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Outage probability is related to the channel capacity which returns to the channel model assumed of course, differing from each relay to another makes a relay can contribute in cooperation or not which is mainly based on its Outage probability or in other terms outage "Capacity" which is limited by Signal To Noise ratio through famous shannon law (C = B.W*log(1+SNR))
So from here you get the relation between C and BER where normally as SNR increases as BER decreases and as Capacity of channel increases so the Relay could cooperate and that returns to the limit you define in your system design level.
Briefly again, the relation is a direct one which depends mainly on a minimum required Signal to noise ratio (Or signal to interference ratio as a general case) so you should define a certain db of acceptance.
The Outage probability means the percintage of time that you have the minimum received power ( or SNR ) for your design , which is decided from your BER. so both BER and Outage probability have some kind of connection to the received power .
- The Outage probability: calculated from the distribution of the received power in a channel (eg Rayleigh )
- where the BER : the probability of error for that received power .
I hope that helps