Abstract: The present invention provides a method for optimizing the energy efficiency of wireless sensor network based on the assistance of unmanned aerial vehicle, firstly, collecting the state of the WSN through current routing scheme, and inputting the state of the WSN into the decision network of the agent to determine a next hover node; Secondly, based on the location of the next hover node, generating a new routing scheme by the UAV, and sending each sensor node's routing to its corresponding sensor node through current routing by the UAV; Lastly, after all sensor nodes have received their routings respectively, all sensor nodes send their collected data to the hover node through their routings respectively, and the UAV flies to and hovers above the next hover node to collect data through the next hover node, thus the data collection of the whole WSN is completed.

Abstract: A method for energy efficient routing in wireless sensor network based on multi-agent deep reinforcement learning, predefines a to-be-deployed wireless sensor network and creates a cooperative routing decision system including A decision networks and one sink module, A decision networks deployed on the agents ai, i=1, 2, . . . , A, of the sensor nodes, the sink module deployed on the sink node n0. The decision network obtains a probability vector according to its local observation and position vectors. The sink module calculates a routing for each sensor node according the probability vectors of A decision networks and sends the routings to corresponding sensor nodes. A multi-agent deep reinforcement learning algorithm is adopted to train the decision networks of A agents ai, i=1, 2, . . . , A of the cooperative routing decision system, deploys the to-be-deployed wireless sensor network into an environment and updates the routing policy of the deployed wireless sensor network at each update cycle of routing.

Abstract: An integrated electric booster braking system with a pedal force compensation function, comprising a booster motor, a first gear, a second gear, a lead screw, a brake master cylinder, a pedal push rod, a master cylinder push rod, a fluid storage tank, a hydraulic control unit and an electric control unit, wherein first gear and second gear are assembled in a housing, first gear is engaged with the second gear, the booster motor is connected with the first gear and drives the first gear to rotate, the first gear drives the second gear to rotate during rotation, the second gear is in threaded connection with the lead screw, the second gear drives the lead screw to move during rotation, the lead screw is of a hollow structure, and the rear end of the lead screw is abutted with the front end of a first piston in the brake master cylinder.

Abstract: An integrated electric booster braking system with a pedal force compensation function, comprising a booster motor, a first gear, a second gear, a lead screw, a brake master cylinder, a pedal push rod, a master cylinder push rod, a fluid storage tank, a hydraulic control unit and an electric control unit, wherein first gear and second gear are assembled in a housing, first gear is engaged with the second gear, the booster motor is connected with the first gear and drives the first gear to rotate, the first gear drives the second gear to rotate during rotation, the second gear is in threaded connection with the lead screw, the second gear drives the lead screw to move during rotation, the lead screw is of a hollow structure, and the rear end of the lead screw is abutted with the front end of a first piston in the brake master cylinder.