STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

Objective To study mechanics characteristics of two cooperative reconfigurable planetary robots when they get across an obstacle, and to find out the relationship between the maximum height of a stair with the configuration of the two-robot, and to find some restrictions of kinematics for the cooperation. Methods Multirobot cooperation theory is used in the whole study process. Inverse kinematics of the robot is used to form a desired configuration in the cooperation process. Static equations are established to analyze the relations between the friction factor, the configuration of robots and the maximum height of a stair. Kinematics analysis is used to find the restrictions of the two collaborative robots in position, velocity and acceleration. Results 3D simulation shows that the two cooperative robots can climb up a stair under the condition of a certain height and a certain friction factor between robot wheel and the surface of the stair. Following the restrictions of kinematics, the climbing mission is fulfilled successfully and smoothly. Conclusion The maximum height of a stair, which the two cooperative robots can climb up, is involved in the configuration of robots, friction factor between the stair and the robots. The most strict restriction of the friction factor does not appear in the horizontal position. In any case, the maximum height is smaller than half of the distance between the centroid of robot1 with the centroid of robot2. However, the height can be higher than the radius of one robot wheel, which profit from the collaboration.

Novel Static Security and Stability Control of Power Systems Based on Artificial Emotional Lazy Q-Learning

The stability problem of power grids has become increasingly serious in recent years as the size of novel power systems increases.In order to improve and ensure the stable operation of the novel power system,this study proposes an artificial emotional lazy Q-learning method,which combines artificial emotion,lazy learning,and reinforcement learning for static security and stability analysis of power systems.Moreover,this study compares the analysis results of the proposed method with those of the small disturbance method for a stand-alone power system and verifies that the proposed lazy Q-learning method is able to effectively screen useful data for learning,and improve the static security stability of the new type of power system more effectively than the traditional proportional-integral-differential control and Q-learning methods.

The Topology Optimization of Oil Cylinder Mounting

The method of the structural topology optimization is often used to design machine in the early stage of the mechanical design.And the mechanical structures use the topology design to produce a new still and lightweight part with the different loading.A new structure is created through overlapping these new optimized structure.

Application of Finite Element Analysis in Biomechanical Research of Degenerative Diseases of Lumbar Spine

As the elderly population continues to grow, the number of patients with low back pain is gradually increasing. Among them, Lumbar Degenerative Diseases (LDD) is one of the major contributors to low back pain. Biomechanical in vivo studies of the lumbar spine are mainly performed by implants or imaging data to record the real-time changes of form and stress on the intervertebral disc during motion. However, the current developments are slow due to the technological and ethical limitations. In vitro experiments include animal experiments and cadaver experiments, which are difficult to operate or differ greatly from normal human structures, and the results still need to be verified repeatedly to test their accuracy. As for finite element method, it is relatively low cost and can repeat the experimental results. Therefore, we believe that finite element analysis plays an extremely important role in biomechanical research, especially in analyzing the relationship between different surgical models and the degeneration caused by different mechanics.

Impact of Earthquake Action on the Design and Sizing of Jointed Masonry Structures in South Kivu, DRC

This article deals with the investigation of the effects of seismic impacts on the design and dimensioning of structures in South Kivu. The starting point is the observation of an ambivalence that can be observed in the province, namely the non-consideration of seismic action in the study of structures by both professionals and researchers. The main objective of the study is to show the importance of dynamic analysis of structures in South Kivu. It adopts a meta-analytical approach referring to previous researches on South Kivu and proposes an efficient and optimal method. To arrive at the results, we use Eurocode 7 and 8. In addition, we conducted static analysis using the Coulomb method and dynamic analysis using the Mononobe-Okabe method and compared the results. At Nyabibwe, the results showed that we have a deviation of 24.47% for slip stability, 12.038% for overturning stability and 9.677% for stability against punching through a weight wall.

A Model for Loadout Analysis and Its Programming Implementation

In this paper, the authors use the finite element method to conduct a special static analysis for the loadout procedure of offshore structures. By introducing a variable Xmove (the distance between the relative coordinate system fixed in the moving upper structure and the absolute coordinate system fixed on slideway), adopting substructure to treat the upper structure, and using the elastic foundation beam to model the slideway, the model for the analysis of the loadoul procedure is established. On the basis of this model, DASOS-J loadout program, a program system for the static analysis of loadout offshore structures, is also developed.

