Docker API与SpringBoot Actuator未授权访问风险分析与防范研究

随着云计算技术的普及和容器化技术的发展,Docker和SpringBoot已成为现代软件开发和部署的重要工具。然而,这种广泛的使用也伴随着安全风险。针对DockerAPI与SpringBoot Actuator的未授权访问风险进行了深入分析。当这些关键组件暴露于未授权访问之下时,攻击者可能利用这些漏洞执行恶意操作,如部署恶意容器、篡改应用程序配置或窃取敏感信息。这些行为不仅可能导致服务中断和数据泄露,还可能对企业造成严重的声誉和财务损失。

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.

High-performance liquid metal electromagnetic actuator fabricated by femtosecond laser

Small-scale electromagnetic soft actuators are characterized by a fast response and simplecontrol,holding prospects in the field of soft and miniaturized robotics.The use of liquid metal(LM)to replace a rigid conductor inside soft actuators can reduce the rigidity and enhance the actuation performance and robustness.Despite research efforts,challenges persist in the flexible fabrication of LM soft actuators and in the improvement of actuation performance.To address these challenges,we developed a fast and robust electromagnetic soft microplate actuator based on a laser-induced selective adhesion transfer method.Equipped with unprecedentedly thin LM circuit and customized low Young’s modulus silicone rubber(1.03 kPa),our actuator exhibits an excellent deformation angle(265.25?)and actuation bending angular velocity(284.66 rad·s^(-1)).Furthermore,multiple actuators have been combined to build an artificial gripper with a wide range of functionalities.Our actuator presents new possibilities for designing small-scaleartificial machines and supports advancements in ultrafast soft and miniaturized robotics.

Airfoil friction drag reduction based on grid-type and super-dense array plasma actuators

To improve the cruise flight performance of aircraft, two new configurations of plasma actuators(grid-type and super-dense array) were investigated to reduce the turbulent skin friction drag of a low-speed airfoil. The induced jet characteristics of the two actuators in quiescent air were diagnosed with high-speed particle image velocimetry(PIV), and their drag reduction efficiencies were examined under different operating conditions in a wind tunnel. The results showed that the grid-type plasma actuator was capable of producing a wall-normal jet array(peak magnitude: 1.07 m/s) similar to that generated in a micro-blowing technique, while the superdense array plasma actuator created a wavy wall-parallel jet(magnitude: 0.94 m/s) due to the discrete spanwise electrostatic forces. Under a comparable electrical power consumption level,the super-dense array plasma actuator array significantly outperformed the grid-type configuration,reducing the total airfoil friction drag by approximately 22% at a free-stream velocity of 20 m/s.The magnitude of drag reduction was proportional to the dimensionless jet velocity ratio(r), and a threshold r = 0.014 existed under which little impact on airfoil drag could be discerned.

Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller

Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances.These unfavorable factors adversely affect the control performance of the hydraulic actuator.Although various control methods have been employed to improve the tracking precision of the dynamic system,optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains elusive.This study presents an adaptive back-stepping sliding mode controller(ABSMC)to enhance the trajectory tracking precision,where the virtual control law is constructed to replace the position error.The adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying disturbances.Based on Lyapunov theory,the finite-time convergence of the position tracking errors is proved.Furthermore,the effectiveness of the developed control scheme is conducted via extensive comparative experiments.

Observer-based dynamic event-triggered control for distributed parameter systems over mobile sensor-plus-actuator networks

We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.

A framework for dynamic modelling of railway track switches considering the switch blades,actuators and control systems

The main contribution of this paper is the development and demonstration of a novel methodology that can be followed to develop a simulation twin of a railway track switch system to test the functionality in a digital environment.This is important because,globally,railway track switches are used to allow trains to change routes;they are a key part of all railway networks.However,because track switches are single points of failure and safety-critical,their inability to operate correctly can cause significant delays and concomitant costs.In order to better understand the dynamic behaviour of switches during operation,this paper has developed a full simulation twin of a complete track switch system.The approach fuses finite element for the rail bending and motion,with physics-based models of the electromechanical actuator system and the control system.Hence,it provides researchers and engineers the opportunity to explore and understand the design space around the dynamic operation of new switches and switch machines before they are built.This is useful for looking at the modification or monitoring of existing switches,and it becomes even more important when new switch concepts are being considered and evaluated.The simulation is capable of running in real time or faster meaning designs can be iterated and checked interactively.The paper describes the modelling approach,demonstrates the methodology by developing the system model for a novel“REPOINT”switch system,and evaluates the system level performance against the dynamic performance requirements for the switch.In the context of that case study,it is found that the proposed new actuation system as designed can meet(and exceed)the system performance requirements,and that the fault tolerance built into the actuation ensures continued operation after a single actuator failure.

