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The topic is the motion planning of under-actuated bionic robot which is named Rock & Roll Robot-RRobot. According to the dynamic equation of RRobot, improved PSO algorithm based on genetic operator is proposed for optimizing the motion planning of RRobot to achieve minimizing the energy loss. The simulation results show that improved particle swarm algorithm is effective in solving optimization...
We put forward a general attack against several group signatures. By checking whether schemes satisfy traceability, we show that the several group signatures are not secure. In contrast to those attacks against these schemes, the new attack is very understandable and simple. It's also the first time to show the scheme is insecure.
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