1.Introduction

The collaborative operations by manned and unmanned aerial vehicles(MAVs and UAVs)in a heterogeneousteam can reduce the risk of casualties.Low communication overhead that MAV pilots bring,can give unmanned aircraft rapid response advantages.Therefore,to find a preferential solution to control and manage such heterogeneous teams becomes a hot topic[1–3].The organizational structure of a heterogeneous team is an important factor to raise combat effectiveness,which is built based on the characteristics of the battle field environment and the state of the combat entity,including the type,function,performance,position,levels of autonomy,role,communication,and mission.To implement an adjustable structure,adding special designed adjustable autonomy into the optimal design part can adjust the proposed organizational structure to ensure a maximum completion of the task.This design mainly considers a number of questions such as whether the combat resources can be fully utilized;whether the communication between each combat entity is unobstructed;whether the structure has a certain degree of flexibility;whether the workload can be distributed balanced;and finally,whether the assigned task can be successfully completed.

在作品中，男女的“牺牲”不同。时雄抛弃了身份、社会地位和逻辑的束缚，舍弃对芳子的爱或贪心。然后，田中也为了自己的东京的前途的光明而舍弃了芳子。另一方面，芳子为了田中的前途，牺牲了自己的梦想和未来。这两种类型的“牺牲”有什么理由呢？

Recently,researchers in organizational structure design have moved their focus to structural adaptability and applications in information warfare field[4–7].The relevant work includes dynamic adaptability, agile organization and system-of-systems Engineering [8 – 11], and also the applications in resource integration, information flow, and information structure[12–15].A variety of methods have been adopted in those studies[16,17],for example,organization and management theory,network theory,social network analysis,and agent-based models[18–24].The general approach is to separate decision-making entities from the platforms.However,it ignores MAVs’roles for supporting UAVs in decision-making and battle field environment intervention.The main purpose of this study is to build an organizational structure solution that allows MAVs to support UAVs.The proposed solution is expected to be reasonable,efficient, flexible,and reconfigurable to environmental changes in order to complete the assigned task successfully.

2.Organizational structure concept of MAV and UAV heterogeneous team

Organizational structure design dynamically identi fi es a series of relationships between combat entities.This is driven by combat mission and affected by battle field environment as well as the state of combat entity.The combat mission is a series of combat activities designed by a combat target.UAV is the direct undertaker of combat activities;while MAV plays a role of coordination or management.

随着社会经济的快速发展和粗放式的开发利用，资源过快消耗和急剧恶化的生态环境，不仅严重制约了人类社会的发展进程，还给人类的生存带来了潜在的威胁。为此，构建人类命运共同体提上了日程。基于此，本文以生态环境文明建设为基本理念，对生态功能下的农村土地规划模式进行了研究，以通过合理的土地规划模式突出生态优先的目的，以保护生态环境功能和提高土地资源综合利用效率为最终目的。本文阐述了农村的划分类型，分析了平地式生态网络、山地式生态网络和丘陵式生态网络的构建，提出了生态功能下农村土地规划模式，并按生态压力指数分为生态低敏感区、生态中敏感区和生态高敏感区，研究成果可为进一步深化农村土地规划研究提供参考依据。

Fig.1 An example of manned and unmanned aircraft organizational structure

Two neighborhoods are designed to operate on different objects(the order of addition of UAV and UAV levels of autonomy),which is configured with the corresponding two Tabu lists.

除此之外，还有一些语篇、语用、修辞等需要促动的扩展。而且，随着语言的发展，人们对于这些语篇、语用、修辞等的需要提高，才更多的使用转喻和隐喻等方式来更加生动的表达想法。因而，宗守云(2011)对于中心范畴的扩展也分析出了更多的促动因素，即隐喻、转喻、图式转换以及规约意向。

3.Organizational structure modeling

The design of organizational structure includes the following three processes:(i)establish the cooperative relationships and supervisory control relationships,according to the analysis of the battle field changes;(ii)use the mechanism of adjustable autonomy to balance the changes of the relevant variables and increase the flexibility of the previous relationship;(iii)on the basis of the previous structure,establish the decision-making hierarchy relationship between the MAVs based on the relevant factors.