Fuzzy Proportional Integral Derivative control of a voice coil actuator system for adaptive deformable mirrors

Research on adaptive deformable mirror technology for voice coil actuators(VCAs)is an important trend in the development of large ground-based telescopes.A voice coil adaptive deformable mirror contains a large number of actuators,and there are problems with structural coupling and large temperature increases in their internal coils.Additionally,parameters of the traditional proportional integral derivative(PID)control cannot be adjusted in real-time to adapt to system changes.These problems can be addressed by introducing fuzzy control methods.A table lookup method is adopted to replace real-time calculations of the regular fuzzy controller during the control process,and a prototype platform has been established to verify the effectiveness and robustness of this process.Experimental tests compare the control performance of traditional and fuzzy proportional integral derivative(Fuzzy-PID)controllers,showing that,in system step response tests,the fuzzy control system reduces rise time by 20.25%,decreases overshoot by 78.24%,and shortens settling time by 67.59%.In disturbance rejection experiments,fuzzy control achieves a 46.09%reduction in the maximum deviation,indicating stronger robustness.The Fuzzy-PID controller,based on table lookup,outperforms the standard controller significantly,showing excellent potential for enhancing the dynamic performance and disturbance rejection capability of the voice coil motor actuator system.

A Hybrid Compensation Scheme for the Input Rate-Dependent Hysteresis of the Piezoelectric Ceramic Actuators

A hybrid compensation scheme for piezoelectric ceramic actuators(PEAs)is proposed.In the hybrid compensation scheme,the input rate-dependent hysteresis characteristics of the PEAs are compensated.The feedforward controller is a novel input rate-dependent neural network hysteresis inverse model,while the feedback controller is a proportion integration differentiation(PID)controller.In the proposed inverse model,an input ratedependent auxiliary inverse operator(RAIO)and output of the hysteresis construct the expanded input space(EIS)of the inverse model which transforms the hysteresis inverse with multi-valued mapping into single-valued mapping,and the wiping-out,rate-dependent and continuous properties of the RAIO are analyzed in theories.Based on the EIS method,a hysteresis neural network inverse model,namely the dynamic back propagation neural network(DBPNN)model,is established.Moreover,a hybrid compensation scheme for the PEAs is designed to compensate for the hysteresis.Finally,the proposed method,the conventional PID controller and the hybrid controller with the modified input rate-dependent Prandtl-Ishlinskii(MRPI)model are all applied in the experimental platform.Experimental results show that the proposed method has obvious superiorities in the performance of the system.

Actuator and sensor fault isolation in a class of nonlinear dynamical systems

Fault isolation in dynamical systems is a challenging task due to modeling uncertainty and measurement noise,interactive effects of multiple faults and fault propagation.This paper proposes a unified approach for isolation of multiple actuator or sensor faults in a class of nonlinear uncertain dynamical systems.Actuator and sensor fault isolation are accomplished in two independent modules,that monitor the system and are able to isolate the potential faulty actuator(s)or sensor(s).For the sensor fault isolation(SFI)case,a module is designed which monitors the system and utilizes an adaptive isolation threshold on the output residuals computed via a nonlinear estimation scheme that allows the isolation of single/multiple faulty sensor(s).For the actuator fault isolation(AFI)case,a second module is designed,which utilizes a learning-based scheme for adaptive approximation of faulty actuator(s)and,based on a reasoning decision logic and suitably designed AFI thresholds,the faulty actuator(s)set can be determined.The effectiveness of the proposed fault isolation approach developed in this paper is demonstrated through a simulation example.

