CN109981161A - A kind of design method of the multiple no-manned plane communication pattern based on distribution subscription - Google Patents
A kind of design method of the multiple no-manned plane communication pattern based on distribution subscription Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
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- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
The design method of the invention discloses a kind of multiple no-manned plane communication pattern based on distribution subscription, the following steps are included: step (1): for the demand of dynamic and reliability when being communicated according to multiple no-manned plane, in conjunction with the topological structure of the design feature design communication pattern of all kinds of distribution subscription systems；Step (2): being to subscribe to by the ability of unmanned plane and state abstraction, design the subscription model of communication pattern, and task object and task restriction are abstracted as event, design the event model of communication pattern；Step (3): the subscription model and event model designed according to step (2), in conjunction with event-subscribing matching mechanism in multiple no-manned plane communication process for the Demand Design communication pattern of information real-time delivery.The advantages of present invention has dynamic, reliability and loose coupling, and multiple no-manned plane can be made to still ensure that certain communication quality under battlefield surroundings complicated and changeable.
Description
Technical field
The present invention relates to the communications fields, and in particular to a kind of design side of the multiple no-manned plane communication pattern based on distribution subscription
Method.
Background technique
Unmanned plane (Unmanned Aerial Vehicle, UAV) is by wireless device remote control equipment or itself program control
The not manned aircraft of device manipulation processed, due to itself having high flexibility and maneuverability, while its adaptation to adverse circumstances
Ability is stronger, is commonly employed in modern military, sphere of life, such as intelligence reconnaissance, military attack, information countermeasure, data
Acquisition, weather monitoring, personnel's search and rescue etc..And under Information Battle Environment complicated and changeable, single rack unmanned plane is by movable model
Enclose, lifting capacity, lethal radius, the various limitations of attack precision etc., with the continuous development of anti-unmanned air vehicle technique, single rack without
Man-machine fight capability increasingly declines.Therefore multi-machine collaborative execution task is increasingly becoming a kind of extremely heavy in Modern Information battlefield
The military behavior wanted.
Multiple no-manned plane collaboration the tasks such as is attacked, is scouted, go on patrol and inevitably facing communication issue, and modern times
Unmanned plane is similar to a distributed system according to the different degrees of capacity of will that possesses of model and purposes, a unmanned plane cluster
System, single complex task can be decomposed and be handed down to each frame unmanned plane, but unmanned plane high flexibility to lead to maneuverability
Frequently, rugged environment makes communication network that must have stronger capability to resist destruction on battlefield, different types of for communication network variation
Unmanned plane may have entirely different hardware device, and this requires apply to the communication pattern of communication scenes between multiple no-manned plane to need
With dynamic, reliability and loose coupling, distribution subscription communication pattern meets above-mentioned characteristic just.Thus need to invent one kind
With dynamic, reliability and loose coupling, multiple no-manned plane can be made to still ensure that under battlefield surroundings complicated and changeable certain
The design method of the communication pattern of communication quality.
Summary of the invention
The purpose of invention, which is to provide one kind, has dynamic, reliability and loose coupling, and multiple no-manned plane can be made more in complexity
The design method of the communication pattern of certain communication quality is still ensured that under the battlefield surroundings of change.
To realize the above-mentioned technical purpose, present invention employs following technical solutions: it is a kind of based on distribution subscription mostly nobody
The design method of machine communication pattern, it is characterised in that: the following steps are included:
Step (1): for the demand of dynamic and reliability when being communicated according to multiple no-manned plane, in conjunction with all kinds of distribution subscription systems
The topological structure of the design feature design communication pattern of system；
Step (2): it is to subscribe to by the ability of unmanned plane and state abstraction, the subscription model of communication pattern is designed, by task
Target and task restriction are abstracted as event, design the event model of communication pattern；
Step (3): the subscription model and event model designed according to step (2), in conjunction in multiple no-manned plane communication process
For event-subscribing matching mechanism of the Demand Design communication pattern of information real-time delivery.