接着，进一步对整体量表进行映像萃取分析得到3个纬度：品牌真实性、网络口碑和价值共创意愿。该研究的整体量表中包含多个维度，因此，较适合用组合信度(CR)指标来衡量整体量表的内部一致性[29]，各个题项的因子载荷值、CR值和AVE值见表3。

3.1 Establishing cooperative relationship

This relationship depends on the mechanism of task assignment.As it is not the focal point of this article,we do not elaborate here.The cooperative relationships between the UAVs and the tasks are pre-assigned.And then we can build the corresponding cooperative relationships between the MAVs.For example,when UAV1 and UAV8 are assigned to the same task T2,the cooperative relationship between the UAVs is set.If UAV1 is controlled by MAV1,and UAV8 is controlled by MAV3,then the cooperative relation ship between these two MAVs(MAV1and MAV3)is built.

3.2 Establishing supervisory control relationship

As the war universe has been expanded from the land,the sea and the air to the information space and the psychological space,it is manifested as multiple roles in different fields,such as physical domain,information domain and cognitive domain[25],as shown in Fig.2.From the physical domain perspective,the performance of MAV support to UAV mission equipment is represented by physical resource support capabilities Lprs;from the cognitive domain perspective,the performance of MAV support to UAV intelligence is represented by the intelligent resource support capabilities Lirs;from the information domain perspective,the statistical performance of the organizational network is represented by network efficiency Neand network vulnerability Nv.In addition,task execution reliability R is used to represent the suitability of the MAV-UAV match on the task.If there is a supervisory control relation ship between MAVs and UAVs,we call that UAVs configured to MAVs.

不经论证，就在不适合的地区盲目引种栽植，成功的概率会很低。主要表现有：选址不对，选种不妥，水源欠缺，排涝不畅。

3.2.1 Definition of metrics

In the implementation of task activities,the physical resource support capabilities refer to the physical domain,which are generated by MAV based on its equipment to compensate for the UAV which lacks capacity.

Definition 2 Physical resource capabilities include mobility,detection capabilities,communication,endurance,combat capability,interactive ability,and collaboration.

Fig.2 Metric analysis model that shows how the organizational structure is established

The physical resource support capabilities are fixed and not subject to the levels of autonomy.

Definition 3 Intelligent resource capabilities refer to the capabilities generated by an MAV in the cognitive domain to support the intelligent level of UAV’s observation,cognition,analysis, planning,decision,action and communication,which is presented as

The intelligent support capabilities change with the autonomy level adjustment.

Definition 4 Network efficiency is the efficiency of information transfer in an organizational network,and the function is presented as

Decision-making hierarchies are based on the cooperative and supervisory control relationships,and are used to describe the centralization of decision-making authority and the direction of decision-making information transmission.

where MAV or UAV is anode,and cooperative relationship or supervisory control relationship is an edge,then a structure is built.N is the number of nodes,V is the cooperative network,i and j represent the different nodes,and dijis the shortest distance between the nodes.If there is no edge between nodes,define the distance as infinity.

Definition 5 Network vulnerability is the ratio of network efficiency change after a node is removed,which can be presented as where Ne(i)is the network efficiency after removing node i.Network vulnerability is the vulnerability of the most vulnerable nodes.

一是每年投入5 000多万元，用于黔北民居示范点建设。目前，全县已建成黔北民居示范点206个，新改建黔北民居6万多户。二是以“七改一增两处理”，即改水、改电、改路、改房、改厨、改厕、改圈，增绿，污水处理、垃圾处理为核心，推进农村环境综合整治。目前已整治31 223户，投入资金8.13亿元。全县实现100%行政村通光纤网络，30户以上自然村4G网络全覆盖。全县1 000人以上集中式饮用水源地水质达标率100%，农村电网改造率达100%。

Fig.3 A conceptual model for task execution reliability calculation

FCM is a graph structure,in which complex causes and effect events in fuzzy feedback dynamical systems are connected through directed arcs according to their causal relationships.Each node has a state space.The FCM state space is automatically adjusted by a threshold/evolution function,and the dynamic behavior of the system is simulated through the interaction between the concept nodes of the whole network.The basic concepts of FCM are detailedly described in[26],so we will not repeat it here.

