Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673837
Y. Ishibashi, Pingguo Huang, K. Psannis
This paper enhances the robot position control using force information, which was previously proposed, for collaborative work between two mobile robots having force sensors to respond to sudden changes in the position of each mobile robot owing to obstacles such as holes and stones. When the mobile robots carry an object together while moving on uneven ground, the object may be broken by too large force applied to it if the difference in the position between the two robots becomes large. The enhanced control tries to adjust the positions quickly to reduce the force by absorbing the difference based on force sensed by the force sensors. In our experiment, the paper demonstrates that the control largely mitigates influences of obstacles on cooperative work by emulating mobile robots in our remote robot systems with force feedback.
{"title":"Enhanced Robot Position Control Using Force Information for Mobile Robots : Influences of Obstacles on Cooperative Work","authors":"Y. Ishibashi, Pingguo Huang, K. Psannis","doi":"10.1109/icicn52636.2021.9673837","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673837","url":null,"abstract":"This paper enhances the robot position control using force information, which was previously proposed, for collaborative work between two mobile robots having force sensors to respond to sudden changes in the position of each mobile robot owing to obstacles such as holes and stones. When the mobile robots carry an object together while moving on uneven ground, the object may be broken by too large force applied to it if the difference in the position between the two robots becomes large. The enhanced control tries to adjust the positions quickly to reduce the force by absorbing the difference based on force sensed by the force sensors. In our experiment, the paper demonstrates that the control largely mitigates influences of obstacles on cooperative work by emulating mobile robots in our remote robot systems with force feedback.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127518774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673984
Xuerong Cui, B. Guo, Haihua Chen, Yucheng Zhang, Shibao Li, Xiaochen Lian
Direction of Arrival (DOA) estimation is one of the most fundamental problems in array signal processing, and it is widely used in many fields such as radar, sonar, and communications. This paper uses Compressed Sensing (CS) technology to focus on DOA estimation. Aiming at the problems caused by fewer snapshots in the practical application of DOA estimation, a Nonuniform Overcomplete Dictionary (NUOD) combining initialization space is proposed. In addition, the new DOA estimation algorithm of Orthogonal Match Pursuit (OMP) is improved by a Genetic Algorithm (GA). Furthermore, in order to improve the performance of DOA estimation of CS technology, the following three improvements are proposed. (1) Make full use of the Estimation of Signal Parameters via Rotational Invariance Techniques (ESPRIT) to determine the initialization point and then determine the scope of the initialization space according to the Crame’r–Rao bound (CRB). (2) Aiming at a large amount of calculation, the algorithm can realize the nonuniform over-complete dictionary design of the popular array matrix according to the sparse representation of the partition of the initialization space. (3) To further improve the algorithm’s performance, the nonuniform over-complete dictionary design is combined with the processing flow of the GA improved OMP algorithm. The simulation results prove that the method in this paper has the advantages of less computing time, low estimation error, and wide application range.
{"title":"Research on the Algorithm of Nonuniform Compressive Sensing in DOA","authors":"Xuerong Cui, B. Guo, Haihua Chen, Yucheng Zhang, Shibao Li, Xiaochen Lian","doi":"10.1109/icicn52636.2021.9673984","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673984","url":null,"abstract":"Direction of Arrival (DOA) estimation is one of the most fundamental problems in array signal processing, and it is widely used in many fields such as radar, sonar, and communications. This paper uses Compressed Sensing (CS) technology to focus on DOA estimation. Aiming at the problems caused by fewer snapshots in the practical application of DOA estimation, a Nonuniform Overcomplete Dictionary (NUOD) combining initialization space is proposed. In addition, the new DOA estimation algorithm of Orthogonal Match Pursuit (OMP) is improved by a Genetic Algorithm (GA). Furthermore, in order to improve the performance of DOA estimation of CS technology, the following three improvements are proposed. (1) Make full use of the Estimation of Signal Parameters via Rotational Invariance Techniques (ESPRIT) to determine the initialization point and then determine the scope of the initialization space according to the Crame’r–Rao bound (CRB). (2) Aiming at a large amount of calculation, the algorithm can realize the nonuniform over-complete dictionary design of the popular array matrix according to the sparse representation of the partition of the initialization space. (3) To further improve the algorithm’s performance, the nonuniform over-complete dictionary design is combined with the processing flow of the GA improved OMP algorithm. The simulation results prove that the method in this paper has the advantages of less computing time, low estimation error, and wide application range.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128031134","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673893
Xiang Wang, Zhiying Tang, Qingyang Liu, Kang Wang, Meiming Fu
Accelerated by the concept of the prominent Internet of things, various power line systems are envisioned to be integrated into wireless communication networks to enhance the quality of service of ubiquitous users. In order to improve the delay performance of these integrated networks, intensive computation tasks can be partly offloaded to the network edge and processed by edge devices. In this paper, we model a collaborated cloud and edge network consists of power line systems and wireless communications, considering the terrible transmission environment of offloading devices. Under the hierarchical offloading strategy proposed in this work, a joint delay optimization problem is formulated and solved with the constraints of network computation capability. Finally, numerical results demonstrate that the proposed scheme shows superiority to other benchmark schemes as regards to minimizing the delay of the end equipments.
