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We present a spring loaded inverted pendulum (SLIP) based robot leg to enable decoupled swing motion and spring-like behavior. The two SLIP principles (decoupled swing motion and spring-like behavior) allow an improved understanding of robot locomotion and its control. Proposed leg mechanism include one degree of freedom (DOF) straight-line generating mechanism to perform ideal spring-like behavior and the pantograph to amplify that. The spring-like behavior can be implemented using mechanical constraints with Chebyshev linkage and the virtual spring method. For applying the virtual spring method to the radial motion controlled by one actuator, the relationship between the actuator force and radial force acting on the foot end was determined by using a kinematic interpretation. A 1-DOF test bed including the suggested leg was built and tested to verify the decoupled motions. The spring-like leg behavior was demonstrated during the free fall experiment and the experiment in which external force was applied.
In Ad Hoc Networks, a connection breaks due to the irregular movement of mobile nodes and the inherent characteristics of the wireless medium such as the interference and the multi-path fading. AODV, a typical on-demand routing protocol in Ad Hoc networks, uses Destination sequence numbering for loop-free. but it may cause RREQ broadcast storm problem This paper proposes AODV_ods that does not need destination sequence number, in routing message and routing table without routing loop. To show the effectiveness of the proposed scheme, we performed extensive simulation with NS-2. The simulation results show that the proposed ADOV_ods efficiently uses wireless bandwidth compare to the original AODV. Finally AODV_ods reduces the routing overhead, end to end delay and increases the overall packet delivery ratio.
The element reduction of a multiset S is to reduce the number of repetitions of an element in S by a predetermined number. Privacy-preserving element reduction of a multiset is an important tool in private computation over multisets. It can be used by itself or by combination with other private set operations. Recently, an efficient privacy-preserving element reduction method was proposed by Kissner and Song . In this paper, we point out a mathematical flaw in their polynomial representation that is used for the element reduction protocol and provide its correction. Also we modify their over-threshold set-operation protocol, using an element reduction with the corrected representation, which is used to output the elements that appear over the predetermined threshold number of times in the multiset resulting from other privacy-preserving set operations.