Trajectory Control of Snake‐Like Robots in Natural Oscillation

A class of body movement patterns called natural oscillation has been revealed to mimic the gaits observed in many animals. In this paper, we introduce an additional higher level control loop that is capable of manipulating a robot's motion orientation. With such a new orientation turning functionality, a snake‐like robot is able to achieve trajectory tracking while maintaining its body in a natural oscillation gait. The effectiveness of the control design is illustrated by some case studies with various trajectories.     

A Model of Green Acceptance and Intentions to Use Bike-Sharing: YouBike Users in Taiwan

With the emphasis on sustainability in transportation, bike-sharing systems are gaining popularity. This paper investigates the attitudes of users of a bike-sharing system with the aim of identifying their priorities, thus allowing local governments to focus their efforts most effectively on enhancing users’ intentions to use such systems. The relationships among green perceived usefulness (the extent to which individuals believe that a bike-sharing system will improve the environmental performance of some part of their life within a specific context), user attitude and perceived ease of use with green intentions, and the mediation effect of user attitude towards bike-sharing are explored. The focus of the study is on how to enhance green intentions via perceived usefulness, perceived ease of use and user attitude of the green technology acceptance model (green TAM) (Davis 1989). The two-step approach of structural equation modeling was applied to analyze the empirical results, which indicated that green perceived usefulness and user attitude have positive influences on the green intentions of 262 users and 262 non-users from ten sampled bike-sharing sites around the central administrative districts of Taipei. However, user attitude has the highest mediation effect on green intentions, and perceived ease of use does not have a significant effect on intentions for either users or non-users. Therefore, governmental institutions can strive to improve the attitudes of bike-sharing users and non-users, their green perceived usefulness, and perceived ease of use to strengthen their intentions to use this mode of sustainable transportation.     

Four-state quantum key distribution exploiting maximum mutual information measurement strategy

We propose a four-state quantum key distribution (QKD) scheme using generalized measurement of nonorthogonal states, the maximum mutual information measurement strategy. Then, we analyze the eavesdropping process in intercept–resend and photon number splitting attack scenes. Our analysis shows that in the intercept–resend and photon number splitting attack eavesdropping scenes, our scheme is more secure than BB84 protocol and has higher key generation rate which may be applied to high-density QKD.     

One-step implementation of a Toffoli gate of separated superconducting qubits via quantum Zeno dynamics

Based on the quantum Zeno dynamics, a scheme is presented to implement a Toffoli gate of three separated superconducting qubits (SQs) by one step. Three separated SQs are connected by two resonators. The scheme is insensitive to the resonator decay because the Zeno subspace does not include the state of the resonators being excited. Numerical simulations indicate that the scheme is robust to the fluctuation of the parameters and the Toffoli gate can be implemented with high fidelity.     

Generation of GHZ states with invariant-based shortcuts

A scheme is proposed to generate three-atom GHZ states by applying the inversely engineered control method on the basis of Lewis–Riesenfeld invariants. In the proposal, three atoms that have different configurations are trapped in a bimodal cavity. Numerical simulations indicate that our protocol has an obvious improvement of speed for the generation of GHZ states. Moreover, the present scheme is robust against both parameter fluctuations and dissipation.     

Protection of quantum correlations against decoherence

The protection of different quantum correlations, such as Bell nonlocality, quantum discord, and geometric quantum discord as trace distance against noise, is explored. By weak measurement and quantum measurement reversal, we show that the mentioned quantum correlations can be effectively preserved probabilistically from the decoherence due to amplitude damping. The results will play an important role in the experiments using the quantum correlations as resource.     

Smooth trajectory planning for a parallel manipulator with joint friction and jerk constraints

In order to achieve better tracking accuracy effectively, a new smooth and near time-optimal trajectory planning approach is proposed for a parallel manipulator subject to kinematic and dynamic constraints. The complete dynamic model is constructed with consideration of all joint frictions. The presented planning problem can be solved efficiently by formulating a new limitation curve for dynamic constraints and a reduced form for jerk constraints. The motion trajectory is planned with quartic and quintic polynomial splines in Cartesian space and septuple polynomial splines in joint space. Experimental results show that smaller tracking error can be obtained. The developed method can be applied to any robots with analytical inverse kinematic and dynamic solutions.     

Measurement device-independent quantum key distribution with heralded pair coherent state

The original measurement device-independent quantum key distribution is reviewed, and a modified protocol using heralded pair coherent state (HPCS) is proposed to overcome the quantum bit error rate associated with the dark count rate of the detectors in long-distance quantum key distribution. Our simulation indicates that the secure transmission distance can be improved evidently with HPCS owing to the lower probability of vacuum events when compared with weak coherent source scenario, while the secure key rate can be increased with HPCS due to the higher probability of single-photon events when compared with heralded single-photon source scenario. Furthermore, we apply the finite key analysis to the decoy state MDI-QKD with HPCS and obtain a practical key rate.     

Integrated guidance and control design based on a reference model

In this paper, an Integrated Guidance and Control (IGC) algorithm based on a reference model is proposed for a side-jet missile. First, a IGC structure is introduced, incorporating the response characteristics of the missile control loop into the guidance loop. To describe the response characteristics, then a reference model is built. Next, with the back stepping scheme and sliding mode control algorithm, the reference model is adopted to derive a novel guidance law, which contains response parameters of missile control system to formulate the IGC design. Finally, simulations and comparisons with the time-scale separation design and an existing IGC design, are conducted to verify the proposed IGC algorithm. It can be shown that the proposed algorithm performs better against highly maneuvering target in different missile-target initial position and heading scenarios.     

Secure three-party computational protocols for triangle area

In this work, we have put forth two different protocols to address a concrete secure multi-party computational (MPC) problem related to a triangle, of which the coordinates of the three vertices are confidentially kept by the three participants, respectively. The three parties wish to collaboratively compute the area of this triangle while preserving their own coordinate privacy. As one of the merits, our protocols employ weaker assumptions of the existence of pseudorandom generators. In particular, unlike massive secure MPC protocols that rely a lot on oblivious transfer, ours utilize a new computing idea called “pseudorandom-then-rounding” method to avoid this burdensome obstacle. The two protocols are based on different theorems, while they both make use of the same underlying idea. At last, we provide a detailed proof for the first protocol by a series of security reductions of our newly defined games, which seems somewhat stronger than the previous simulation-based proofs and a proof sketch for the second one. Analysis and discussion about the reasons are provided as well to round off our work.