In Fig.3,the concept T affects the weight ω(i0)by the coefficient ω(Ti).T indicates the sensitivity of the task to the physical domain,the intelligent domain and the cognitive domain.Among them,C4∼C5,C7∼C8concepts are input nodes,C0is an output node.C1∼C3,C6,C9∼C10concepts are intermediate nodes,which are obtained by the specific structure.

She showed off sle_____figure in a long narrow dress.

Reliability FCM calculation is carried out in two steps:(i)calculate the concept C1,concept C2and concept C3 according to Fig.3;(ii)calculate the concept C0according to the task for the concept C1,concept C2and concept C3 demand tendencies.

The calculation rule[27]is

3.4.2 Constraints

The value of reliability R in both extreme cases is considered.Let’s take the worst case in the mission environment as an example:the worst state of the combat entity;the lowest degree of information sharing;UAV mission payloads only;battle field environment changing dramatically;limited communications;unobtainable MAV intervention;the lowest level of autonomy.Then the concept domain becomes[C4,C5,C6,C7,C8,C9,C10]=[0,0,0,1,0,0,0].The reliability is indicated as C0=0,that means the system maintenance is not available,which is consistent with the subjective experience.

On the other hand,for example,in the ideal conditions:

the reliability C0=1,which is consistent with the subjective experience.Results reflect that the range of values for R is zero to one.

3.2.2 Constraints

In terms of impacts of battle field environmental factors and mission requirements, the supervisory control relationships between MAVs and UAVs have the following constraints.

LI Li, LÜ Nan, ZHAO Rui, HUANG Qing-hai, HONG Bo, LIU Jian-min, XU Yi

Constraint 1 The demand of UAVs for additional resources is the result of changes in the battle field environment.UAVs are con figured to MAVs when MAVs can meet UAVs’requirements in terms of resource capacity,that is

where Lprs-uavidenotes the physical resource support required by UAVi,and Lprs-mavjdenotes that MAVj can provide physical resource support.

Step 2 Adjust the UAV levels of autonomy,satisfying the constraints will be preferred.If all of the adjustments do not meet the constraints,operate2-switch exchange and return to the previous step.The Tabu list is updated.

where Lirs-uavidenotes the intelligent resource support required by UAVi,and Lirs-mavjdenotes that MAVj can provide intelligent resource support.

Constraint 3 Because of the rapid changes in the battle field environment,it is necessary to ensure missions are smoothly implemented within a strictly limited time.The limitation of time on interaction directly determines whether the topology could be generated or not.That is,if time limit is exceeded,there will be no cooperation or interaction between MAVs and UAVs.

where dtidenotes the actual delay and dti-stddenotes the delay’s limit value.

Constraint 4 The task is based on the results of combat planning objectives.To ensure the completion of the mission,the reliability of task execution must be ensured.

where Ridenotes the actual reliability and Ri-stddenotes the limit value of the reliability.

3.2.3 Mathematical model

The evaluation function is the criterion for judging the merits of relationships network.It is calculated by using the normalized value of the metric and its weight on the task.The mathematical model of the problem of cooperative and supervisory control relationship network design can be presented as

where Lprs,Lirs,Ne,Nv,R are the normalized values of each measure. All metrics are processed by the range transformation method.Lprsand Lirstake the corresponding maximum percentage of occupancy.It is used to indicate the smallest of the redundancy,that is,the capability of changes in the battle field environment that the structure can obtain under the current condition.Ne,Nvand R do not need to be processed.α1T,α2T,α3T,α4Tand α5Tare the weights of the corresponding measures of the combat target M.

3.3 Classification and adjustment mechanism of levels of autonomy

The factors that bring different structures are the adjustment of the levels of autonomy(LOA),the reliability of the task’s completion and the resource capabilities.The mechanism of adjustable autonomy can cause the dynamic optimization of intelligent resource allocation.According to the UAV decision-making authority in the MAV and UAV between the distributions,design five levels of autonomy[28]as shown in Table 1.