Method of reverberation ray matrix for static analysis of planar framed structures composed of anisotropic Timoshenko beam members

Based on the method of reverberation ray matrix（MRRM）, a reverberation matrix for planar framed structures composed of anisotropic Timoshenko（T） beam members containing completely hinged joints is developed for static analysis of such structures.In the MRRM for dynamic analysis, amplitudes of arriving and departing waves for joints are chosen as unknown quantities. However, for the present case of static analysis, displacements and rotational angles at the ends of each beam member are directly considered as unknown quantities. The expressions for stiffness matrices for anisotropic beam members are developed. A corresponding reverberation matrix is derived analytically for exact and unified determination on the displacements and internal forces at both ends of each member and arbitrary cross sectional locations in the structure. Numerical examples are given and compared with the finite element method（FEM） results to validate the present model. The characteristic parameter analysis is performed to demonstrate accuracy of the present model with the T beam theory in contrast with errors in the usual model based on the Euler-Bernoulli（EB） beam theory. The resulting reverberation matrix can be used for exact calculation of anisotropic framed structures as well as for parameter analysis of geometrical and material properties of the framed structures.

Android Apps:Static Analysis Based on Permission Classification

I IntroductionSmartphones have become more complex in terms of functions and third-party applications, and this makes lhem a living space for malware. People store private information such as accounts and passwordson their smartphones, the loss of which could have serious con- sequences.

Benchmarking Approach to Compare Web Applications Static Analysis Tools Detecting OWASP Top Ten Security Vulnerabilities

To detect security vulnerabilities in a web application,the security analyst must choose the best performance Security Analysis Static Tool(SAST)in terms of discovering the greatest number of security vulnerabilities as possible.To compare static analysis tools for web applications,an adapted benchmark to the vulnerability categories included in the known standard Open Web Application Security Project(OWASP)Top Ten project is required.The information of the security effectiveness of a commercial static analysis tool is not usually a publicly accessible research and the state of the art on static security tool analyzers shows that the different design and implementation of those tools has different effectiveness rates in terms of security performance.Given the significant cost of commercial tools,this paper studies the performance of seven static tools using a new methodology proposal and a new benchmark designed for vulnerability categories included in the known standard OWASP Top Ten project.Thus,the practitioners will have more precise information to select the best tool using a benchmark adapted to the last versions of OWASP Top Ten project.The results of this work have been obtaining using widely acceptable metrics to classify them according to three different degree of web application criticality.

Nonlinearity analysis of piezoelectric micromachined ultrasonic transducers based on couple stress theory

This paper studies the static deformation behavior of a piezoelectric micromachined ultrasonic transducer （PMUT） actuated by a strong external electric field. The transducer membrane consists of a piezoelectric layer, a passive layer and two electrode layers. The nonlinearities of the piezoelectric layer caused by electrostriction under a strong electric field are analyzed. Because the thickness of the transducer membrane is on the microscale, the size dependence of the deformation behavior is evaluated using the couple stress theory. The results show that the optimal ratio of the top electrode diameter and the membrane diameter is around 0.674. It is also found that this optimal value does not depend on any other parameters if the thicknesses of the two electrodes are negligible compared with those of the piezo- electric and passive layers. In addition, the nonlinearities of the piezoelectric layer will become stronger along with the increase of the electric field, which means that softening of the membrane stiffness occurs when a strong external electric field is applied. Meanwhile, the optimal thickness ratio for the passive layer and the piezoelectric layer is not equal to 1.0 which is usually adopted by previous researchers. Because there exists size dependence of membrane deforma-tion, the optimal value of this thickness ratio needs to be greater than 1.0 on the microscale.

Methods for Force Analysis of Overconstrained Parallel Mechanisms： A Review

The force analysis of overconstrained PMs is relatively complex and difficult, for which the methods have always been a research hotspot. However, few liter- atures analyze the characteristics and application scopes of the various methods, which is not convenient for researchers and engineers to master and adopt them prop- erly. A review of the methods for force analysis of both passive and active overconstrained PMs is presented. The existing force analysis methods for these two kinds of overconstrained PMs are classified according to their main ideas. Each category is briefly demonstrated and evaluated from such aspects as the calculation amount, the compre- hensiveness of considering limbs＇ deformation, and the existence of explicit expressions of the solutions, which provides an important reference for researchers and engi- neers to quickly find a suitable method. The similarities and differences between the statically indeterminate prob- lem of passive overconstrained PMs and that of active overconstrained PMs are discussed, and a universal method for these two kinds of overconstrained PMs is pointed out. The existing deficiencies and development directions of the force analysis methods for overconstrained systems are indicated based on the overview.

