基于灰色模型预测Ad Hoc网络链路稳定度的路由协议
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摘要
Ad Hoc网络作为一种复杂的分布式、自组织和多跳的新型无线网络,因其具有组网灵活、展开迅速、抗毁性强等优点,在军事和民用领域有广泛应用,成为研究的热点。Ad Hoc网络中的路由问题更是此研究中的核心问题。由于网络拓扑结构不断变化,导致链路频繁断裂,因此对稳定路由协议的研究具有非常重要的意义。
为了能够更好地适应Ad Hoc网络拓扑结构的动态特性,提出了一种基于灰色预测模型的具有链路稳定度预测功能的Ad Hoc网络路由协议GM-LSPRP (Grey Model based Link Stability Prediction Routing Protocol)。灰色模型即是通过对原始数据进行变换从而找出数据符合的规律而建立的模型,进而对未知数据进行预测。结合GPS系统提供的节点地理位置信息,利用建立的灰色模型实时预测出节点下一时刻(未来时刻)的地理位置,计算出节点间的距离,并以此计算出链路稳定度。这样下一时刻的链路稳定度就得到了预测。该协议在路由发现阶段以链路稳定度为标准建立路由,在路由维护阶段利用灰色预测模型对Ad Hoc网络的链路稳定度进行预测,将预测的下一时刻的链路稳定度与稳定度阈值比较,如果预测出链路即将不稳定,则在链路断开之前,提前启动预修复过程,以避免网络中链路的频繁断裂,使网络运行良好,从而大幅提高网络的整体性能。
在对GM-LSPRP协议进行详细说明的基础上,采用NS2仿真软件,分别以改变节点最大移动速度,改变节点停留时间,改变节点密度三个不同的场景对AODV路由协议、LSRP路由协议和GM-LSPRP路由协议进行仿真比较。仿真结果表明,相对AODV路由协议以及只考虑链路稳定度的路由协议LSRP, GM-LSPRP协议大幅度提高了分组投递率,并且使得路由中断次数有了明显减少,改善了网络整体性能。
Ad Hoc network is a novel form of network which is complicated distributed, self-organized and multi-hop. Because of its many advantages such as flexible networking, quick deployment and strong anti-destroying ability, Ad Hoc network has wide application in the military and civilian fields and it becomes the research focus. Ad Hoc network routing problem is the key problem in the study. The frequent changes of the network topology lead to the frequent fracture of the link. So the research of stable routing protocol has very important significance.
To better adapt to the dynamic characteristics of Ad Hoc network topology structure, GM-LSPRP (Grey Model based Link Stability Prediction Routing Protocol) is proposed. Grey model is a model which needs to transform the original data to find the rule, then the unknown data can be predicted. The geographical position the next moment of the node can be predicted according to the established grey model and the node location information provided by GPS system, then the distance between nodes can be computed and the link stability the next moment can be predicted. The protocol establishes routing with link stability as a standard in the route discovery stage, and in the route maintenance stage the link stability is predicted using the grey prediction model. The link stability predicted is compared to the stability threshold, if the link predicted will be unstable, then the pre-restoration process is started before the link breaks off to avoid the frequent fracture of the network link. Then the network will run well and the network performance is greatly improved.
Based on the detailed instructions to GM-LSPRP proposed, using NS2, AODV, LSRP and GM-LSPRP are simulated and compared respectively from three different view, such as changing the node maximum speed, changing the pause time and changing the number of the nodes. Simulation results show that, compared to AODV and LSRP, GM-LSPRP greatly improved the packet delivery rate and the number of the routing interruption is significantly reduced, then the network performance is improved. It is proved that GM-LSPRP is feasible and effective.