Table 1 Five levels of autonomy

LOA LOA context MAV role A(5) MAV assisted Teammate A(4) MAV supervised Supervisor A(3) MAV delegated Developer A(2) MAV directed Mechanic A(1) MAV operated Operator

Definition 7 The intelligent support process of MAV-assisted UAV includes sensing,perceiving,analyzing,planning,deciding,acting and communicating.

MAVs adjust the proportion of the decision-making authorityof UAVs in the intelligent support process, as shown in Fig.4.The lowest factor determines the current LOA.UAVs adjust the parameters from high to low,and MAVs do the opposite.This allows us to calculate the changes in the workload that the MAV generates during intelligent support when the level of autonomy is adjusted.

Fig.4 LOA adjustment mechanism

3.4 Establishing decision-making hierarchy relationships

然而，北方的人们却很难体会这样的年味儿。北方的冬天气温低，寒冷的室外就是天然冰柜，无须腌渍腊味来保存食物，因此也就没有冬天吃腊味的习惯。而南方冬天温度较高，宰杀猪或鸡鸭之后，如果不尽快吃掉，肉很快就会变质。于是，南方人便将肉类用盐和其他香料一同浸渍，再将盐渍的肉晒干或阴干。

3.4.1 Definition of metrics

Definition 8 Decision workload is the total number of intelligent support processes that the MAV uses for the lower level MAV or UAV,indicated as

where ωM-Mis a binary function to judge whether intelligent support exists among the MAVs,ωM-Uis a binary function to judge whether the MAV has intelligent support for the UAV,Num(MAVi)is the number of intelligent supporting processes for MAVi,and Num(UAVj)is the number of intelligent supporting processes for UAVj.

Definition 6 Task execution reliability is used to indicate the match degree between MAVs and UAVs in one task.When task execution reliability R is calculated,it cannot be completely separated as an independent variable,then a fuzzy cognitive map(FCM)model is established.In Fig.3,C0represents task execution reliability R in a conceptual model of FCM.It can be used to estimate the reliability of the overall task execution.

Definition 9 Node betweenness[29]is the ratio of the number of paths passing through the shortest path in network to the total number of possible shortest paths,indicated as

where Njlis the number of shortest paths between nodes vjand vl,and Njl(i)is the number of possible shortest paths passing node vibetween node vjand vl.The node betweenness reflects the role and influence of the corresponding node in the whole network.

whereis the positive influence weight and is the negative influence weight.

Here are the constraints to be considered in establishing decision-making hierarchy relationship.

Constraint 5 MAVs at the high decision-making level need to be responsible for assisting the decision of the corresponding low-level MAVs or UAVs.The processing capacity of the decision-making will affect the decision making authority configuration,that is

where Lirs-uavirepresents the workload required for the decision-making of UAV i;Lirs-mavjrepresents the workload of the decision-making required by MAVj;and Lirs-mavkrepresents the workload of the decision-making that MAVk can provide.

Constraint 6 There is no cooperation or interaction between MAVs over time limits.

where dtirepresents the actual delay and dti-stdrepresents the delay’s limit value.

3.4.3 Mathematical model

中医护理将中医技术和临床护理相结合,通过艾灸改善面部微循环、牵正经络、行气活血、抵抗病毒;耳穴贴压护理可调节面部神经平衡、疏通经络、镇静止痛、调和气血,具有稳定的刺激性效应;穴位按摩能够调和气血、疏经通络、增加面部筋肉力量;辨证施护则与中医的同病异护与异病同护原则相统一,能够因人、因地、因时,根据病情缓急做到标本兼护,这些护理措施与中医基础护理措施相结合,能够巩固针刺与药物治疗效果。本研究表明,观察组面部神经功能改善情况显著优于对照组,表明中医护理对于患者康复有显著的促进效果。

The mathematical model of the problem of decision making hierarchy relationship network design is defined as follows:

where Ldmand Biare the normalized value of each measure.Ldmand Biare treated with min-max normalization.β1Tand β2Tare the weights of the measures corresponding to the combat target M.

