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.

Software Vulnerability Mining and Analysis Based on Deep Learning

In recent years,the rapid development of computer software has led to numerous security problems,particularly software vulnerabilities.These flaws can cause significant harm to users’privacy and property.Current security defect detection technology relies on manual or professional reasoning,leading to missed detection and high false detection rates.Artificial intelligence technology has led to the development of neural network models based on machine learning or deep learning to intelligently mine holes,reducing missed alarms and false alarms.So,this project aims to study Java source code defect detection methods for defects like null pointer reference exception,XSS(Transform),and Structured Query Language(SQL)injection.Also,the project uses open-source Javalang to translate the Java source code,conducts a deep search on the AST to obtain the empty syntax feature library,and converts the Java source code into a dependency graph.The feature vector is then used as the learning target for the neural network.Four types of Convolutional Neural Networks(CNN),Long Short-Term Memory(LSTM),Bi-directional Long Short-Term Memory(BiLSTM),and Attention Mechanism+Bidirectional LSTM,are used to investigate various code defects,including blank pointer reference exception,XSS,and SQL injection defects.Experimental results show that the attention mechanism in two-dimensional BLSTM is the most effective for object recognition,verifying the correctness of the method.

An Empirical Application of User-Guided Program Analysis

Although static program analysis methods are frequently employed to enhance software quality,their efficiency in commercial settings is limited by their high false positive rate.The EUGENE tool can effectively lower the false positive rate.However,in continuous integration(CI)environments,the code is always changing,and user feedback from one version of the software cannot be applied to a subsequent version.Additionally,people find it difficult to distinguish between true positives and false positives in the analytical output.In this study,we developed the EUGENE-CI technique to address the CI problem and the EUGENE-rank lightweight heuristic algorithm to rate the reports of the analysis output in accordance with the likelihood that they are true positives.On the three projects ethereum,go-cloud,and kubernetes,we assessed our methodologies.According to the trial findings,EUGENE-CI may drastically reduce false positives while EUGENE-rank can make it much easier for users to identify the real positives among a vast number of reports.We paired our techniques with GoInsight~1 and discovered a vulnerability.We also offered a patch to the community.

Finite Element Analysis of Tubular KK Joint under Compressive Loading

KK tubular joints are used to build jacket-type offshore structures. These joints are mostly made up of structural steel. These joints can withstand yield, buckling, and lateral loads depending on the structure’s design and environment. In this study, the Finite Element Model of the KK-type tubular joint has been created, and analysis has been performed under static loading using the Static Structural analysis system of ANSYS 19.2 commercial software and structural mechanics module of COMSOL Multiphysics. The KK tubular model is analyzed under compressive load conditions, and the resulting stress, strain, and deformation values are tabulated in both graphical and tabular form. This study includes a comparison of the outcomes from both commercial software. The results highlight that maximum stress, strain, and deformation values decrease as joint thickness increases. This study holds significant relevance in advancing the understanding of tubular KK joints and their response to compressive loading. The insights derived from the analysis have the potential to contribute to the development of more robust and reliable tubular KK joints in various engineering and structural applications. .

Design of Stubble-breaking Ditching Colter Based on SolidWorks and Its Strength Analysis

Stubble-breaking device is a key working part of no-tillage seeder in stub land,and directly affects planting quality of seeder.Based on the current domestic used stubble-breaking device,a new kind of stubble-breaking ditching colter was designed.To study its strength property and reduce trouble in work,the three-dimensional model of stubble-breaking ditching colter was established based on SolidWorks.By using Cosmos,it was carried out the finite element analysis.The distortion and stress of stubble-breaking ditching colter in work were obtained,and the weak link of strength was found.The result showed that the maximum stress of stubble-breaking ditching colter was 5.862×108 N/m2,and the maximum twisted displacement was 2.648 mm.The stubble-breaking ditching colter was carried out improved design.Based on Cosmos,the static analysis was carried out.It showed that the strength and rigidity of improved stubble-breaking ditching colter were obviously improved.The research provided reference basis for optimal design of the stubble-breaking ditching colter.

Influence of Confined Concrete Models on the Seismic Response of RC Frames

In this study, the influence of confined concrete models on the response of reinforced concrete structures is investigatedat member and global system levels. The commonly encountered concrete models such as Modified Kent-Park, Saatçioğlu-Razvi, and Mander are considered. Two moment-resisting frames designed according to thepre-modern code are taken into consideration to reflect the example of an RC moment-resisting frame in thecurrent building stock. The building is in an earthquake-prone zone located on Z3 Soil Type. The inelasticresponse of the building frame is modelled by considering the plastic hinges formed on each beam and columnelement for different concrete classes and stirrups spacings. The models are subjected to non-linear static analyses.The differences between confined concrete models are comparatively investigated at both reinforced concretemember and system levels. Based on the results of the comparative analysis, it is revealed that the column behaviouris mostly influenced by the choice of model, due to axial loads and confinement effects, while the beams areless affected, and also it is observed that the differences exhibited in the moment-curvature response of columncross-sections do not significantly affect the overall behaviour of the global system. This highlights the critical roleof model selection relative to the concrete strength and stirrup spacing of the member.

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.

Deadlock Detection:Background,Techniques,and Future Improvements

Deadlock detection is an essential aspect of concurrency control in parallel and distributed systems,as it ensures the efficient utilization of resources and prevents indefinite delays.This paper presents a comprehensive analysis of the various deadlock detection techniques,including static and dynamic approaches.We discuss the future improvements associated with deadlock detection and provide a comparative evaluation of these techniques in terms of their accuracy,complexity,and scalability.Furthermore,we outline potential future research directions to improve deadlock detection mechanisms and enhance system performance.