Further, the design method of a kind of multiple no-manned plane communication pattern based on distribution subscription above-mentioned, in which: in step
Suddenly in (3), the design of event-subscribing matching mechanism the following steps are included:
Step (3.1): in conjunction with subscription model and event model feature extraction event and the condition to match is subscribed to；
Step (3.2): the event and subscribing matching condition proposed based on step step (3.1), by the category in subscription condition
Property be added in the data structure of R-tree and define the index structure of subscription；
Step (3.3): subscription Index Structure Design event-subscribing matching method based on step (3.2) proposition is with quick
Search qualified subscriber.
Further, the design method of a kind of multiple no-manned plane communication pattern based on distribution subscription above-mentioned, in which: in step
Suddenly in (3.1), when definition is subscribed to the matching condition of event, if the event of unmanned plane publication want to subscribe to certain match it is necessary
Meet following two constraints:
(1) space constraint: the spatial information point e.R of a given event e and subscription a s, event m must be included in and order
It reads in the subscription range s.R of s；
(2) attribute constraint: an a given event e and subscription s subscribes to the predicate set { p of s1,p2,p3,…,pnIn
Any predicate pi=p (ki,oi,vi) can be in the key-value pair set e.A of event enIn find a key-value pair Aj=A (kj,
vj) make ki=kjAnd p (ki,oi,vi) it is true.
Further, the design method of a kind of multiple no-manned plane communication pattern based on distribution subscription above-mentioned, in which: in step
Suddenly in (3.2), the index structure for defining subscription is specifically included:
All registered subscription are organized into the tree of subscriptions similar to R-tree, which is a balanced tree, is ordered
The each leaf node for readding tree includes several data entries, and each data entry represents a subscription, possesses the rope of the subscription
Draw, predicate set and subscription range；Each internal node n of tree of subscriptions possesses several domains, and each domain contains one
Triple<Child, MS, Keys>, Child is the index of the node child nodes, MS is all children that can include the node
The smallest sphere of the spatial dimension of child node, Keys be all child nodes of the node key-value pair set in keyword and
Collection.
Further, the design method of a kind of multiple no-manned plane communication pattern based on distribution subscription above-mentioned, in which: in step
Suddenly in (3.3), definition event-subscribing matching method is specifically included:
After an event e enters tree of subscriptions t, preorder traversal tree of subscriptions t is ordered with finding with what the event matched
It reads, the node of screening tree of subscriptions is first had to during traversal, on the contrary it will not be possible to which matched subscription node removes, and finds presence
Gather with possible candidate subscribe to, whether all subscription that then verifying is subscribed in set can exactly match with event e；
Wherein, the step of screening is as follows:
An internal node n is given, the smallest sphere for the MS for enabling n.MS indicate that can accommodate the node all the points domain,
N.Keys is enabled to indicate the union of keys in the node all the points domain, when node n meets following constraint, which will not be cut
Branch: (1) space is screened: e.R is present in n.MS；
(2) attribute selection: e.An∩n.Keys≠null；
Continue the child nodes of preorder traversal n when n is not by beta pruning, if its child nodes is leaf node so leaf
Subscription in node is added into candidate subscribe to and collects Sn, collection S is subscribed to choosing after traversing complete tree of subscriptionsnIt is verified.
Further, the design method of a kind of multiple no-manned plane communication pattern based on distribution subscription above-mentioned, in which: in step
Suddenly in (3.3), collection S is subscribed to choosingnThe method verified specifically includes: assuming that SiCollection S is subscribed to for candidatenIn any candidate order
It reads, if subscribing to SiSpace constraint mentioned by step 1 and attribute constraint can be met simultaneously with event e, then subscribe to SiBy testing
Card, all subscription by verifying will be added matching and subscribe to collection, and event e will be sent to matching and subscribe to all subscribers of concentration.
Through the implementation of the above technical solution, the beneficial effects of the present invention are: the communication pattern designed need to have dynamic
Property, reliability and loose coupling, wherein dynamic ensures that each member can exit cluster in the unmanned plane cluster of communication pattern,
Cluster can be added in the outer unmanned plane of cluster at any time；If reliability ensure communication pattern unmanned plane cluster occur certain amount at
The damage of member will not make entire communication system paralyse；Loose couplings ensure not having to always between the unmanned plane of communication pattern
Connection is kept, asynchronous communication ability is possessed；Multiple no-manned plane is set to still ensure that certain communication under battlefield surroundings complicated and changeable
Quality.
