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Robot-assisted systems have been developed for minimally invasive surgical procedures, which bring tremendous benefits for patients, such as less trauma, less bleeding, and shorter recovery time. Among the contemporary surgical robotic manipulators, flexible serpentine manipulator shows great advantages on operating with complicated nonlinear anatomical constraints, and it can reach deep occluded...
In this paper, the problem of joint dynamic spectrum access and multi-relay selection is investigated in relayenabled cooperative communication systems to maximize the system sum-capacity. Since the considered problem is a mixed integer nonlinear program, which is generally intractable to find the optimal solution, two matching theory-based suboptimal algorithms are proposed to reduce the computational...
Flexible serpentine manipulators are widely used in surgical robots as it can be operated inside the patient's body cavity by backbone bending. However, during the bending the manipulator sweeps over a region, where sensitive organs may locate. This raises the safety concern. In this paper, a motion planning algorithm focusing on minimize the sweeping area for flexible serpentine manipulators is presented...
The existence of under-utilized spectrum and the congestion of certain spectrum give rise to development on cognitive radios as a promising technology to address these problems. However, the general precondition that secondary users should evacuate from the channel which primary users are willing to use, makes the cognitive ad hoc networks vulnerable and unstable since network partition may occur...
Energy efficiency is an important issue for cognitive radio networks, in which each cognitive user must acknowledge experienced environment, besides maintaining communication. Existing works on energy efficiency have been focused on power control in traditional networks (e.g. CDMA network), supposing that the network environment is static. However, there has not been works on energy efficiency under...
In this paper, we investigate the power allocation for spectrum sharing with constraints of energy consumption in a fixed period. The proposed online power auction is designed according to the pricing discipline of non-cooperative game. Though avoiding abusing energy while interference is great at some time steps, the regret of online power auction (OPA) is acceptable. Numerical results showed that...
In this paper, we develop a distributed sub-carrier allocation algorithm with a low complexity in OFDMA multi-cell system , which is decomposed into two sub-problems: inter-cell and intra-cell sub-carrier allocation. During inter-cell process, based on time-variant characteristics and performance differ-ences among cells of sub-carriers, each base station applies Ant Colony Optimization (ACO) to choose...
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