{"title":"Minimum Delay Allocation Strategy for Distribution Internet of Things","authors":"Xiang Wang, Zhiying Tang, Qingyang Liu, Kang Wang, Meiming Fu","doi":"10.1109/icicn52636.2021.9673893","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673893","url":null,"abstract":"Accelerated by the concept of the prominent Internet of things, various power line systems are envisioned to be integrated into wireless communication networks to enhance the quality of service of ubiquitous users. In order to improve the delay performance of these integrated networks, intensive computation tasks can be partly offloaded to the network edge and processed by edge devices. In this paper, we model a collaborated cloud and edge network consists of power line systems and wireless communications, considering the terrible transmission environment of offloading devices. Under the hierarchical offloading strategy proposed in this work, a joint delay optimization problem is formulated and solved with the constraints of network computation capability. Finally, numerical results demonstrate that the proposed scheme shows superiority to other benchmark schemes as regards to minimizing the delay of the end equipments.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129454112","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673827
Shengfa Xu, Ming Yan, Jingyi Xing, Xiaodong Yang
With the development of communication technology, molecular communications (MC) give birth to the communications between nanomachines. The biochemical molecules are used as information carrier. These molecules move in the medium in either active transport mode or free diffusion mode. When the biochemical molecules are moving in the medium, the drift velocity of the medium would have great influence on MC. In this work, a diffusion-based MC system is used to measure the drift velocity of medium. The expression of the relationship between molecular concentration difference and drift velocity is also derived. In this research, we give the basis for judging applicable environment, and recommend a practical mode of measuring fluid drift velocity. This method has good application value and will provide new ideas of measuring fluid velocity.
{"title":"Measuring Drift Velocity via Diffusion-based Molecular Communication System","authors":"Shengfa Xu, Ming Yan, Jingyi Xing, Xiaodong Yang","doi":"10.1109/icicn52636.2021.9673827","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673827","url":null,"abstract":"With the development of communication technology, molecular communications (MC) give birth to the communications between nanomachines. The biochemical molecules are used as information carrier. These molecules move in the medium in either active transport mode or free diffusion mode. When the biochemical molecules are moving in the medium, the drift velocity of the medium would have great influence on MC. In this work, a diffusion-based MC system is used to measure the drift velocity of medium. The expression of the relationship between molecular concentration difference and drift velocity is also derived. In this research, we give the basis for judging applicable environment, and recommend a practical mode of measuring fluid drift velocity. This method has good application value and will provide new ideas of measuring fluid velocity.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122756320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673935
A. P. Plageras, K. Psannis, G. Kokkonis, Y. Ishibashi
Novel technologies, new trends, brand-new protocols, more efficient algorithms, and smart systems have been used all over the globe by civilized countries to have better and more convenient living. In the present study, the aim was to develop and present the optimal IoT architecture for a "Smart" system. To achieve this, there were several challenges that needed to be solved, such as network security, network data transmission, interoperability, scalability, flexibility, and efficient data and energy management and analysis. After a brief observation, the advantages that can be gained by the use of such systems will be tremendous.