为了能够更好地适应Ad Hoc网络拓扑结构的动态特性,提出了一种基于灰色预测模型的具有链路稳定度预测功能的Ad Hoc网络路由协议GM-LSPRP (Grey Model based Link Stability Prediction Routing Protocol)。灰色模型即是通过对原始数据进行变换从而找出数据符合的规律而建立的模型,进而对未知数据进行预测。结合GPS系统提供的节点地理位置信息,利用建立的灰色模型实时预测出节点下一时刻(未来时刻)的地理位置,计算出节点间的距离,并以此计算出链路稳定度。这样下一时刻的链路稳定度就得到了预测。该协议在路由发现阶段以链路稳定度为标准建立路由,在路由维护阶段利用灰色预测模型对Ad Hoc网络的链路稳定度进行预测,将预测的下一时刻的链路稳定度与稳定度阈值比较,如果预测出链路即将不稳定,则在链路断开之前,提前启动预修复过程,以避免网络中链路的频繁断裂,使网络运行良好,从而大幅提高网络的整体性能。
在对GM-LSPRP协议进行详细说明的基础上,采用NS2仿真软件,分别以改变节点最大移动速度,改变节点停留时间,改变节点密度三个不同的场景对AODV路由协议、LSRP路由协议和GM-LSPRP路由协议进行仿真比较。仿真结果表明,相对AODV路由协议以及只考虑链路稳定度的路由协议LSRP, GM-LSPRP协议大幅度提高了分组投递率,并且使得路由中断次数有了明显减少,改善了网络整体性能。
Ad Hoc network is a novel form of network which is complicated distributed, self-organized and multi-hop. Because of its many advantages such as flexible networking, quick deployment and strong anti-destroying ability, Ad Hoc network has wide application in the military and civilian fields and it becomes the research focus. Ad Hoc network routing problem is the key problem in the study. The frequent changes of the network topology lead to the frequent fracture of the link. So the research of stable routing protocol has very important significance.
To better adapt to the dynamic characteristics of Ad Hoc network topology structure, GM-LSPRP (Grey Model based Link Stability Prediction Routing Protocol) is proposed. Grey model is a model which needs to transform the original data to find the rule, then the unknown data can be predicted. The geographical position the next moment of the node can be predicted according to the established grey model and the node location information provided by GPS system, then the distance between nodes can be computed and the link stability the next moment can be predicted. The protocol establishes routing with link stability as a standard in the route discovery stage, and in the route maintenance stage the link stability is predicted using the grey prediction model. The link stability predicted is compared to the stability threshold, if the link predicted will be unstable, then the pre-restoration process is started before the link breaks off to avoid the frequent fracture of the network link. Then the network will run well and the network performance is greatly improved.
Based on the detailed instructions to GM-LSPRP proposed, using NS2, AODV, LSRP and GM-LSPRP are simulated and compared respectively from three different view, such as changing the node maximum speed, changing the pause time and changing the number of the nodes. Simulation results show that, compared to AODV and LSRP, GM-LSPRP greatly improved the packet delivery rate and the number of the routing interruption is significantly reduced, then the network performance is improved. It is proved that GM-LSPRP is feasible and effective.
引文
1.于宏毅等.无线移动自组织网[M],北京：人民邮电出版社,2005,11-26.
2.陈林星,曾曦,曹毅.移动Ad Hoc网络—自组织分组无线网络技术[M],北京：电子工业出版社,2006,2-11.
3. Abdelmonem, A.H., Saadawi, T.N.. Performance analysis of spread spectrum packet radio network with channel load sensing [J], IEEE Journal on Selected Areas in Communications,1989,7(1):161-166.
4. Pursley, M.B, Russell, H.B. Routing in frequency-hop packet radio networks with partial-band jamming [J], IEEE Transactions on Communications,1993,41(7):1117-1124.
5.史美林,英春.自组网路由协议综述[J],通信学报,2001,22(11)：93-103
6.郑相全等.无线自组网技术实用教程[M],北京：清华大学出版社,2004,8-9.
7.郑少仁,王海涛等Ad hoc网络技术[M],北京：人民邮电出版社,2005,8-9.
8.王金龙,王呈贵.Ad hoc移动无线网络[M],北京：国防工业出版社,2004,7-8.
9. Dickens, M., Dunn, B., Nicholas, L.J.. Design and Implementation of a Portable Software Radio [J], IEEE Communications Magazine,2008,46(8):58-66.
10.岳光荣,葛利嘉.超宽带无线电综述[J],解放军理工大学学报(自然科学版),2002,3(2)：14-19.
11.詹鹏飞,陈前斌.移动Ad hoc网络AODV路由协议安全性分析和改进[J],计算机应用,2003,23(8)：44-47.
12.程林,陈福生.无线Ad hoc网络路由协议的分析比较[J],计算机工程与应用,2004(22)：143-149.
13. Yih-Chun, Hu., Perrig, A. A survey of secure wireless ad hoc routing[J], IEEE Transactions on Communications,2004,2(3):28-39.