4.Design method of organizational structure

Based on the organizational structure design mathematical models described above,the proposed organizational structure aims to provide solutions to two sub-problems for each relationship:(i)a feasible set of matching relations G is established between the MAV and the UAV under constraint conditions;(ii)to find the optimal relation from the feasible relations G,the overall idea is to establish the matching relationship between the MAV and the UAV randomly,and then use the Tabu algorithm[30]to filter and select the optimal solution.

4.1 Searching for optimal cooperative and supervisory control relationships based on Tabu search algorithm

Definition 1 Manned and unmanned aircraft organizational structure is a series of matching relations,to complete the assignment task effectively with limited resources.It includes three types of relations:(i)cooperative relationships between UAVs and cooperative relationships between MAVs;(ii)supervisory control relationships between MAVs and UAVs;(iii)decision-making authorization relations between MAVs,as shown in Fig.1.(i)The UAV cooperative relationship is set when different UAVs are assigned to the same task;(ii)the supervisory control relationship is generated when MAV supports or supervises the tasks assigned to UAVs;(iii)the MAV cooperative relationship is built when indirect cooperation occurs from different UAVs which are controlled by different MAVs;(iv)the decision-making authorization relation between MAVs is generated by its roles in the structure.This role is mainly determined by two factors,the centrality measure(a statistical measure assigns each MAV a number representing its importance)and the ability of more decision-making information processing.

The order of addition of UAV 2-switch exchange Tabu list:if the current exchange of two UAVs(J1→J2),then the next NJgeneration,not allowed to operate J2→J1.

由于受灌区轮灌制度的影响，各渠系行水间隔时间比较长，特别在作物生育期，各级渠道均有不同程度停水期。为了对灌区各级渠道供水保证程度做出准确评价，本研究统计分析了河套灌区近15 a支渠以上级别渠道行水、停水时间等资料。在作物关键生育期内总干渠停水时间为12 d，干渠、分干渠及支渠停水时间不同灌溉区域之间差别较大，分别为10～43 d、27～61 d与30～61 d。越往灌区下游，停水时间越长[5]。滴灌属高频灌溉，一般灌水间隔在7～10 d左右，为保证滴灌高频率灌溉，需要修建蓄水池储存渠道停水期滴灌用水。

UAV levels of autonomy Tabu list:if the current generation of UAVi levels of autonomy is adjusted,then in the next NXgeneration,UAVi is not allowed to reverse the direction of the levels of autonomy of adjustment operations.

Four steps in the adopted Tabu algorithm for searching are described as follows:

Step 1 Match the UAV to the MAV at random to determine whether the constraint is satisfied.

Constraint 2 Additional UAV intelligence is needed as the battle field environment changes constantly.UAVs interact with MAV drivers to address this need,and levels of autonomy will be adjusted accordingly.It will increase the driver’s workload,and the driver’s workload capacity will affect UAVs’con fi guration,that is

Step 3 Calculate the evaluation function and perform the optimization.

Step 4 Repeat the abovesteps until the termination criterion is met.

The algorithm terminates when successive iterations of the NDgeneration optimal solution does not change.

4.2 Searching for optimal decision-making hierarchy relationships

In this process,the main purposes include identifying important combat entities with a high decision-making authority,balancing the decision-making workload and achieving the smooth transmission of decision-making information.These can be achieved using the following three specific steps:

Step 1 Calculate the node betweenness of each combat entity;

Step 2 If the node with the largest node betweenness satisfies the constraints,take it as the vertex,the decision workload as the weight matrix,construct the minimum spanning tree,and calculate the evaluation function;

Step 3 Select the node with the second largest node betweenness,repeat Step 2 until there is no MAV node in the available root node,and calculate the evaluation function.

5.Simulation experiments and results

The simulation experiments took use of three MAVs and ten UAVs to form heterogeneous teams to combat the enemy front-line temporary command center.The process is shown in Fig.5.The corresponding relationships between the UAVs and the tasks are pre-assigned.

Fig.5 Combat mission plan scenario

5.1 Simulation experiment 1

The change of mission environment causes the demand for physical resources and intelligent resources of UAVs at certain moment,as shown in Fig.6.The upper part of the graph is the result of the relative value evaluation of each component of the physical and intelligent support that the MAVs can provide,and the lower part is the UAVs’needs.The initial UAVs’levels of autonomy default are shown in Fig.7,to define the autonomous level of UAV2,UAV8,and UAV10 as A3,and the rest as A2.And the interaction latency between MAVs and UAVs is shown in Fig.8,and FCM concept assignment is shown in Table 2.MAVs do not interfere with the evaluation function weight,or interfere with UAV levels of autonomy.

