A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, ...A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.展开更多
Virtual environment has been widely applied in scientific research and considered as an important tool of exploring science. But constructing a real virtual environment is rather difficult. The difficulty cannot be co...Virtual environment has been widely applied in scientific research and considered as an important tool of exploring science. But constructing a real virtual environment is rather difficult. The difficulty cannot be compared with developing general software. It has a high demand for software technology. Obviously traditional methods are not competent for the job. Fortunately with the development of agent-oriented technologies, all problems seem to be solved. By classifying a virtual environment into four layers corresponding with real world and considering it as a collection of agents, the virtual objects can be mapped into agents and an agent model can be designed. Based on the idea that the state change of a system is caused by that of individuals and the mutual effect among them, a theory of agent behavior driven by event and belief is put forward. Such agent-oriented modeling method can cope with the demand for handling multi-dimension information. It is an effective technique for constructing a large and complex virtual environment.展开更多
This paper sums up four security factors after analyzing co-residency threats caused by the special multitenant environment in the cloud.To secure the factors,a multiway dynamic trust chain transfer model was proposed...This paper sums up four security factors after analyzing co-residency threats caused by the special multitenant environment in the cloud.To secure the factors,a multiway dynamic trust chain transfer model was proposed on the basis of a measurement interactive virtual machine and current behavior to protect the integrity of the system.A trust chain construction module is designed in a virtual machine monitor.Through dynamic monitoring,it achieves the purpose of transferring integrity between virtual machine.A cloud system with a trust authentication function is implemented on the basis of the model,and its practicability is shown.展开更多
The trustworthiness of virtual machines is a big security issue in cloud computing. In this paper, we aimed at designing a practical trustworthiness mechanism in virtual environment. With the assist of a third certifi...The trustworthiness of virtual machines is a big security issue in cloud computing. In this paper, we aimed at designing a practical trustworthiness mechanism in virtual environment. With the assist of a third certificate agent, the cloud user generates a trust base and extends it to its VMs. For each service running on the VM, a hash value is generated from all the necessary modules, and these hash values are organized and maintained with a specially designed hash tree whose root is extended from the user's trust base. Before the VM loads a service, the hash tree is verified from the coordinated hash value to check the trustworthiness of the service.展开更多
For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which ...For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which can greatly enhance the safety and flexibility of the man-machine system. Through the analysis of several common cases, the idea of the VGs are first introduced and described. Second, detailed descriptions of the three VGs are given, and then a uniform representation of all VGs is given. Finally, a typical experiment is designed and implemented according to the modes of video feedback, video&VE feedback, and video&VE&VG feedback. Experimental results show that the operation based on VEs and VGs have significant advantages over that based on video feedback, and VGs can greatly improve the ability of the VE to control remote robots, thus obtaining high and efficient man-machine cooperation.展开更多
Internet-based virtual computing environment （iVCE） has been proposed to combine data centers and other kinds of computing resources on the Internet to provide efficient and economical services. Virtual machines （...Internet-based virtual computing environment （iVCE） has been proposed to combine data centers and other kinds of computing resources on the Internet to provide efficient and economical services. Virtual machines （VMs） have been widely used in iVCE to isolate different users/jobs and ensure trustworthiness, but traditionally VMs require a long period of time for booting, which cannot meet the requirement of iVCE＇s large-scale and highly dynamic applications. To address this problem, in this paper we design and implement VirtMan, a fast booting system for a large number of virtual machines in iVCE. VirtMan uses the Linux Small Computer System Interface （SCSI） target to remotely mount to the source image in a scalable hierarchy, and leverages the homogeneity of a set of VMs to transfer only necessary image data at runtime. We have implemented VirtMan both as a standalone system and for OpenStack. In our 100-server testbed, VirtMan boots up 1000 VMs （with a 15 CB image of Windows Server 2008） on 100 physical servers in less than 120 s, which is three orders of magnitude lower than current public clouds.展开更多
文摘A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.