14. Acs, G.,Buttyan, L.,Vajda, I. Provably Secure On-Demand Source Routing in Mobile Ad Hoc Networks [J], IEEE Transactions on Mobile Computing,2006,5(11):1533-1546.
15. Perkins, C.E, Belding-Royer E.M, Das S. Ad Hoc On-Demand Distance Vector (AODV) Routing [J]. internet RFCs,1999,59-62.
16. IETF Routing Area[EB/OL].http://rtg.ietf.org/wg/manet/rfclist/document_view
17. Ruay-Shiung Chang, Shing-Jiuan Leu. Long-lived Path Routing With Received Signal Strength for Ad hoc Networks [J], Wireless Pervasive Computing,2006,16(18):6-6.
18. Jin-Man Kim, Jong-Wook Jang. AODV based Energy Efficient Routing Protocol for Maximum Lifetime in MANET[C],Proc. of International Conference on Internet and Web Applications and Services,2006,19(25):77-77.
19. Masayuki Tauchi Tetsuo Ideguchi Takashi Okuda. Ad-hoc Routing Protocol Avoiding Route Breaks Based on AODV [C], Pro. of the 38th Annual Hawaii International Conference,2005,03(06):322a-322a.
20. Liang Cheng, Anu G.Bourgeois, Bo Hyun Yu. Power Management in Wireless Ad hoc Networks using AODV [C], Proc. of 2005 and First ACIS International Workshop on Self-Assembling Wireless Networks,2005,23(25):436-443.
21. J.Costa-Requena, T.Vadar, R.Kantola, et al. AODV-OLSR Scalable Ad hoc Routing Proposal [J],Wireless Pervasive Computing,2006,16(18):5-5.
22. Bai, R.; Singhal, M.DOA:DSR over AODV Routing for Mobile Ad Hoc Networks [J]. IEEE Transactions on Mobile Computing,2006,5(10):1403-1416.
23. D.A.Maltz et al. The Effects of On-Demand Behavior in Routing Protocols for Multi-Hop Wireless Ad Hoc Networks [J]. IEEE JSAC,1999,12(4):235-241.
24. Perkins C E, Bhagwat P. Highly Dynamic Destination-Sequenced Distance-Vector Routing (DSDV)For Mobile Computers [J],ACM SIGCOMM,1994,24(4):234-244.
25.Murthy S, Barcia-lama-Aceves J.J. An Efficient Routing Protocol(WRP)for Wireless Networks [J], ACM Mobile Networks and Applications Journal, Special issue on Routing in Mobile Communication Networks,1996,1(2):183-193.
26. Jacquet P, Muhlethaler P, Clausen T. Optimized Link State Routing Protocol(OLSR)for Ad Hoc Networks [C], Proc of IEEE INMIC'01,Lahore,Pakistan,2001,3(12):62-68.
27. Johnson D B, Maltz D A,Hu Y C. The Dynamic Source Routing Protocol for Mobile ad hoc Networks(DSR) [J], IEEE Transactions on Mobile Computing,2004,3(1):125-130.
28. Fapojuwo, A.O.; Salazar, O.; Sesay, A.B. Performance of a QoS-based multiple-route ad hoc on-demand distance vector protocol for mobile ad hoc networks [J], Electrical and Computer Engineering, Canadian Journal of,2004,29(1):149-155.
29. Park V D, Corson M S. Temporally-Ordered Routing Algorithm(TORA)version 1 functional specification [J], IEEE Transactions on Communications,2001,4(23):58-64.
30. Hass Z J, The Zone Routing Protocol(ZRP)for Ad Hoc Network [J],Internet Draft, draft-zone-routing-protocol-00.txt, Nov.1997,Work in progress.
31. Wang Jian-xin, Dend Shu-guang, Chen Song-qiao, et al. A route recovery method based on anycast policy in mobile ad hoc networks [J], Journal of China Institute of Communications,2003,24 (10):1262-1265.
32.任雄伟.无线移动自组网中路由度量和路由策略的研究[D],武汉：华中科技大学,2005.
33. Min-Gu Lee, Sunggu Lee. A Link Stability Model and Stable Routing for Mobile Ad-Hoc Networks [J], Lecture Notes in Computer Science,2006,40(96):904-913.
