The year 1994 will see the promotion of further economic restructuring in China and key breakthroughs. The reform of the foreign exchange system, in particular, has provided a rare opportunity for exports in foreign t...The year 1994 will see the promotion of further economic restructuring in China and key breakthroughs. The reform of the foreign exchange system, in particular, has provided a rare opportunity for exports in foreign trade. Facing this favourable situation, the Shandong provincial government has decided export earnings are its main priority and wants to see a 16 to 20 percent growth above the US$5.7 billion earned last year. It will speed up the linking展开更多
Marking half a century of diplomatic relations,China and the Arab nations are expected to channel greater efforts into boosting exchangesThis year marks the 50th anniversary of the start of Sino-Arab diplomatic ties. ...Marking half a century of diplomatic relations,China and the Arab nations are expected to channel greater efforts into boosting exchangesThis year marks the 50th anniversary of the start of Sino-Arab diplomatic ties. China established diplomatic relations with Egypt, Syria and Yemen on May 30, August 1 and September 24, 1956, respectively. As Egypt became the first Arab and African nation to recognize the People's Republic of China,展开更多
Despite the global financial crisis, the country’s largest bank realizes high profit and plans to expand into emerging markets The year 2008 was a turbulent one for the global banking sector. While some banks around ...Despite the global financial crisis, the country’s largest bank realizes high profit and plans to expand into emerging markets The year 2008 was a turbulent one for the global banking sector. While some banks around the world nearly went bust and had to turn to governments for help, the Industrial and Commercial Bank of展开更多
解决高校关键业务系统潜在的风险和漏洞的方法有很多种,现利用STRIDE威胁模型对高校关键业务系统所面临的威胁进行实践研究。通过建立STRIDE安全威胁模型,对关键业务系统的数据流进行梳理和风险分析,量化和细化各类安全威胁,并结合OWASP...解决高校关键业务系统潜在的风险和漏洞的方法有很多种,现利用STRIDE威胁模型对高校关键业务系统所面临的威胁进行实践研究。通过建立STRIDE安全威胁模型,对关键业务系统的数据流进行梳理和风险分析,量化和细化各类安全威胁,并结合OWASP TOP 10进行漏洞验证,进而有针对性地提出各类威胁相应的解决方法和应对策略。展开更多
The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Fo...The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the performance of multi-legged robot.展开更多
文摘The year 1994 will see the promotion of further economic restructuring in China and key breakthroughs. The reform of the foreign exchange system, in particular, has provided a rare opportunity for exports in foreign trade. Facing this favourable situation, the Shandong provincial government has decided export earnings are its main priority and wants to see a 16 to 20 percent growth above the US$5.7 billion earned last year. It will speed up the linking
文摘Marking half a century of diplomatic relations,China and the Arab nations are expected to channel greater efforts into boosting exchangesThis year marks the 50th anniversary of the start of Sino-Arab diplomatic ties. China established diplomatic relations with Egypt, Syria and Yemen on May 30, August 1 and September 24, 1956, respectively. As Egypt became the first Arab and African nation to recognize the People's Republic of China,
文摘Despite the global financial crisis, the country’s largest bank realizes high profit and plans to expand into emerging markets The year 2008 was a turbulent one for the global banking sector. While some banks around the world nearly went bust and had to turn to governments for help, the Industrial and Commercial Bank of
文摘解决高校关键业务系统潜在的风险和漏洞的方法有很多种,现利用STRIDE威胁模型对高校关键业务系统所面临的威胁进行实践研究。通过建立STRIDE安全威胁模型,对关键业务系统的数据流进行梳理和风险分析,量化和细化各类安全威胁,并结合OWASP TOP 10进行漏洞验证,进而有针对性地提出各类威胁相应的解决方法和应对策略。
基金supported by National Science Foundation for Distinguished Young Scholoars, China (Grant No. 51125020)Program for New Century Excellent Talents in University, China
文摘The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the performance of multi-legged robot.