{"title":"Efficient Big Data Delivery over IoT Networks","authors":"A. P. Plageras, K. Psannis, G. Kokkonis, Y. Ishibashi","doi":"10.1109/icicn52636.2021.9673935","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673935","url":null,"abstract":"Novel technologies, new trends, brand-new protocols, more efficient algorithms, and smart systems have been used all over the globe by civilized countries to have better and more convenient living. In the present study, the aim was to develop and present the optimal IoT architecture for a \"Smart\" system. To achieve this, there were several challenges that needed to be solved, such as network security, network data transmission, interoperability, scalability, flexibility, and efficient data and energy management and analysis. After a brief observation, the advantages that can be gained by the use of such systems will be tremendous.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"149 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120898327","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We demonstrate two kinds of all-fiber frequency shifters for optical coherence detection. The mode-selective coupler (MSC) and long period fiber grating (LPFG) are cascaded with the acoustically induced fiber grating (AIFG), respectively. Due to the frequency shifting characteristics of the AIFG, the low frequency shift of less than 1 MHz is achieved by both of them. Furthermore, the mode conversion occurs only within the frequency shifter, which is capable of implementing the input and output of the core LP01 mode. The LP11 mode converted by MSC and LPFG is finally converted back to LP01 mode by AIFG, and the frequency is shifted up. The structure of the two kinds of frequency shifters is simple and compact, and the signal-to-noise ratio (SNR) can reach 65 dB, which provides a feasible scheme for the coherence heterodyne detection technology of low frequency.
{"title":"All-Fiber Frequency Shifter with a Lower Frequency Shift for the Coherent Detection","authors":"Zhengwei Zhang, Jiangtao Xu, Xianglong Zeng, Jianfeng Sun, Longkun Zhang","doi":"10.1109/icicn52636.2021.9673866","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673866","url":null,"abstract":"We demonstrate two kinds of all-fiber frequency shifters for optical coherence detection. The mode-selective coupler (MSC) and long period fiber grating (LPFG) are cascaded with the acoustically induced fiber grating (AIFG), respectively. Due to the frequency shifting characteristics of the AIFG, the low frequency shift of less than 1 MHz is achieved by both of them. Furthermore, the mode conversion occurs only within the frequency shifter, which is capable of implementing the input and output of the core LP01 mode. The LP11 mode converted by MSC and LPFG is finally converted back to LP01 mode by AIFG, and the frequency is shifted up. The structure of the two kinds of frequency shifters is simple and compact, and the signal-to-noise ratio (SNR) can reach 65 dB, which provides a feasible scheme for the coherence heterodyne detection technology of low frequency.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132353766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673868
{"title":"[Copyright notice]","authors":"","doi":"10.1109/icicn52636.2021.9673868","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673868","url":null,"abstract":"","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122912371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673957
Xi Li, Ma Cheng, Li Kai
In order to alleviate the influence of multi-path effect and noise caused by complex flight test environment on telemetry signal reception, a variable step size adaptive equalization algorithm is proposed in this paper. Based on the GSVSLMS algorithm, the algorithm improves the anti-noise performance of the algorithm by using the correlation value of the error signal at the adjacent time to control the change of the step size, and makes the parameters that affect the step size change with the changing of the error signal, so as to alleviate the contradiction between the convergence speed and the steady-state accuracy of the constant parameters. Compared with SVSLMS and G-SVSLMS, the proposed algorithm improves the convergence speed and steady-state accuracy, and has a certain anti noise performance, which proves that the proposed algorithm is effective and feasible.