Exploration on the Optimization Strategy for the Layup of Composite Material Pressure Vessels Based on Advanced Algorithms

This study aims to explore the influence of the laying angle on the pressure shell structure made of composite materials under the condition of a fixed shape. By using a composite material composed of a mixture of T800 carbon fiber and AG80 epoxy resin to design pressure vessels, this material combination can significantly improve the interlaminar shear strength and heat resistance. The article elaborates on the basic concepts and failure criteria of composite materials, such as the maximum stress criterion, the maximum strain criterion, the Tsai-Hill criterion, etc. With the help of the APDL parametric modeling language, the arc-shaped, parabolic, elliptical, and fitting curve-shaped pressure vessel models are accurately constructed, and the material property settings and mesh division are completed. Subsequently, APDL is used for static analysis, and the genetic algorithm toolbox built into Matlab is combined to carry out optimization calculations to determine the optimal laying angle. The research results show that the equivalent stress corresponding to the optimal laying angle of the arc-shaped pressure vessel is 5.3685e+08 Pa, the elliptical one is 5.1969e+08 Pa, the parabolic one is 5.8692e+08 Pa, and the fitting curve-shaped one is 5.36862e+08 Pa. Among them, the stress distribution of the fitting curve-shaped pressure vessel is relatively more uniform, with a deformation of 0.568E−03 m, a minimum equivalent stress value of 0.261E+09 Pa, a maximum equivalent stress value of 0.537E+09 Pa, and a ratio of 0.48, which conforms to the equivalent stress criterion. In addition, the fitting curve of this model can adapt to various models and has higher practical value. However, the stress distribution of the elliptical and parabolic pressure vessels is uneven, and their applicability is poor. In the future, further exploration can be conducted on the application of the fitting curve model in composite materials to optimize the design of pressure vessels. This study provides important theoretical support and practical guidance for the design of composite material pressure vessels.

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.

Shift-share Analysis on International Tourism Competitiveness——A Case of Jiangsu Province

Shift-share analysis has been confirmed a useful approach in the study of regional economics and many kinds of extended shift-share models have been advanced and put into practice in economic studies, but few have hitherto been introduced and applied to the tourism research in China. Moreover understanding the spatially competitive relationship is of paramount importance for marketers, developers, and planners involved in tourism strategy development. Based on international tourism receipts from 1995 to 2004, this study aims at probing into the spatial competitiveness of interna- tional tourism in Jiangsu Province in comparison with its neighbors by applying a spatially extended shift-share model and a modified dynamic shift-share model. The empirical results illustrate that exceptional years may exist in the ap- plication of dynamic shift-share models. To solve this issue, modifications to dynamic shift-share model are put forward. The analytical results are not only presented but also explained by the comparison of background conditions of tourism development between Jiangsu and its key competitors. The conclusions can be drawn that the growth of international tourism receipts in Jiangsu mainly attributes to the national component and the competitive component and Zhejiang is the most important rival to Jiangsu during the period of 1995-2004. In order to upgrade the tourism competitiveness, it is indispensable for Jiangsu to take proper positioning, promoting and marketing strategies and to cooperate and integrate with its main rivals.

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.

Vector form Intrinsic Finite Element Method for the Two-Dimensional Analysis of Marine Risers with Large Deformations

Robust numerical models that describe the complex behaviors of risers are needed because these constitute dynamically sensitive systems. This paper presents a simple and efficient algorithm for the nonlinear static and dynamic analyses of marine risers. The proposed approach uses the vector form intrinsic finite element(VFIFE) method, which is based on vector mechanics theory and numerical calculation. In this method, the risers are described by a set of particles directly governed by Newton's second law and are connected by weightless elements that can only resist internal forces. The method does not require the integration of the stiffness matrix, nor does it need iterations to solve the governing equations. Due to these advantages, the method can easily increase or decrease the element and change the boundary conditions, thus representing an innovative concept of solving nonlinear behaviors, such as large deformation and large displacement. To prove the feasibility of the VFIFE method in the analysis of the risers, rigid and flexible risers belonging to two different categories of marine risers, which usually have differences in modeling and solving methods, are employed in the present study. In the analysis, the plane beam element is adopted in the simulation of interaction forces between the particles and the axial force, shear force, and bending moment are also considered. The results are compared with the conventional finite element method(FEM) and those reported in the related literature. The findings revealed that both the rigid and flexible risers could be modeled in a similar unified analysis model and that the VFIFE method is feasible for solving problems related to the complex behaviors of marine risers.

Nonlinear Coupled Analysis of a Single Point Mooring System

Coupled effects on a single point mooring(SPM) system subjected to the combined action of wind,waves and current are studied in this paper. Due to the complicatedness of the sea state and the huge size of the vessel,physical experimental study is both time consuming and uneconomical,whereas the numerical study is cost-effective and DNV software provides powerful SESAM software in solving the issues. This paper focuses on the modeling process of the SPM system,catenary equilibrium calculation,static analysis of the vessel in three different scenarios,and dynamic response simulation of the SPM system under environmental excitations. The three scenarios in study are as follows:the SPM is under the combined function of(a) wind,waves and current,(b) wind and waves,(c) current and waves. They are so set that one can compare the contributions of different types of loads in both static and dynamic studies. Numerical study shows that wind and current are the two major factors contributing to the mooring line tension,and surge and sway are the two dominant motions of the moored vessel subjected to environmental excitations.

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.

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.

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.

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.