34. C-K. Toh. Associativity-Based Routing for Ad Hoc Mobile Networks [J], Wireless Personal Communications,1997,4(2):1-36.
35. Rohit Dube, Cynihia D.Rais, Kuang-Yeh Wang et al. Signal Stability-Based Adaptive Routing (SSA) for Ad Hoc Mobile Networks [J], IEEE Personal Communications,1997, 4(1):36-45.
36. Geunhwi Lim, Kwangwook Shim, Jin Suk Kim, et al. Signal Strength-Based Link Stability Estimation in Ad Hoc wireless Networks [J], Electronics Letters,2003, 5(3):485-486.
37. B.S.Manoj, Ananthapadmanabha R.C. Siva Ram Murthy. Link Life Based Routing Protocol for Ad Hoc Wireless Networks [C], Proceedings of the 7th IEEE International Conference on Computer Communications and Networks(IC3N'01)Phoenix,Arizona, USA,2001:573-576.
38. Lee S-J, Su W, Gerla M. On-demand multicast routing protocol [C], IEEE Communications Society Staff, eds. Wcnc 1999 IEEE Wireless Communications and Networking Conference. New orleans,LA,USA,1999:1298-1304.
39. Suw,Gerlam.IPv6 Flow Handoff in Ad-Hoc Wireless Networks Using Mobility Prediction [C], Proceedings of IEEE Global Communications Conference, Rio de Janeiro,Brazil, 1999:271-275.
40.邓聚龙.灰色预测与决策[M],武汉：华中理工大学出版社,1986.
41. Kuo-Huang Lin, Bin-Da Liu. A gray system modeling approach to the prediction of calibration intervals [J], IEEE Transactions on Instrumentation and Measurement,2005, 54(1):297-304.
42. Yo-Ping Huang, Tai-Min Yu. The hybrid grey-based models for temperature prediction [J], IEEE Transactions on Systems,1997,27(2):284-292.
43. EI-Fouly, T.H.M., EI-Saadany, E.F., Salama, M.M.A. Improved Grey predictor rolling models for wind power prediction [J], IET Generation, Transmission & Distribution, 2007, 1(6):928-937.
44. Joo-Han Song, Wong, V.W.S., Leung, V.C.M. Efficient on-demand routing for mobile ad hoc wireless access networks [J], IEEE Journal on Selected Areas in Communications, 2004,22(7):1374-1383.
45. Al-Akaidi, M.,Alchaita, M. Link stability and mobility in ad hoc wireless networks [J], Communications, IET,2007,1(2):173-178.
46. Rappaport T S, Rappaport T. Wireless Communications:Principles and Practice [M] Beijing:Electrical industry Publishers,2004:72-86.
47.杨大成等.移动传播环境[M],北京：机械工业出版社,2003,39-42.
48. S. McCanne and S. Floyd. "ns Network Simulator", http://www.isi.edu/nsnamns,2006.
49. TOHC K. Associativity-based routing for Ad-hoc networks [J], Wireless Personal Communications Journal,1997,4(2):103-139.
50. Jenn-Hwan Tamg, Bing-Wen Chuang, and Fang-Jing Wu. A Radio-Link Stability-based Routing Protocol for Mobile Ad Hoc Networks [C], IEEE International Conference on systems,2006,5(8):3697-3701.
51. Geunhwi Lim, Kwangwook Shim, Jin Suk Kim, Yoon, H. Signal strength-based link stability estimation in ad hoc wireless networks [J], Electronics Letters,2003, 39(5):485-486.
52.年梅,王能.通过链路实效预测机制提高AODV协议的性能[J],计算机应用,2005,25(6)：1251-1256.NIAN M, WANG N. Enhancing AODV performance by link breakage prediction mechanism [J], Computer Applications,2005,25(6):1251-1256.
53. JIANG S M. An enhanced prediction-based link availability estimation for MANET [J], IEEE Transactions on Communications,2004,52(2):183-186.
54. JIANG S M, HE D J, RAO J Q. A prediction-based link availability estimation for routing metrics in MANET [J], IEEE/ACM Transactions on Networking,2005,13(6): 1302-1311.
2.陈林星,曾曦,曹毅.移动Ad Hoc网络—自组织分组无线网络技术[M],北京：电子工业出版社,2006,2-11.
