapt to constantly changing traffic conditions. This paper proposes a method based on the deep deterministic policy gradient (DDPG) model. The DDPG algorithm has strong generalization capabilities, enabling it to handle complex traffic scenarios. Combined with the design of innovative reward functions, it successfully achieves the control of cooperative lane-changing for multiple ICVs. The novelty of this model is mainly reflected in the implementation of multiple ICVs control and cooperative strategies through the design of a speed reward function. Specifically, when two or more ICVs come within a 15-m range, a collaborative strategy is implemented. In this strategy, the original speeds of the vehicles involved are replaced with their average speed. This average speed is then used to compute the velocity reward. Moreover, an additional headway reward is introduced when two vehicles are on the same lane with a distance of less than 10[Formula: see text]m between them, further optimizing lane-changing decisions and enhancing driving efficiency. The innovative approach described in this paper has been validated through simulations in the highway-env simulation environment. The model’s effectiveness was tested under various conditions, including different road densities and numbers of ICVs. Results indicate that with an increasing number of episodes, the model consistently enhances both the fleet’s and each individual vehicle’s average speed and steps. It also ensures that the headway is maintained within a desired range of 10–20[Formula: see text]m. This paper showcases the potential applications of a new DDPG-based multi-networked vehicular cooperative lane-changing decision model across different scenarios. These findings provide important reference values for future research and development in intelligent transportation systems (ITS), particularly in optimizing vehicle cooperative behaviors and enhancing traffic efficiency. This paper emphasizes the model’s potential to significantly impact the management and operation of future vehicular networks, paving the way for more sophisticated and efficient transportation systems.

From the ground up: stakeholders’ representations of the Irish longitudinal study on ageing (TILDA)

ABSTRACT Healthy ageing, which is the target of life’ s later developmental stage, can be achieved through building a wise perspective towards life and existence. However, it may not be achievable for older people when the societal sources are limited. The TILDA project aimed to evaluate the associated factors with healthy ageing and to transfer that knowledge into practice. Hence, determining the perspectives of older people support and advocacy organisations on the enablers and facilitators of the healthy ageing strategies of TILDA is essential to gain a better understanding of the project and plan future strategies. This study aimed to investigate how the TILDA project has influenced or impacted upon these organisations from education, policy, or practice perspectives. The participants (n = 15) included in the study’s sample were reached through representative organisations acting to support older people in the Republic of Ireland. Semi-structured interviews were conducted online via Zoom. A systematic thematic data analysis procedure was followed, and three themes emerged from the qualitative data, revealing the perceptions of participants about the TILDA project: (1) Limitations of TILDA, (2) Contributions of TILDA, and (3) Future recommendations for TILDA. In conclusion, among the disadvantages of TILDA, the most significant is not being representative and visible enough; it is evident that it is pivotal to develop a more inclusive culture of TILDA with close cooperation and effective marketing strategies. It is also apparent that TILDA has several advantages that include providing insights into ageing and rich data to plan future support for older people.

An Investigation of Cooperative Learning Strategies in Improving Students' Comprehension Skills in the Context of English as a Foreign Language (EFL)

The objective of this study was to enhance the reading comprehension abilities of EFL students by implementing cooperative learning strategies. The study aimed to address the following primary research question: What is the influence of cooperative learning on enhancing the reading comprehension skills of EFL students? The study included a total of 70 students from the first and second levels of the Department of English and Literature at the Ar Rass campus of Qassim University in Saudi Arabia. We conducted the study over a three-week period in two classes: the control group consisted of 35 female students (N = 35), while the experimental group also included 35 female students (N = 35). The experimental group received instruction through cooperative learning strategies, whereas the control group received instruction through a standard teacher-centered strategy. To address the fact-finding investigation of the study, we employed a pre- and post-test tool to assess reading comprehension skills. This test specifically aimed to identify the levels of literal and inferential comprehension. We employed the t-test to determine the statistical divergence between the average scores of the two groups. This study demonstrated the beneficial influence of cooperative learning approaches on the enhancement of reading comprehension skills among first- and second-level students in the Department of English and Literature. We strongly recommend cooperative learning practices to improve the reading skills of EFL learners.

Russia’s cooperation strategy with the countries of the African continent: what has changed after the second summit Russia–Africa?

Russia’s cooperation strategy with the countries of the African continent: what has changed after the second summit Russia–Africa?