手术切除治疗组治愈率96.9%,注射碘酊治疗组治愈率95.4%,两种治疗方法没有显著性差异(P>0.05)。

The Tabu search algorithm is used in this experiment,and the optimal process of the feasible scheme between MAVs and UAVs is obtained.As shown in Fig.9,the physical resource support capabilities normalized value Lprs,the intelligent support capabilities normalized value Lirs,and the network vulnerability N(v)are used as costtype indices.The overall process of program selection shows a decreasing trend.The network efficiency N(e)and the task execution reliability R are used as incometype indices.The overall process of program selection shows an increasing trend.

Fig.6 Asset-resource-capability matrix

Fig.7 Levels of autonomy matrix

Fig.8 Information transfer delay matrix

Table 2 FCM concept value matrix

*Calculated by the corresponding structure

C0C1 C2 C3 C4 C5 C6C7 C8 C9 C10 T1000010∗0.20.8∗ ∗T2000010∗0.10.8∗ ∗T3000010∗00.8∗ ∗T4000010∗0.10.8∗ ∗T5000010∗0.10.8∗ ∗T6000010∗0.10.8∗ ∗T7000010∗00.8∗ ∗T8000010∗00.8∗ ∗

The evaluation function F tends to increase with the program selection.The optimal solution to the problem is F=0.627 1,as shown in Fig.10.The corresponding Lprs=0.833 3,Lirs=0.600 0,N(e)=0.192 3,N(v)=0.2667,and R=1.000 0 in the preferred process of the feasible scheme.

醒过来的时候，我还想，假如睁开眼睛看到的是他，我就改变主意，一心随他。可是我知道那是不可能的，他离不开他的一切，他的家庭和事业。谢谢你陪我。

Fig.9 Diagram of simulation results

Fig.10 Preferred process of the feasible scheme

The node betweenness calculated by the final structure and the corresponding decision workload is shown in Fig.11.We can see MAV3 has the largest node betweenness with a value of 15.And the spanning tree structure with MAV3 as the root node is the best in the decisionmaking and the information transmission effect.Simulation experiment 1 validates the feasibility of the structure design method.

Fig.11 Node betweeness of the final structure

Consider two important task approaches:UAV2 and UAV9 are responsible for searching the enemy command center location and compete for air supremacy of these two tasks,but they do not have the ability to strike.And they focus more on detection,so configure them to one MAV to achieve the purpose of rapid response. Experience suggests this is reasonable.Furthermore,UAV3 is responsible for the command center’s attack.Attack capability of MAV1,MAV2 and MAV3 is incremented.Thus it is reasonable that UAV3 is finally configured to MAV3.The analysis shows that the structure obtained by this method is reasonable.

5.2 Simulation experiment 2

Fig.12 Three different output schemes shown by three different designed cases

In simulation experiment 2,the basic parameters are set as the same as the simulation experiment 1,shown in Fig.12 to establish three different situations.The final output structure in the various scenarios resulting from the simulation process is the one with the highest evaluated score.Due to the different emphases of the evaluation function,Case 1 is different from the final output of simulation experiment 1.Because UAV5’s LOA is limited,in Case 2,UAV5 is configured to MAV3 with more resources to balance the workload.Case 3 is different from the former two as the UAV7’s workload is reduced first and then it is rebalanced again.Based on the same basic parameters,under different control conditions,the final output structure is different,indicating that the structure design method is flexible.

6.Conclusions

In this paper,we propose a multidimensional method that includes multiple constraints, which can establish a reasonable and efficient organizational structure.Under various environmental changes,we use the organizational structure with the adjustable autonomy to achieve flexibility.The simulation results demonstrate that the organizational structure can be adjusted as the environment changes or by MAV intervention with this method.Future work will focus on the study of the design and adjustment of the organizational structure which has all the units involved in a task cycle.

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