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Swarm of drones, as an intensely significant category of swarm robots, is widely used in various fields, e.g., search and rescue, detection missions, military, etc. Because of the limitation of computing resource of drones, dealing with computation-intensive tasks locally is difficult. Hence, the cloud-based computation offloading is widely adopted, nevertheless, for some latency-sensitive tasks, e.g., object recognition, path planning, etc., the cloud-based manner is inappropriate due to the excessive delay. Even in some harsh environments, e.g., disaster area, battlefield, etc., there is no wireless infrastructure existed to combine the drones and cloud center. Thus, to solve the problem encountered by cloud-based computation offloading, in this paper, Fog Computing aided Swarm of Drones (FCSD) architecture is proposed. Considering the uncertainty factors in harsh environments which may threaten the success of FCSD processing tasks, not only the latency model, but also the reliability model of FCSD is constructed to guarantee the high reliability of task completion. Moreover, in view of the limited battery life of the drone, we formulated the problem as the task allocation problem which minimized the energy consumption of FCSD under the constraints of latency and reliability. Furthermore, to speed up the process of the optimization problem solving to improve the practicality, relying on the recent advances in distributed convex optimization, we develop a fast Proximal Jacobi Alternating Direction Method of Multipliers (ADMM) based distributed algorithm. Finally, simulation results validate the effectiveness of our proposed scheme.

CdS-based photocatalyst and photoanode have recently drawn the attention of several investigators primarily in connection with its excellent visible light response in various catalytic reactions involving light, especially photoelectrochemical (PEC) water splitting. The present approach highlights the concept of constructing a biological functional layer incorporated for photochemical instable semiconductors for practical PEC applications. However, practical applications of CdS-based photoanodes are limited by rapid charge recombination and severe photo corrosion. This study introduces a novel approach to enhance reaction kinetics and stability. We present a CdS nanorod photoanode with an ultrathin layer of polydopamine (PDA), prepared through a conformal polymerization assembly process, which serves as a robust platform for subsequent assembly of hole cocatalysts FeOOH. The resulting sandwich structure of CdS/PDA/FeOOH photoanode demonstrates an incident to current efficiency (IPCE) of 7.1% at 420 nm and a photocurrent of 1.9 mA/cm² at 1.23 V versus the reversible hydrogen potential (RHE). The integrated photoanode exhibits significantly prolonged photostability compared to CdS, CdS/PDA, and CdS/FeOOH photoanodes. The significance of this work lies in constructing a FeOOH structure (with hole extraction and consumption capabilities) on the CdS outermost layer using an easy-to-operate preparation process, thereby revealing the ability of PDA to enable the passage of photogenerated holes. The present approach highlights the concept of integrating biologically functional layers to stabilize photochemically unstable semiconductors for practical PEC applications. [ABSTRACT FROM AUTHOR]