Heuristic collision-free path planning for an autonomous platform

In this paper, a heuristic and learning, algorithmic scheme for collision-free navigation is presented. This scheme determines an optimum collision-free navigation path of an autonomous platform by using a trial and error process, past navigation knowledge and current information extracted from the generated surrounding environment.     

未知环境下基于约束点的移动机器人路径规划

针对未知环境中障碍物种类多样性和位置不确定性的特点,提出了基于约束点的路径规划方法。首先对机器人在未知环境中检测到的局部障碍物信息进行分类和几何特征属性描述,得其约束点信息,然后引入改进后的A*算法,将其搜索范围局限于约束点上,计算约束点的评价函数值后得到子目标点,机器人到达子目标点后,若陷入死区,则采取回溯路径策略,重新选择子目标点,否则根据该点所属的障碍物种类采取跨越或绕行避障策略,最后移动机器人在未知环境中顺利到达目标点。仿真研究说明本文提出的路径规划方法具有可行性和有效性。     

多元靶碰撞级联中的粒子能量

用一种推广的幂指数散射截面求解了溅射输运方程，获得更加一般的渐近解，这个渐近解不但以Urbassek等人几年前所给出的两个解为其特殊情况，而且还为作者提出的SC解提供了新的证据，此外通过计算并分析了Vicanek等人发表的新的输运理论，发现他们所提出的转换理论结果与Monte Carlo模拟结果一致是不正确的。     

基于FPGA实现AES的侧信道碰撞攻击

为了解决攻击点在能量迹中具体位置的识别问题,在对侧信道碰撞攻击技术研究的基础上,提出了通过计算能量迹中每个采样点的方差来识别攻击点的方差检查技术。并利用基于相关系数的碰撞检测方法,对一种AES的FPGA实现实施了攻击。实验结果表明,方差检查技术可以有效地识别攻击点在能量迹中的具体位置。     

Delay time compensation based on coefficient of restitution for collision hybrid motion simulator

A hybrid motion simulator embeds a hardware experiment in a numerical simulation loop. However, it is often subjected to the inherent problem of an energy increase in the collision of two pieces of hardware in a loop because of the delay time. This paper proposes a delay time compensation method based on contact dynamics model for a collision hybrid motion simulator under delay time and establishes a compensation method for coupled translational and rotational motion. The model developed in this paper describes linear uniform motion of a floating object during the period of the delay time until the force and torque are observed and non-linear motion according to environmental stiffness after the initial delay time period in contact. By using the above model, compensation parameters are designed based on desired coefficient of restitution with iterative calculation. The proposed method achieves accurate delay time compensation and simultaneously realizes a variable desired coefficient of restitution over a wide range of frequencies. Furthermore, the compensation method for multi-dimensional motion is established under the assumption that the friction effect is very small. The efficiency of the proposed method is verified through collision experiments for the coupled motion in two dimensions.     

解决组合公钥共谋攻击和密钥碰撞的新方法

以解决组合公钥体制中共谋攻击和密钥碰撞问题为目的。首先,针对线性共谋攻击,提出了一种新的构造种子矩阵的方法,使得种子密钥和大于基点加法群的阶数,从而使密钥之间不能相互线性表示。其次在密钥的生产过程中,引入系数破坏了层不同和层互斥不同的关系,为解决选择共谋攻击提供了一种有效的方法,同时增强了抵御随机共谋攻击的能力。最后,在密钥产生的流程中,通过公钥对比来避免密钥碰撞,为解决密钥碰撞问题提出了一种新方法。     

Response of Colorado potato beetles,Leptinotarsa decemlineata (Say), to volatile components of tansy,Tanacetum vulgare

The responses of Colorado potato beetle,Leptinotarsa decemlineata (Say), to volatile components of tansy,Tanacetum vulgare L., were investigated in order to establish a chemical basis for observed reduction in beetle populations when potatoes,Solanum tuberosum L., were interplanted with tansy. Colorado potato beetles exhibited avoidance behavior to tansy oil, volatiles from intact tansy plants, a hydrocarbon fraction of tansy oil, obtained by fractionation on alumina, and five of the 13 known components of tansy oil that were tested. One constituent of tansy oil, -pinene, attracted beetles.     

Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles

An obstacle avoidance problem of rear-steered wheeled vehicles in consideration of the presence of uncertainties is addressed. Modelling errors and additional uncertainties are taken into consideration. Controller designs for driving and steering motors are designed. A proportional-derivative-type driving motor controller and a sliding-mode steering controller combined with radial basis function neural network (RBFNN) based estimators are proposed. The convergence properties of the RBFNN-based estimators are proven by the Stone–Weierstrass theorem. The stability of the proposed control law is proven using Lyapunov stability analysis. The obstacle avoidance strategy utilising the sliding surface adjustment to an existing navigation method is presented. It is concluded that the driving velocity and steering-angle performances of the proposed control system are satisfactory.     

Continuous Self‐Collision Detection for Deformable Surfaces Interacting with Solid Models

In this paper, we propose a new continuous self‐collision detection (CSCD) method for a deformable surface that interacts with a simple solid model. The method is developed based on the radial‐view‐based culling method. Our method is suitable for the deformable surface that has large contact region with the solid model. The deformable surface may consist of small round‐shaped holes. At the pre‐processing stage, the holes of the deformable surface are filled with ghost triangles so as to make the mesh of the deformable surface watertight. An observer primitive (i.e. a point or a line segment) is computed so that it lies inside the solid model. At the runtime stage, the orientations of triangles with respect to the observer primitive are evaluated. The collision status of the deformable surface is then determined. We evaluated our method for several animations including virtual garments. Experimental results show that our method improves the process of CSCD.