文摘Virtual environment has been widely applied in scientific research and considered as an important tool of exploring science. But constructing a real virtual environment is rather difficult. The difficulty cannot be compared with developing general software. It has a high demand for software technology. Obviously traditional methods are not competent for the job. Fortunately with the development of agent-oriented technologies, all problems seem to be solved. By classifying a virtual environment into four layers corresponding with real world and considering it as a collection of agents, the virtual objects can be mapped into agents and an agent model can be designed. Based on the idea that the state change of a system is caused by that of individuals and the mutual effect among them, a theory of agent behavior driven by event and belief is put forward. Such agent-oriented modeling method can cope with the demand for handling multi-dimension information. It is an effective technique for constructing a large and complex virtual environment.
基金supported by The National Natural Science Foundation for Young Scientists of China under Grant No.61303263the Jiangsu Provincial Research Foundation for Basic Research(Natural Science Foundation)under Grant No.BK20150201+4 种基金the Scientific Research Key Project of Beijing Municipal Commission of Education under Grant No.KZ201210015015Project Supported by the National Natural Science Foundation of China(Grant No.61370140)the Scientific Research Common Program of the Beijing Municipal Commission of Education(Grant No.KMKM201410015006)The National Science Foundation of China under Grant Nos.61232016 and U1405254and the PAPD fund
文摘This paper sums up four security factors after analyzing co-residency threats caused by the special multitenant environment in the cloud.To secure the factors,a multiway dynamic trust chain transfer model was proposed on the basis of a measurement interactive virtual machine and current behavior to protect the integrity of the system.A trust chain construction module is designed in a virtual machine monitor.Through dynamic monitoring,it achieves the purpose of transferring integrity between virtual machine.A cloud system with a trust authentication function is implemented on the basis of the model,and its practicability is shown.
基金supported by the National Natural Science Foundation of China(No.6127249261572521)+1 种基金Natural Science Foundation of Shaanxi Provence(No.2013JM8012)Fundamental Research Project of CAPF(No.WJY201520)
文摘The trustworthiness of virtual machines is a big security issue in cloud computing. In this paper, we aimed at designing a practical trustworthiness mechanism in virtual environment. With the assist of a third certificate agent, the cloud user generates a trust base and extends it to its VMs. For each service running on the VM, a hash value is generated from all the necessary modules, and these hash values are organized and maintained with a specially designed hash tree whose root is extended from the user's trust base. Before the VM loads a service, the hash tree is verified from the coordinated hash value to check the trustworthiness of the service.
文摘For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which can greatly enhance the safety and flexibility of the man-machine system. Through the analysis of several common cases, the idea of the VGs are first introduced and described. Second, detailed descriptions of the three VGs are given, and then a uniform representation of all VGs is given. Finally, a typical experiment is designed and implemented according to the modes of video feedback, video&VE feedback, and video&VE&VG feedback. Experimental results show that the operation based on VEs and VGs have significant advantages over that based on video feedback, and VGs can greatly improve the ability of the VE to control remote robots, thus obtaining high and efficient man-machine cooperation.
基金supported by the National Natural Science Foundation of China(Nos.61379055 and 61379053)
文摘Internet-based virtual computing environment （iVCE） has been proposed to combine data centers and other kinds of computing resources on the Internet to provide efficient and economical services. Virtual machines （VMs） have been widely used in iVCE to isolate different users/jobs and ensure trustworthiness, but traditionally VMs require a long period of time for booting, which cannot meet the requirement of iVCE＇s large-scale and highly dynamic applications. To address this problem, in this paper we design and implement VirtMan, a fast booting system for a large number of virtual machines in iVCE. VirtMan uses the Linux Small Computer System Interface （SCSI） target to remotely mount to the source image in a scalable hierarchy, and leverages the homogeneity of a set of VMs to transfer only necessary image data at runtime. We have implemented VirtMan both as a standalone system and for OpenStack. In our 100-server testbed, VirtMan boots up 1000 VMs （with a 15 CB image of Windows Server 2008） on 100 physical servers in less than 120 s, which is three orders of magnitude lower than current public clouds.