3. Abdelmonem, A.H., Saadawi, T.N.. Performance analysis of spread spectrum packet radio network with channel load sensing [J], IEEE Journal on Selected Areas in Communications,1989,7(1):161-166.
4. Pursley, M.B, Russell, H.B. Routing in frequency-hop packet radio networks with partial-band jamming [J], IEEE Transactions on Communications,1993,41(7):1117-1124.
5.史美林,英春.自组网路由协议综述[J],通信学报,2001,22(11)：93-103
6.郑相全等.无线自组网技术实用教程[M],北京：清华大学出版社,2004,8-9.
7.郑少仁,王海涛等Ad hoc网络技术[M],北京：人民邮电出版社,2005,8-9.
8.王金龙,王呈贵.Ad hoc移动无线网络[M],北京：国防工业出版社,2004,7-8.
9. Dickens, M., Dunn, B., Nicholas, L.J.. Design and Implementation of a Portable Software Radio [J], IEEE Communications Magazine,2008,46(8):58-66.
10.岳光荣,葛利嘉.超宽带无线电综述[J],解放军理工大学学报(自然科学版),2002,3(2)：14-19.
11.詹鹏飞,陈前斌.移动Ad hoc网络AODV路由协议安全性分析和改进[J],计算机应用,2003,23(8)：44-47.
12.程林,陈福生.无线Ad hoc网络路由协议的分析比较[J],计算机工程与应用,2004(22)：143-149.
13. Yih-Chun, Hu., Perrig, A. A survey of secure wireless ad hoc routing[J], IEEE Transactions on Communications,2004,2(3):28-39.
14. Acs, G.,Buttyan, L.,Vajda, I. Provably Secure On-Demand Source Routing in Mobile Ad Hoc Networks [J], IEEE Transactions on Mobile Computing,2006,5(11):1533-1546.
15. Perkins, C.E, Belding-Royer E.M, Das S. Ad Hoc On-Demand Distance Vector (AODV) Routing [J]. internet RFCs,1999,59-62.
16. IETF Routing Area[EB/OL].http://rtg.ietf.org/wg/manet/rfclist/document_view
17. Ruay-Shiung Chang, Shing-Jiuan Leu. Long-lived Path Routing With Received Signal Strength for Ad hoc Networks [J], Wireless Pervasive Computing,2006,16(18):6-6.
18. Jin-Man Kim, Jong-Wook Jang. AODV based Energy Efficient Routing Protocol for Maximum Lifetime in MANET[C],Proc. of International Conference on Internet and Web Applications and Services,2006,19(25):77-77.
19. Masayuki Tauchi Tetsuo Ideguchi Takashi Okuda. Ad-hoc Routing Protocol Avoiding Route Breaks Based on AODV [C], Pro. of the 38th Annual Hawaii International Conference,2005,03(06):322a-322a.
20. Liang Cheng, Anu G.Bourgeois, Bo Hyun Yu. Power Management in Wireless Ad hoc Networks using AODV [C], Proc. of 2005 and First ACIS International Workshop on Self-Assembling Wireless Networks,2005,23(25):436-443.
21. J.Costa-Requena, T.Vadar, R.Kantola, et al. AODV-OLSR Scalable Ad hoc Routing Proposal [J],Wireless Pervasive Computing,2006,16(18):5-5.
22. Bai, R.; Singhal, M.DOA:DSR over AODV Routing for Mobile Ad Hoc Networks [J]. IEEE Transactions on Mobile Computing,2006,5(10):1403-1416.
23. D.A.Maltz et al. The Effects of On-Demand Behavior in Routing Protocols for Multi-Hop Wireless Ad Hoc Networks [J]. IEEE JSAC,1999,12(4):235-241.
24. Perkins C E, Bhagwat P. Highly Dynamic Destination-Sequenced Distance-Vector Routing (DSDV)For Mobile Computers [J],ACM SIGCOMM,1994,24(4):234-244.
25.Murthy S, Barcia-lama-Aceves J.J. An Efficient Routing Protocol(WRP)for Wireless Networks [J], ACM Mobile Networks and Applications Journal, Special issue on Routing in Mobile Communication Networks,1996,1(2):183-193.
26. Jacquet P, Muhlethaler P, Clausen T. Optimized Link State Routing Protocol(OLSR)for Ad Hoc Networks [C], Proc of IEEE INMIC'01,Lahore,Pakistan,2001,3(12):62-68.