Practical prescribed-time fuzzy tracking control for uncertain nonlinear systems with time-varying actuators faults

The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.

Optical micro/nanofiber enabled tactile sensors and soft actuators:A review

As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progress in flexible optoelectronics,MNF has been emerging as a promising candidate for assembling tactile sensors and soft actuators owing to its unique optical and mechanical properties.This review discusses the advances in MNF enabled tactile sensors and soft actuators,specifically,focusing on the latest research results over the past 5 years and the applications in health monitoring,human-machine interfaces,and robotics.Future prospects and challenges in developing flexible MNF devices are also presented.

Design of a Novel Robotic Fish Structure Utilizing PVC Gel Actuators

In this research work, it has been designed a bionic robot fish structure, can swim underwater. The active compact body is powered by eight sets of symmetric PVC gel actuators with a caudal fin. The robot’s 200 mm-long, fish structure design incorporates a 55.52 angle to optimize the fish dynamics movement. It’s a fast and smooth operation and can swim. The robot can swim fast and quietly by using the right positions and the appropriate actuators on PVC gel actuators. This design entails a unique architecture that enables the robot to move safely and unobtrusively at the same time, which makes it suitable equipment for different exploration and surveillance missions in the water with speed and silent operation as the foremost concern.

CPG Human Motion Phase Recognition Algorithm for a Hip Exoskeleton with VSA Actuator

Due to the dynamic stiffness characteristics of human joints, it is easy to cause impact and disturbance on normal movements during exoskeleton assistance. This not only brings strict requirements for exoskeleton control design, but also makes it difficult to improve assistive level. The Variable Stiffness Actuator (VSA), as a physical variable stiffness mechanism, has the characteristics of dynamic stiffness adjustment and high stiffness control bandwidth, which is in line with the stiffness matching experiment. However, there are still few works exploring the assistive human stiffness matching experiment based on VSA. Therefore, this paper designs a hip exoskeleton based on VSA actuator and studies CPG human motion phase recognition algorithm. Firstly, this paper puts forward the requirements of variable stiffness experimental design and the output torque and variable stiffness dynamic response standards based on human lower limb motion parameters. Plate springs are used as elastic elements to establish the mechanical principle of variable stiffness, and a small variable stiffness actuator is designed based on the plate spring. Then the corresponding theoretical dynamic model is established and analyzed. Starting from the CPG phase recognition algorithm, this paper uses perturbation theory to expand the first-order CPG unit, obtains the phase convergence equation and verifies the phase convergence when using hip joint angle as the input signal with the same frequency, and then expands the second-order CPG unit under the premise of circular limit cycle and analyzes the frequency convergence criterion. Afterwards, this paper extracts the plate spring modal from Abaqus and generates the neutral file of the flexible body model to import into Adams, and conducts torque-stiffness one-way loading and reciprocating loading experiments on the variable stiffness mechanism. After that, Simulink is used to verify the validity of the criterion. Finally, based on the above criterions, the signal mean value is removed using feedback structure to complete the phase recognition algorithm for the human hip joint angle signal, and the convergence is verified using actual human walking data on flat ground.

Study on Sealing Characteristics of Sliding Seal Assembly of Aircraft Hydraulic Actuator

The hydraulic actuator,known as the"muscle"of military aircraft,is responsible for flight attitude adjustment,trajectory control,braking turn,landing gear retracting and other actions,which directly affect its flight efficiency and safety.However,the sealing assembly often has the situation of over-aberrant aperture fit clearance or critical over-aberrant clearance,which increases the failure probability and degree of movable seal failure,and directly affects the flight efficiency and safety of military aircraft.In this paper,the simulation model of hydraulic actuator seal combination is established by ANSYS software,and the sealing principle is described.The change curve of contact width and contact pressure of combination seal under the action of high-pressure fluid is drawn.The effects of different oil pressure,fit clearance and other parameters on the sealing performance are analyzed.Finally,the accelerated life test of sliding seal components is carried out on the hydraulic actuator accelerated life test rig,and the surface morphology is compared and analyzed.The research shows that the O-ring is the main sealing element and the role of the check ring is to protect and support the O-ring to prevent damage caused by squeezing into the fit clearance,so the check ring bears a large load and is prone to shear failure.Excessive fit clearance is the main factor affecting the damage of the check ring,and the damage parts are mainly concentrated at the edge of the sealing surface.This paper provides a theoretical basis for the design of hydraulic actuator and the improvement of sealing performance.

