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.     

Femtosecond broadband fluorescence upconversion spectroscopy: improved setup and photometric correction

A setup for fluorescence upconversion spectroscopy (FLUPS) is described which has 80 fs temporal response (fwhm) for emission in the spectral range 425-750 nm. Broadband phase matching is achieved with tilted gate pulses at 1340 nm. Background from harmonics of the gate pulse is removed and sensitivity increased compared to previous designs. Photometric calibration of the upconversion process is performed with a set of fluorescent dyes. For Coumarin 153 in methanol the peak position, bandwidth, and asymmetry depending on delay time are reported.     

A novel reversible robust watermarking algorithm based on chaotic system

Reversible watermarking can be applied to the protection for important digital media, such as medical and military image, it allows the watermark to be extracted and the original image to be restored completely, but reversible watermarking with stronger robustness is seldom discussed in existing literature. In this paper, a novel reversible watermarking algorithm based on chaotic system is proposed; chaotic system is not only used to search space of reversibility of the scheme, but also used to randomly select the position of watermarking embedding. Consequently, the proposed scheme achieves larger threshold space of reversibility and better performance of security. For some specific thresholds, the proposed algorithm is not only reversible, but also has stronger robustness against image compression. The experimental results show that the ergodicity and sensitivity to initial values of chaotic system play an important role in reversible watermarking algorithm, and the proposed scheme can achieve balance between reversibility and robustness with the help of chaotic system.     

Uncertain term structure model of interest rate

Term structure models describe the evolution of the yield curve through time, without considering the influence of risk, tax, etc. Recently, uncertain processes were initialized and applied to option pricing and currency model. Under the assumption of short interest rate following uncertain processes, this study investigates the term-structure equation. This equation is first derived for valuing zero-coupon bond. Finally, analytic solutions of the uncertain interest rate equation are given when the process of interest rate is assumed to be the uncertain counterparts of the Ho-Lee model and Vasicek model, respectively.     

On the security and improvement of a two-factor user authentication scheme in wireless sensor networks

User authentication is a basic security requirement during the deployment of the wireless sensor network (WSN), because it may operate in a rather hostile environment, such as a military battlefield. In 2010, Khan and Alghathbar (KA) found out that Das’s two-factor user authentication scheme for WSNs is vulnerable to the gateway node (GW-node) bypassing attack and the privileged-insider attack. They further presented an improved scheme to overcome the security flaws of Das’s scheme. However, in this paper, we show that KA’s scheme still suffers from the GW-node impersonation attack, the GW-node bypassing attack, and the privileged-insider attack. Hence, to fix the security flaws in KA’s scheme, we propose a new user authentication scheme for WSNs. The security of the user authentication session in the proposed scheme is reduced by the model of Bellare and Rogaway. The security of partial compromise of secrets in the proposed scheme is reduced and analyzed by our adversarial model. Based on the performance evaluation, the overall cost of the proposed scheme is less than that of KA’s scheme. Hence, we believe that the proposed scheme is more suitable for real security applications than KA’s scheme.     

浮游植物现存量表征指标间相关性研究Ⅰ:叶绿素a与生物量

收集国内、外有关资料,并结合潘家口水库现场围隔实验,主要从实验室内研究水体、野外围隔水体及天然水体三个方面,对浮游植物叶绿素a含量与生物量间的相关性进行探讨。结果表明:在实验室条件下,叶绿素a与生物量一般呈显著正相关关系,但当优势藻种发生明显变更时,二者相关性不明显甚至不相关;现有资料显示,野外围隔实验水中,叶绿素a与生物量一般呈显著正相关。在天然水体中,叶绿素a与生物量可能相关或不相关。叶绿素a与藻密度的关系将在续文中予以讨论。     

环境因子对鱼饵中磷释放影响的实验研究

通过室内模拟实验,分析了环境因子(上覆水、微生物活动、温度、pH、水动力条件)对鱼饵磷释放特征的影响及原因。结果表明:鱼饵在去离子水中总磷和正磷酸盐的平衡释放量约是潘家口水库水中的1.58倍和1.76倍;微生物作用有利于鱼饵中磷向水体释放,前者总磷和正磷酸盐的释放量约为后者的1.55倍和1.28倍;温度升高和水体扰动促进了鱼饵中磷的释放;酸性和碱性条件下鱼饵中磷的释放量高于中性条件下鱼饵中磷的释放量。各环境因子作用下,鱼饵中磷在前3h内的释放速率最大。     

天津市于桥水库饮用水源地保护对策研究

于桥水库作为天津市最重要的饮用水水源地,其库区水体氮、磷浓度接近国家标准阈值,亟需采取保护防治措施缓解水体氮、磷污染负荷压力。本文基于水库型饮用水水源地环境保护技术框架的一般思路,开展了对于桥水库水环境治理技术方案的分析研究。首先,使用GWLF(普适流域负荷函数)模型对水库周边流域污染源负荷进行识别与负荷解析;之后,基于最佳管理实践(BMP)和低影响开发(LID)的理念和方法,同时根据于桥水库的具体实际情况,提出相应的工程治理措施,并采用BATHTUB模型对各工程措施进行环境效益评估计算;最后使用模糊层次分析法(FAHP)对各工程措施进行择优分析,得出最佳治理实施方案。     

多业务协同分析及其Petri模型的研究

针对制造企业生产管理中多部门和多业务之间存在的相互制约、协同和前驱后继关系的问题,对多业务协同控制进行分析,并在此基础上设计实现计划之间和业务之间协同控制的Petri网模型,完成主要业务的计划、出入库单和库存之间的信息交互和约束控制,并在实际多业务协同控制系统中实现业务多进程处理的协调控制,取得良好应用效果。     

ZFS文件系统中双容错编码性能的研究

ZFS是Sun推出的一款革新性的文件系统,它支持用户构建镜像以及单容错/双容错的软Raid。其双容错编码方案采用的是Reed-Solomon编码(RS码)。由于RS码是基于有限域运算,编码/解码时间复杂性差是其根本性的缺陷。ZFS对写操作的处理采用的是聚合后追加的方式而非传统的覆盖方式,每次写操作都会进行一次编码计算。因此,编码计算性能是影响文件系统整体性能的重要因素之一。本文的工作是将RDP这一基于奇偶校验的双容错编码与ZFS相结合,替代Reed-Solomon编码,以优化文件系统写操作的性能。我们设计了Cache优化的RDP编码算法,在ZFS中进行了实现,并通过实验验证了这一方法的有效性。