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Physical (PHY) layer security approaches for wireless communications can prevent eavesdropping without upper layer data encryption. However, they are hampered by wireless channel conditions: absent feedback, they are typically feasible only when the source-destination channel is better than the source-eavesdropper channel. Node cooperation is a means to overcome this challenge and improve the performance of secure wireless communications. This paper addresses secure communications of one source-destination pair with the help of multiple cooperating relays in the presence of one or more eavesdroppers. Three cooperative schemes are considered: decode-and-forward (DF), amplify-and-forward (AF), and cooperative jamming (CJ). For these schemes, the relays transmit a weighted version of a reencoded noise-free message signal (for DF), a received noisy source signal (for AF), or a common jamming signal (for CJ). Novel system designs are proposed, consisting of the determination of relay weights and the allocation of transmit power, that maximize the achievable secrecy rate subject to a transmit power constraint, or, minimize the transmit power subject to a secrecy rate constraint. For DF in the presence of one eavesdropper, closed-form optimal solutions are derived for the relay weights. For other problems, since the optimal relay weights are difficult to obtain, several criteria are considered leading to suboptimal but simple solutions, i.e., the complete nulling of the message signals at all eavesdroppers (for DF and AF), or the complete nulling of jamming signal at the destination (for CJ). Based on the designed relay weights, for DF in the presence of multiple eavesdroppers, and for CJ in the presence of one eavesdropper, the optimal power allocation is obtained in closed-form; in all other cases the optimal power allocation is obtained via iterative algorithms. Numerical evaluation of the obtained secrecy rate and transmit power results show that the proposed design ca- - n significantly improve the performance of secure wireless communications.