Considering the characteristics of heterogeneous cooperative relay channel, the uplink and downlink relay channel models are presented.

针对异构协同中继信道的特点，提出了上、下行的异构协同中继信道模型。

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However, as actors are different in endowment resources, their aims and roles, Chinese farmer specialized cooperatives are typical cooperative organizations based on heterogeneous members.

然而，由于参与主体在资源禀赋、利益偏好和角色作用方面存在显着差异，中国的农民专业合作社从一开始就是异质性成员间的合作。

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In a heterogeneous multi-robot system (HMRS), it is difficult to implement their cooperative operations because of different features and functions of various kinds of these robots.

在一个异种多机器人系统(HMRS)中，由于不同种类机器人的特征和功能不同，使得要实现它们的协作行为变得很困难。

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