{"title":"Application of a Variable Step Size Adaptive Equalization Algorithm","authors":"Xi Li, Ma Cheng, Li Kai","doi":"10.1109/icicn52636.2021.9673957","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673957","url":null,"abstract":"In order to alleviate the influence of multi-path effect and noise caused by complex flight test environment on telemetry signal reception, a variable step size adaptive equalization algorithm is proposed in this paper. Based on the GSVSLMS algorithm, the algorithm improves the anti-noise performance of the algorithm by using the correlation value of the error signal at the adjacent time to control the change of the step size, and makes the parameters that affect the step size change with the changing of the error signal, so as to alleviate the contradiction between the convergence speed and the steady-state accuracy of the constant parameters. Compared with SVSLMS and G-SVSLMS, the proposed algorithm improves the convergence speed and steady-state accuracy, and has a certain anti noise performance, which proves that the proposed algorithm is effective and feasible.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126224321","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9673995
Hao Zhang, Chunfeng Wang, Shuo Liang
An Integrated satellite-terrestrial network system brings new architecture and service requirements. For NGN (Next Generation Network), there are four important technical concepts: virtualization technology, cognitive technology, software defining technology and service-oriented infrastructure. In order to realize the deep integration between satellite communication and terrestrial network, virtualization technology used in terrestrial network is one of the means to solve the effective integration of terrestrial network and satellite communication. This paper discusses the cognitive virtualization method of software defining for integrated satellite terrestrial network system, and illustrates the three-layer virtualization model of cognitive wireless network, which are network function virtualization layer, physical channel virtualization layer and spectrum virtualization layer. The architecture of software defined cognitive virtualization wireless network system, dynamic channel allocation procedure and the principle of spectrum virtualization technology are described. Through spectrum virtualization, the system can utilize more spectrum holes to improve the efficiency of spectrum utilization.
{"title":"A Wireless Resource Management and Virtualization Method for Integrated Satellite-Terrestrial Network","authors":"Hao Zhang, Chunfeng Wang, Shuo Liang","doi":"10.1109/icicn52636.2021.9673995","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9673995","url":null,"abstract":"An Integrated satellite-terrestrial network system brings new architecture and service requirements. For NGN (Next Generation Network), there are four important technical concepts: virtualization technology, cognitive technology, software defining technology and service-oriented infrastructure. In order to realize the deep integration between satellite communication and terrestrial network, virtualization technology used in terrestrial network is one of the means to solve the effective integration of terrestrial network and satellite communication. This paper discusses the cognitive virtualization method of software defining for integrated satellite terrestrial network system, and illustrates the three-layer virtualization model of cognitive wireless network, which are network function virtualization layer, physical channel virtualization layer and spectrum virtualization layer. The architecture of software defined cognitive virtualization wireless network system, dynamic channel allocation procedure and the principle of spectrum virtualization technology are described. Through spectrum virtualization, the system can utilize more spectrum holes to improve the efficiency of spectrum utilization.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114263042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-11-25DOI: 10.1109/icicn52636.2021.9674003
Zhang Yushuai, Guo Jianxin, Ji Xiang, Zhu Rui
An efficient correction method for position and heading errors in foot mounted inertial measurement unit (IMU) indoor pedestrian navigation and positioning systems is presented in this paper. We propose a cascaded structured Kalman filter and non-recursive Bayesian filter for indoor localization by fusing the micro electro mechanical system (MEMS) inertial sensors and indoor map information. The lower Kalman filter adopts the zero velocity update algorithm to initially correct the solution error of inertial navigation; the upper non-recursive Bayesian filter uses indoor map information to further calibrate pedestrian position and heading by map matching. The effectiveness and accuracy of this algorithm are verified by example in a real indoor scene.
{"title":"Indoor Navigation System Based on Foot-Mounted IMU and Map Information Fusion","authors":"Zhang Yushuai, Guo Jianxin, Ji Xiang, Zhu Rui","doi":"10.1109/icicn52636.2021.9674003","DOIUrl":"https://doi.org/10.1109/icicn52636.2021.9674003","url":null,"abstract":"An efficient correction method for position and heading errors in foot mounted inertial measurement unit (IMU) indoor pedestrian navigation and positioning systems is presented in this paper. We propose a cascaded structured Kalman filter and non-recursive Bayesian filter for indoor localization by fusing the micro electro mechanical system (MEMS) inertial sensors and indoor map information. The lower Kalman filter adopts the zero velocity update algorithm to initially correct the solution error of inertial navigation; the upper non-recursive Bayesian filter uses indoor map information to further calibrate pedestrian position and heading by map matching. The effectiveness and accuracy of this algorithm are verified by example in a real indoor scene.","PeriodicalId":231379,"journal":{"name":"2021 IEEE 9th International Conference on Information, Communication and Networks (ICICN)","volume":"330 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124304359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：