Detailed description of the invention
Fig. 1 is the schematic diagram of distribution subscription system conceptual model in the present invention.
Fig. 2 is to be illustrated in the present invention according to the distribution subscription communication pattern topological structure of multiple no-manned plane communication requirement design
Figure.
Fig. 3 is subscription and Event Example in the present invention.
Fig. 4 is to subscribe to tree of subscriptions schematic diagram generated in Fig. 3.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, the design of a kind of multiple no-manned plane communication pattern based on distribution subscription
Method, comprising the following steps:
Step (1): for the demand of dynamic and reliability when being communicated according to multiple no-manned plane, in conjunction with all kinds of distribution subscription systems
The topological structure of the design feature design communication pattern of system；
Wherein, the topological structure for needing to design should be ensured that the reliability of information network when multiple no-manned plane communicates and can open up
Malleability is in particular in:
(1) paralysis of entire communication system is not will cause in communication network when unmanned plane member something unexpected happened；
(2) communication network can be added in newcomer at any time, and member can exit communication network at any time in communication network；
Wherein, the design of topological structure specifically includes:
Unmanned plane usually requires to be in communication with each other, and cooperates execution task, has group's mobility, at this time the topology knot of communication network
Structure variation frequently and not can guarantee the communications status of each frame unmanned plane, communication pattern used in this demand have multi-point,
The features such as asynchronous, loose couplings, extremely agree with the characteristics of distribution subscription communication pattern, this is because publish-subscribe model will be each
A communication members are defined as the roles such as publisher, subscriber, event agent, between publisher and subscriber the time, space and
It is decoupled on control stream, publisher and subscriber can be added at any time, leave communication system, and the event of publisher's publication can be transmitted to
Several subscribers；
Applied to OTO platform (such as: taking out platform) or traditional distribution subscription system of social software (such as: microblogging, twitter)
There is following topological structure as unified:
1. centralized topology:
Such distribution subscription system relies on single proxy server to receive, match and forward event, is suitable for logarithm
According to reliability, the higher scene of coherence request, but the heavier loads of proxy server, and system robustness is poor；
2. hierarchy type topological structure
Such distribution subscription system possesses several proxy servers, there are hierarchical relationship between each server, subscribes to and thing
The general only stratum server forwarding upwards of part message, by father node selectively by event forwarding to child node.This publication is ordered
The system of readding can be convenient as desired by business piecemeal, but the disadvantage is that root node server load is overweight, and anti-breaking-up ability compared with
Difference；
3. peer-to-peer is topological:
Such distribution subscription system does not distinguish server and client, and all nodes are in the status of equality, all
It can carry out the reception, matching and forwarding of event；The defect of single point failure is not present in this system, and anti-breaking-up ability is stronger, but
Routing is complicated, data consistency is relatively difficult to guarantee；
Be used alone topological structure as above can not meet simultaneously multiple no-manned plane communication when for dynamic and reliability need
It asks, it is therefore desirable to comprehensively consider in conjunction with the characteristics of them；
Unmanned aerial vehicle group is divided into two-stage, i.e. leader and slave first, slave is both publisher and subscriber, can be added at any time
Enter or exit communication system, leader then plays the effect of Message Agent, while leader itself can also carry out the publication of event with
It receives；Slave only needs to be communicated with leader, sends oneself interested subscription to leader, and using the information perceived as
Event is sent to leader, and leader is responsible for storage, matching and the forwarding of event subscribed to；
Next separately designs the topological structure communicated between leader, between leader and slave；It is carried out between leader and leader
Peer-to-peer communications, the webbed topological structure of shape, and slave can only be unified into star-like to reduce in communication network with leader direct communication
Data volume；
It is finally that can be carried out design for the reliability of communication system and anti-breaking-up, the hair of single point failure situation in order to prevent
Raw, as the leader of communication agent, there are several framves, and the communication construction of peer-to-peer is used between leader, occur when certain frame leader therefore
Not will cause the paralysis of entire communication system when barrier, and when remaining leader perceives when certain frame leader is detached from communication system will be
New leader is selected in slave to maintain the quantity of Message Agent；
Step (2): it is to subscribe to by the ability of unmanned plane and state abstraction, the subscription model of communication pattern is designed, by task