27. Johnson D B, Maltz D A,Hu Y C. The Dynamic Source Routing Protocol for Mobile ad hoc Networks(DSR) [J], IEEE Transactions on Mobile Computing,2004,3(1):125-130.
28. Fapojuwo, A.O.; Salazar, O.; Sesay, A.B. Performance of a QoS-based multiple-route ad hoc on-demand distance vector protocol for mobile ad hoc networks [J], Electrical and Computer Engineering, Canadian Journal of,2004,29(1):149-155.
29. Park V D, Corson M S. Temporally-Ordered Routing Algorithm(TORA)version 1 functional specification [J], IEEE Transactions on Communications,2001,4(23):58-64.
30. Hass Z J, The Zone Routing Protocol(ZRP)for Ad Hoc Network [J],Internet Draft, draft-zone-routing-protocol-00.txt, Nov.1997,Work in progress.
31. Wang Jian-xin, Dend Shu-guang, Chen Song-qiao, et al. A route recovery method based on anycast policy in mobile ad hoc networks [J], Journal of China Institute of Communications,2003,24 (10):1262-1265.
32.任雄伟.无线移动自组网中路由度量和路由策略的研究[D],武汉：华中科技大学,2005.
33. Min-Gu Lee, Sunggu Lee. A Link Stability Model and Stable Routing for Mobile Ad-Hoc Networks [J], Lecture Notes in Computer Science,2006,40(96):904-913.
34. C-K. Toh. Associativity-Based Routing for Ad Hoc Mobile Networks [J], Wireless Personal Communications,1997,4(2):1-36.
35. Rohit Dube, Cynihia D.Rais, Kuang-Yeh Wang et al. Signal Stability-Based Adaptive Routing (SSA) for Ad Hoc Mobile Networks [J], IEEE Personal Communications,1997, 4(1):36-45.
36. Geunhwi Lim, Kwangwook Shim, Jin Suk Kim, et al. Signal Strength-Based Link Stability Estimation in Ad Hoc wireless Networks [J], Electronics Letters,2003, 5(3):485-486.
37. B.S.Manoj, Ananthapadmanabha R.C. Siva Ram Murthy. Link Life Based Routing Protocol for Ad Hoc Wireless Networks [C], Proceedings of the 7th IEEE International Conference on Computer Communications and Networks(IC3N'01)Phoenix,Arizona, USA,2001:573-576.
38. Lee S-J, Su W, Gerla M. On-demand multicast routing protocol [C], IEEE Communications Society Staff, eds. Wcnc 1999 IEEE Wireless Communications and Networking Conference. New orleans,LA,USA,1999:1298-1304.
39. Suw,Gerlam.IPv6 Flow Handoff in Ad-Hoc Wireless Networks Using Mobility Prediction [C], Proceedings of IEEE Global Communications Conference, Rio de Janeiro,Brazil, 1999:271-275.
40.邓聚龙.灰色预测与决策[M],武汉：华中理工大学出版社,1986.
41. Kuo-Huang Lin, Bin-Da Liu. A gray system modeling approach to the prediction of calibration intervals [J], IEEE Transactions on Instrumentation and Measurement,2005, 54(1):297-304.
42. Yo-Ping Huang, Tai-Min Yu. The hybrid grey-based models for temperature prediction [J], IEEE Transactions on Systems,1997,27(2):284-292.
43. EI-Fouly, T.H.M., EI-Saadany, E.F., Salama, M.M.A. Improved Grey predictor rolling models for wind power prediction [J], IET Generation, Transmission & Distribution, 2007, 1(6):928-937.
44. Joo-Han Song, Wong, V.W.S., Leung, V.C.M. Efficient on-demand routing for mobile ad hoc wireless access networks [J], IEEE Journal on Selected Areas in Communications, 2004,22(7):1374-1383.
45. Al-Akaidi, M.,Alchaita, M. Link stability and mobility in ad hoc wireless networks [J], Communications, IET,2007,1(2):173-178.
46. Rappaport T S, Rappaport T. Wireless Communications:Principles and Practice [M] Beijing:Electrical industry Publishers,2004:72-86.
47.杨大成等.移动传播环境[M],北京：机械工业出版社,2003,39-42.
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