Simulation Study on Dynamic Stiffness of Kick-reaction Link Actuator

Under the same aerodynamic load,the load transmitted by the kick-reaction link actuator to the aircraft structure is only 1/5 to 1/3 of that of the point-to-point actuator,which can significantly reduce the weight of the structure,and is widely used in the main flight control surface of large and medium-sized civil airliners.In order to restrain the flutter of aircraft rudder surface,it is necessary to design the servo stiffness of the kick-reaction link actuator in the development stage,so that it can meet the dynamic stiffness requirement within the frequency range.Taking the actuator of a civil airliner as the research object,the dynamic stiffness modeling of elevator actuator is carried out on MATLAB platform,and the dynamic stiffness test is carried out to verify the correctness of dynamic stiffness modeling.The simulation and test results show that the actuator can meet the dynamic stiffness design requirements.

充电桩充电模块功率器件故障诊断研究综述

大功率直流充电桩是未来电动汽车充电设施的发展方向,充电模块是直流充电桩最重要以及故障率最高的部件,其中功率器件开路故障较为常见。为保证充电模块安全可靠运行,需要对充电模块功率器件开路故障进行准确识别和定位。文中首先对充电模块拓扑结构和故障类型进行分析,然后分别对基于解析模型、基于信号处理和基于知识的功率器件开路故障诊断方法进行总结,分别介绍了各类方法的基本思想、研究进展和优缺点,最后总结并展望充电模块功率器件开路故障诊断方法未来的研究和发展方向。

船舶模块化建造关键技术研究

随着科学技术的进步和船舶需求量的增长,船舶建造模式逐步进入了以中间产品为导向的模块化建造模式。相比原传统的建造模式,模块化建造模式下增加了大量中间模块舾装及建造的环节,既包含了区域或功能模块的组装成型、进舱安装,又包括大型分段或总段模块的结构建造、预舾装以及合拢的整体过程。船舶模块化建造技术更为复杂。模块化建造技术是实现模块化造船的前提,本文在分析船舶模块主要类型的基础上,研究了船舶模块化建造流程及其关键技术和措施,为提高模块化造船水平提供参考。

基于混合式教学理念的急救技能模块整合教学在中医临床专业研究生急救能力培养中的作用

目的评价基于混合式教学理念的急救技能模块整合教学在中医临床专业学位研究生急救技能培养中的效果。方法根据入科月份随机将2022年9月至2023年8月北京中医药大学东方医院急诊科轮转的中医临床专业硕士研究生60名分为传统教学组和混合式教学组各30例。评价入科、出科成绩,急救技能成绩及教学满意度。结果混合式教学组的理论成绩[(84.07±9.89)分]和技能成绩[(84.77±8.55)分]高于传统教训的理论成绩[(78.93±9.85)分]和技能成绩[(80.27±8.17)分](P<0.05);混合式教学组的教学满意度(90%)和传统教学组(80%)差异无统计学意义(P>0.05);混合式教学组急救能力获得感评分[8(8,8)分]高于传统教学组[7(7,8)分](P<0.05)。结论基于混合式教学理念的急救技能模块整合教学有助于提高中医临床专业学位研究生急救能力。

模块化教学模式探析--以“Hadoop大数据处理”课程模块化教学设计为例

课程模块化教学是对课程内容的重组以及整合,利用教学平台,引入企业项目案例资源,把传统的教学模式转变为以学生为主体、教师为主导的模式。本文以高等职业院校“Hadoop大数据处理”课程为例,采用模块化教学模式以适应大数据专业的工作岗位,介绍了模块化教学模式的概念、国内外研究现状,进行了“Hadoop大数据处理”课程模块化设计,分别是教学主体转换、内容模块化设计、教师分工协作模块化设计、应用信息化教学平台。以“Hadoop大数据处理”课程中大数据计算分析模块中“微博精准广告营销”为例说明课程模块化教学设计的具体实施步骤和最终的教学效果。