Target and task restriction are abstracted as event, design the event model of communication pattern；
Wherein, the design for subscribing to model specifically includes:
Unmanned plane can be divided into information, scouting, monitoring, bait, electronic countermeasure, communication relay, unmanned fighter depending on the application
Deng the unmanned plane function of different purposes is different, and capable of executing for task is also different, and the ability of unmanned plane is abstracted as
It subscribes to (i.e. Subscription is indicated by s), each subscription s={ T, R }, wherein s.T indicates a predicate set, and s.R is indicated
Subscription range is made of for the sphere of action for referring to this unmanned plane the center of circle and radius (as unit of km), such as (lat:
49.336124,lng:110.664322,r:2000)；
It include several predicates (i.e. Predicate is indicated by p) that each predicate is by keyword (Key), behaviour in predicate set
Accord with (Operator), the part of value (Value) three forms, wherein operator can for >, < ,=, >=,≤, ∈, then one
A predicate can indicate are as follows:
P=p (k, o, v)
Such as: k Focallength, o be≤, v 560, then p (k, o, v) is Focallength≤560.Therefore it orders
Predicate set in readding can indicate are as follows:
S.P={ p1,p2,p3,…,pn}
Therefore, subscribing to s can indicate are as follows:
S={ p1,p2,p3,…,pn,R}
Wherein, the design of event model specifically includes:
The battle field information that unmanned plane is perceived by airborne sensor can be abstracted as event (i.e. event is indicated by e), often
A event e={ An, R }, e.AnIndicate the set of a key-value pair, e.R is one by longitude and latitude and height (as unit of m) table
The spatial information point shown, such as (lat:49.336124, lng:110.664322, hei:500).Each key-value pair A is by keyword
(Key), value (Value) two parts composition, a key-value pair can indicate are as follows:
A=A (k, v)
Such as k is Mode, v Scout, then A (k, v) is Mode=Scout.Therefore the set of key-value pair can indicate are as follows:
e.An={ A1,A2,A3,…,An}
Therefore, event e can be indicated are as follows:
E={ A1,A2,A3,…,An,R}；
Step (3): the subscription model and event model designed according to step (2), in conjunction in multiple no-manned plane communication process
For event-subscribing matching mechanism of the Demand Design communication pattern of information real-time delivery；
Wherein, the design of event-subscribing matching mechanism the following steps are included:
Step (3.1): in conjunction with subscription model and event model feature extraction event and the condition to match is subscribed to；
Wherein, when the matching condition with event is subscribed in definition, if the event of unmanned plane publication is want to match with certain subscription
It must satisfy following two constraints:
(1) space constraint: the spatial information point e.R of a given event e and subscription a s, event m must be included in and order
It reads in the subscription range s.R of s；
(2) attribute constraint: an a given event e and subscription s subscribes to the predicate set { p of s1,p2,p3,…,pnIn
Any predicate pi=p (ki,oi,vi) can be in the key-value pair set e.A of event enIn find a key-value pair Aj=A (kj,
vj) make ki=kjAnd p (ki,oi,vi) it is true；
Step (3.2): the event and subscribing matching condition proposed based on step step (3.1), by the category in subscription condition
Property be added in the data structure of R-tree and define the index structure of subscription；
Wherein, the index structure for defining subscription specifically includes:
All registered subscription are organized into the tree of subscriptions similar to R-tree, which is a balanced tree, is ordered
The each leaf node for readding tree includes several data entries, and each data entry represents a subscription, possesses the rope of the subscription
Draw, predicate set and subscription range；Each internal node n of tree of subscriptions possesses several domains, and each domain contains one
Triple<Child, MS, Keys>, Child is the index of the node child nodes, MS is all children that can include the node
The smallest sphere of the spatial dimension of child node, Keys be all child nodes of the node key-value pair set in keyword and
Collection；
Step (3.3): subscription Index Structure Design event-subscribing matching method based on step (3.2) proposition is with quick
Search qualified subscriber；
Wherein, definition event-subscribing matching method specifically includes:
After an event e enters tree of subscriptions t, preorder traversal tree of subscriptions t is ordered with finding with what the event matched
It reads, the node of screening tree of subscriptions is first had to during traversal, on the contrary it will not be possible to which matched subscription node removes, and finds presence
Gather with possible candidate subscribe to, whether all subscription that then verifying is subscribed in set can exactly match with event e；
Wherein, the step of screening is as follows:
An internal node n is given, the smallest sphere for the MS for enabling n.MS indicate that can accommodate the node all the points domain,
N.Keys is enabled to indicate the union of keys in the node all the points domain, when node n meets following constraint, which will not be cut
Branch:
(1) space is screened: e.R is present in n.MS；
(2) attribute selection: e.An∩n.Keys≠null；
Continue the child nodes of preorder traversal n when n is not by beta pruning, if its child nodes is leaf node, then the leaf
Subscription in child node is added into candidate subscribe to and collects Sn, collection S is subscribed to choosing after traversing complete tree of subscriptionsnIt is verified.