Incremental Static Analysis of 2D Flow by Inter-Colliding Point-Particles and Use of Incompressible Rhombic Element

A simple method is proposed, for incremental static analysis of a set of inter-colliding particles, simulating 2D flow. Within each step of proposed algorithm, the particles perform small displacements, proportional to the out-of-balance forces, acting on them. Numerical experiments show that if the liquid is confined within boundaries of a set of inter-communicating vessels, then the proposed method converges to a final equilibrium state. This incremental static analysis approximates dynamic behavior with strong damping and can provide information, as a first approximation to 2D movement of a liquid. In the initial arrangement of particles, a rhombic element is proposed, which assures satisfactory incompressibility of the fluid. Based on the proposed algorithm, a simple and short computer program (a “pocket” program) has been developed, with only about 120 Fortran instructions. This program is first applied to an amount of liquid, contained in a single vessel. A coarse and refined discretization is tried. In final equilibrium state of liquid, the distribution on hydro-static pressure on vessel boundaries, obtained by proposed computational model, is found in satisfactory approximation with corresponding theoretical data. Then, an opening is formed, at the bottom of a vertical boundary of initial vessel, and the liquid is allowed to flow gradually to an adjacent vessel. Almost whole amount of liquid is transferred, from first to second vessel, except of few drops-particles, which remain, in equilibrium, at the bottom of initial vessel. In the final equilibrium state of liquid, in the second vessel, the free surface level of the liquid confirms that the proposed rhombing element assures a satisfactory incompressibility of the fluid.

Static Analysis of Doubly-Curved Shell Structures of Smart Materials and Arbitrary Shape Subjected to General Loads Employing Higher Order Theories and Generalized Differential Quadrature Method

The article proposes an Equivalent Single Layer(ESL)formulation for the linear static analysis of arbitrarily-shaped shell structures subjected to general surface loads and boundary conditions.A parametrization of the physical domain is provided by employing a set of curvilinear principal coordinates.The generalized blendingmethodology accounts for a distortion of the structure so that disparate geometries can be considered.Each layer of the stacking sequence has an arbitrary orientation and is modelled as a generally anisotropic continuum.In addition,re-entrant auxetic three-dimensional honeycomb cells with soft-core behaviour are considered in the model.The unknown variables are described employing a generalized displacement field and pre-determined through-the-thickness functions assessed in a unified formulation.Then,a weak assessment of the structural problem accounts for shape functions defined with an isogeometric approach starting fromthe computational grid.Ageneralizedmethodology has been proposed to define two-dimensional distributions of static surface loads.In the same way,boundary conditions with three-dimensional features are implemented along the shell edges employing linear springs.The fundamental relations are obtained from the stationary configuration of the total potential energy,and they are numerically tackled by employing the Generalized Differential Quadrature(GDQ)method,accounting for nonuniform computational grids.In the post-processing stage,an equilibrium-based recovery procedure allows the determination of the three-dimensional dispersion of the kinematic and static quantities.Some case studies have been presented,and a successful benchmark of different structural responses has been performed with respect to various refined theories.

Static and free vibration analysis of four-parameter continuous grading elliptical sandwich plates

In the present study,the static and dynamic analyses of elliptical functionally graded sandwich(FGS)plates are investigated.The constituent materials of the sandwich plates are ceramic and metal so that the core is made of pure metal,while the face sheets consist of a combination of metal and ceramic according to a four-parameter power-law distribution.Different material profiles such as classic,symmetric,and asymmetric can be obtained using the applied generalized power-law distribution relation.The analysis is performed based on the classical laminated plate theory(CLPT)and the Ritz method.The effects of four parameters in the material distribution relation as well as different geometric parameters on the deflection and natural frequencies of elliptical FGS plates are studied.The results of this study show that with a proper distribution of materials,the optimal static and dynamic behavior can be achieved.The results also indicate that the generalized power-law distribution has significant effects on the natural frequencies of elliptical FGS plates.For example,although the frequency parameter of a plate with ceramic face sheets is more than the one with metal face sheets,the use of larger amounts of ceramic does not necessarily increase the natural frequency of the structure.