Wherein, collection S is subscribed to choosingnThe method verified specifically includes: assuming that SiCollection S is subscribed to for candidatenIn any candidate
It subscribes to, if subscribing to SiSpace constraint mentioned by step 1 and attribute constraint can be met simultaneously with event e, then subscribe to SiBy testing
Card, all subscription by verifying will be added matching and subscribe to collection, and event e will be sent to matching and subscribe to all subscribers of concentration.
For the tree of subscriptions shown in Fig. 4, as event e in Fig. 32When into the tree of subscriptions, whether root node midpoint domain is checked
There are candidate nodes, and cut the node for being unsatisfactory for constraint condition.Root node puts domain a there are two gathering around2、a3N is wrapped respectively2Node with
n3The index of node, set of keywords, spatial dimension set, a2Will by beta pruning, this is because it can not be screened by space,
Event e as can be seen from Figure 32Spatial information point p2With a2Spatial dimension set R5Have no intersection, therefore a2It will be by beta pruning.a3It will
It is retained, this is because point domain a3Spatial dimension set R6With event e2Spatial information point p2There are intersection, and a3Key
Word set (Mode, FocalLength) and event e2Set of keywords (Mode, Lethality, FocalLength) have friendship
Collection, therefore preorder traversal root node right subtree start to determine leaf node n3With the presence or absence of qualified subscription.n3Middle presence
Subscribe to s3With s4, s will be subscribed to3With s4Candidate subscribe to is added to collect.Complete tree of subscriptions has been traversed at this time, starts to verify candidate subscription
S is subscribed in the subscription of concentration3With s4All mismatch event e2, this is because s3With s4Subscription range R3、R4Event e is not all included2
Spatial information point, do not meet the space constraint in event-subscribing matching condition.
The advantages of invention is: the communication pattern designed need to have dynamic, reliability and loose coupling, wherein dynamic
Property ensure in the unmanned plane cluster of communication pattern that each member can exit cluster, cluster can be added in the outer unmanned plane of cluster at any time；It can
If ensuring that the damage of member within certain amount occurs for the unmanned plane cluster of communication pattern by property, entire communication system will not be made
Paralysis；Loose couplings ensure not having between the unmanned plane of communication pattern to be always maintained at connection, possess asynchronous communication ability；Make more
Unmanned plane still ensures that certain communication quality under battlefield surroundings complicated and changeable.
Claims (6)
1. a kind of design method of the multiple no-manned plane communication pattern based on distribution subscription, it is characterised in that: the following steps are included:
Step (1): for the demand of dynamic and reliability when being communicated according to multiple no-manned plane, in conjunction with all kinds of distribution subscription systems
The topological structure of design feature design communication pattern；
Step (2): it is to subscribe to by the ability of unmanned plane and state abstraction, the subscription model of communication pattern is designed, by task object
It is abstracted as event with task restriction, designs the event model of communication pattern；
Step (3): the subscription model and event model designed according to step (2), in conjunction in multiple no-manned plane communication process for
The event of the Demand Design communication pattern of information real-time delivery-subscribing matching mechanism.
2. a kind of design method of multiple no-manned plane communication pattern based on distribution subscription according to claim 1, feature
Be: in step (3), the design of event-subscribing matching mechanism the following steps are included:
Step (3.1): in conjunction with subscription model and event model feature extraction event and the condition to match is subscribed to；
Step (3.2): the event and subscribing matching condition proposed based on step step (3.1) is added the attribute in subscription condition
Enter to define the index structure of subscription in the data structure of R-tree；
Step (3.3): subscription Index Structure Design event-subscribing matching method based on step (3.2) proposition is quickly to search
Qualified subscriber.
3. a kind of design method of multiple no-manned plane communication pattern based on distribution subscription according to claim 2, feature
It is: in step (3.1), when the matching condition with event is subscribed in definition, if the event of unmanned plane publication is want to subscribe to certain
Match and must satisfy following two constraints:
(1) space constraint: the spatial information point e.R of a given event e and subscription a s, event m must be included in and subscribe to s
Subscription range s.R in；
(2) attribute constraint: an a given event e and subscription s subscribes to the predicate set { p of s1,p2,p3,…,pnIn appoint
One predicate pi=p (ki,oi,vi) can be in the key-value pair set e.A of event enIn find a key-value pair Aj=A (kj,vj) make
Obtain ki=kjAnd p (ki,oi,vi) it is true.
4. a kind of design method of multiple no-manned plane communication pattern based on distribution subscription according to claim 2, feature
Be: in step (3.2), the index structure for defining subscription is specifically included:
All registered subscription are organized into the tree of subscriptions similar to R-tree, which is a balanced tree, tree of subscriptions
Each leaf node include several data entries, each data entry represents subscriptions, possesses the index of the subscription, calls
Set of words and subscription range；Each internal node n of tree of subscriptions possesses several domains, and each domain contains a triple
<Child, MS, Keys>, Child is the index of the node child nodes, MS is all child's nodes that can include the node
Spatial dimension smallest sphere, Keys be all child nodes of the node key-value pair set in keyword union.
5. a kind of design method of multiple no-manned plane communication pattern based on distribution subscription according to claim 2, feature
Be: in step (3.3), definition event-subscribing matching method is specifically included:
After an event e enters tree of subscriptions t, by preorder traversal tree of subscriptions t, to find the subscription to match with the event,
The node of screening tree of subscriptions is first had to during traversal, on the contrary it will not be possible to which matched subscription node removes, and finds in the presence of matching
Possible candidate subscribe to is gathered, and whether all subscription that then verifying is subscribed in set can exactly match with event e；
Wherein, the step of screening is as follows:
An internal node n is given, the smallest sphere for the MS for enabling n.MS indicate that can accommodate the node all the points domain enables
N.Keys indicates the union of the keys in the node all the points domain, and when node n meets following constraint, which will not be by beta pruning:
(1) space is screened: e.R is present in n.MS；
(2) attribute selection: e.An∩n.Keys≠null；
Continue the child nodes of preorder traversal n when n is not by beta pruning, if its child nodes is leaf node so leaf node
In subscription be added into and candidate subscribe to collection Sn, collection S is subscribed to choosing after traversing complete tree of subscriptionsnIt is verified.
6. a kind of design method of multiple no-manned plane communication pattern based on distribution subscription according to claim 5, feature
It is: in step (3.3), collection S is subscribed to choosingnThe method verified specifically includes: assuming that SiCollection S is subscribed to for candidatenIn appoint
One candidate subscription, if subscribing to SiSpace constraint mentioned by step 1 and attribute constraint can be met simultaneously with event e, then subscribe to Si
By verifying, all subscription by verifying will be added matching and subscribe to collection, and event e will be sent to matching and subscribe to all subscription of concentration
Person.
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| CN110413927A (en) * | 2019-07-24 | 2019-11-05 | 上海交通大学 | Optimization method and system based on matching real-time in distribution subscription system |
| WO2021056636A1 (en) * | 2019-09-29 | 2021-04-01 | 中国人民解放军陆军工程大学 | Method and apparatus for message subscription-based unmanned aerial vehicle cluster networking, and system |
| CN115794444A (en) * | 2023-02-02 | 2023-03-14 | 广州钛动科技股份有限公司 | Event communication method, device, computer equipment and computer readable storage medium |
| WO2023141834A1 (en) * | 2022-01-26 | 2023-08-03 | Oppo广东移动通信有限公司 | Model performance monitoring method and apparatus, and device and medium |
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