SHFuzz:A Hybrid Fuzzing Method Assisted by Static Analysis for Binary Programs

Fuzzing is an effective technique to find security bugs in programs by quickly exploring the input space of programs.To further discover vulnerabilities hidden in deep execution paths,the hybrid fuzzing combines fuzzing and concolic execution for going through complex branch conditions.In general,we observe that the execution path which comes across more and complex basic blocks may have a higher chance of containing a security bug.Based on this observation,we propose a hybrid fuzzing method assisted by static analysis for binary programs.The basic idea of our method is to prioritize seed inputs according to the complexity of their associated execution paths.For this purpose,we utilize static analysis to evaluate the complexity of each basic block and employ the hardware trace mechanism to dynamically extract the execution path for calculating the seed inputs’weights.The key advantage of our method is that our system can test binary programs efficiently by using the hardware trace and hybrid fuzzing.To evaluate the effectiveness of our method,we design and implement a prototype system,namely SHFuzz.The evaluation results show SHFuzz discovers more unique crashes on several real-world applications and the LAVA-M dataset when compared to the previous solutions.

Static and Dynamic Integrated Analysis Scheme for Android Malware

The Android platform is the most popular mobile operating system.With the increase of the number of Android users,a lot of security issues have occurred.In order to detect the malicious behaviors for the installed Android Apps,in this paper,we propose an Android malware detecting scheme by integrating static and dynamic analysis methods.We use Androguard and Droid Box to extract the features,and then remove the irrelevant features.Then we employ the support vector machine（SVM） to classify the Android malware and benignware.From the result of our proposed scheme,the proposed integrated static and dynamic analysis scheme with SVM can effectively detect the Android malware.

Static inelastic analysis of RC shear walls

A macro-model of a reinforced concrete (RC) shear wall is developed for static inelastic analysis.The model is composed of RC column elements and RC membrane elements.The column elements are used to model the boundary zone and the membrane elements are used to model the wall panel.Various types of constitutive relationships of concrete could be adopted for the two kinds of elements.To perform analysis,the wall is divided into layers along its height.Two adjacent layers are connected with a rigid beam.There are only three unknown displacement components for each layer.A method called single degree of freedom compensation is adopted to solve the peak value of the capacity curve.The post-peak stage analysis is performed using a forced iteration approach.The macro-model developed in the study and the complete process analysis methodology are verified by the experimental and static inelastic analytical results of four RC shear wall specimens.

Research on Known Vulnerability Detection Method Based on Firmware Analysis

At present,the network security situation is becoming more and more serious.Malicious network attacks such as computer viruses,Trojans and hacker attacks are becoming more and more rampant.National and group network attacks such as network information war and network terrorism have a serious damage to the production and life of the whole society.At the same time,with the rapid development of Internet of Things and the arrival of 5G era,IoT devices as an important part of industrial Internet system,have become an important target of infiltration attacks by hostile forces.This paper describes the challenges facing firmware vulnerability detection at this stage,and introduces four automatic detection and utilization technologies in detail:based on patch comparison,based on control flow,based on data flow and ROP attack against buffer vulnerabilities.On the basis of clarifying its core idea,main steps and experimental results,the limitations of its method are proposed.Finally,combined with four automatic detection methods,this paper summarizes the known vulnerability detection steps based on firmware analysis,and looks forward to the follow-up work.

Static and Dynamic Analysis of Lasing Action from Single and Coupled Photonic Crystal Nanocavity Lasers

The single and coupled photonic crystal nanocavity lasers are fabricated in the InGaAsP material system and their static and dynamic features are compared. The coupled-cavity lasers show a larger lasing e^ciency and generate an output power higher than the single-cavity lasers, results that are consistent with the theoretical results obtained by rate equations. In dynamic regime, the single-cavity lasers produce pulses as short as 113 ps, while the coupled-cavity lasers show a significantly longer lasing duration. These results indicate that the photonic crystal laser is a promising candidate for the light source in high-speed photonic integrated circuit.

Stochastic Finite Element Analysis of Plate and Shell Construction

The response of random plate and shell construction is analyzed with the stochastic finite element method (SFEM). Random material properties and geometric dimensions of construction are involved in this paper. A simplified isoparametric local average model is used to describe the random field. Numerical results of the examples indicate that the approach presented herein is an economical and efficient solution for such an analysis compared with Monte Carlo simulation (MCS).