To solve the problem of component grasping path planning, a hybrid optimization algorithm based on ant colony algorithm and tabu search algorithm was proposed to minimize the time. Firstly, the problem of grasping components based on machine vision was defined as Traveling Salesman Problem (TSP) with precedence constraint. Secondly, comprehensive effects of the sizes of components and the grasping and placement process on path planning were analyzed, and the path selection probability and tabu region were improved adaptively. Thirdly, on the one hand, 2-opt local optimization, pheromone punishment and reward mechanism were introduced to improve the search ability of ants; on the other hand, pheromone evaporation factor was improved adaptively to increase the adaptability of ants. Finally, for the basic algorithm and the improved hybrid optimization algorithm, the performance index and grasping time were compared and analyzed by simulation experiment and platform experiment. The experimental results show that, compared with Ant Colony Optimization (ACO) algorithm and Tabu Search (TS) algorithm, the average iteration times of the proposed hybrid optimization algorithm is reduced by about 50%, and other performances are superior to the other algorithms. The results of platform test also show that the hybrid optimization algorithm is superior to random results and basic algorithm, and it can realize component grasping task quickly.

Aiming at time or frequency feature, cepstrum feature, sparse feature and probability feature's poor classification performance for kindred and percussion instrument, an enhanced model for extracting time-frequency information and with lower redundancy was proposed. Firstly, a cochlea model was set to filter music signal, whose output was called Auditory Spectrum (AS) containing harmonic information and close to human perception. Secondly, time-frequency feature was acquired by Multiscale Time-Frequency Modulation (MTFM). Then, dimension reduction was implied by Multilinear Principal Component Analysis (MPCA) to preserve the structure and intrinsic correlation. Finally, classification was conducted using Support Vector Machine (SVM). The experimental results show that MTFM's average accuracy is 92.74% on IOWA database and error rate of percussion or kindred instrument is 3% and 9.12%, which wins out the features mentioned above. The accuracy of MPCA was higher 6.43% than that of Principle Component Analysis (PCA). It is proved that the proposed model is an option for kindred and percussion instrument identification.

The Density Peak Clustering (DPC) algorithm which required few parameters and no iteration was proposed in 2014, it was simple and novel. In this paper, a grid clustering algorithm which could efficiently deal with large-scale data was proposed based on DPC. Firstly, the N dimensional space was divided into disjoint rectangular units, and the unit space information was counted. Then the central cells of space was found based on DPC, namely, the central cells were surrounded by other grid cells of low local density, and the distance with grid cells of high local density was relatively large. Finally, the grid cells adjacent to their central cells were merged to obtain the clustering results. The experimental results on UCI artificial data set show that the proposed algorithm can quickly find the clustering centers, and effectively deal with the clustering problem of large-scale data, which has a higher efficiency compared with the original density peak clustering algorithm on different data sets, reducing the loss of time 10 to 100 times, and maintaining the loss of accuracy at 5% to 8%.

In the era of big data, data intensive computing always relies on distributed Heterogeneous Computing System (HCS), and an effective task scheduling method can improve the efficiency of a HCS. Based on a Directed Acyclic Graph (DAG) model, a task scheduling algorithm for heterogeneous computing named HSFT (Heterogeneous scheduling algorithm with immediate Successor Finish Time) was proposed. In the heterogeneous environment, especially when the computation cost and communication cost vary largely, the balance between them was considered and a more reasonable method was adopted, the product of the computation cost standard deviation and mean value was taken as the computation weight, and the ratio between the out degree communication cost weight and out degree was taken as the communication weight. Furthermore, based on the consideration of Earliest Finish Time (EFT), the immediate Successor Finish Time (SFT) was used for processor selection strategy. The experimental results on randomly generated DAGs show that the proposed algorithm performs better than HEFT (Heterogeneous Earliest Finish Time), SDBATS (Standard Deviation-Based Algorithm for Task Scheduling) and PEFT (Predict Earliest Finish Time) in terms of makespan, schedule length ratio, and efficiency without increasing time complexity.

The test case generation method of data gathering protocol for Wireless Sensor Network (WSN) based on timed automata model was studied from the perspective of protocol testing, then the time automata model for data gathering protocol was established using UPPAAL, and the test traces set satisfied with certain coverage criteria was generated using UPPAAL CoVer. In order to facilitate the actual test case generation, an auxiliary automatic test case generation tool named Auto Test Case Generation Tool (ATCGT) was developed. The effectiveness of the method was proved by modeling and test cases generating for a wireless meter reading data gathering protocol in industry.

Since the security features described by natural language in the safety-critical software requirements specification are of inaccuracy and inconsistence, a validation method of security features based on UMLsec was proposed. The method completed the UMLsec model by customizing stereotypes, tags and constraints for security features of the core class on the basis of class diagram and sequence diagram for UML requirements model. Afterwards, the support tool for designing and implementing UMLsec was used for automatic verification of security features. The experimental results show that the proposed method can accurately describe security features in the safety-critical requirements specification and can automatically verify whether the security features meet the security requirements.

The two-path algorithm in the acoustic echo cancellation is widely applied to avoid the false adaptation problem during the double-talk situation. This paper proposed an improved transfer logic for the two-path algorithm; based on the comparison of the Echo Return Loss Enhancement (ERLE) for the filters, the improved transfer logic decided whether to permit filter update. Furthermore, the improved transfer logic managed to detect the double-talk and avoid the false filter update, improved the convergence speed and allowed the reduction of the memory requirement and computational complexity. The simulation results show the improved performance of the proposed solution.

Abstract: Aiming at the weakness of the computational complexity and huge calculation of the three-dimensional Otsu, a fast three-dimensional Otsu image segmentation algorithm based on decomposition was presented in this paper. Firstly, the original three-dimensional Otsu algorithm was decomposed into three one-dimensional Otsu algorithms. Then, based on the one-dimensional Otsu algorithm, a novel algorithm with a new threshold recognition function was proposed, which combines between-class distance with within-class distance, and the fast realization method was also presented. The experimental results show that the proposed algorithm does not only get satisfactory segmentation result, but also improves the calculation speed, which spends 1400 times less than the recursive algorithm for the three-dimensional Otsu method.

The functional model and architecture of collaborative design system for automatic weapon were analyzed. A unified module template instance and its information access relationship model of automatic weapon were presented to achieve practical collaborative design. The proposed system includes configuration management, model-lib management, integrated service model, hierarchical collaborative design process model and cooperative behavior prediction and analysis module which assist collaborative design of modularized products. Combining the API functions development technology of CAD software and the supports of Web services technology with common language interface, the system has been implemented in reliable distributed interactive supporting environment.

Concerning the overburdened third party problem of the present digital copyright protection protocol, this paper put forward a simple, efficient, secure copyright protection protocol and model to protect the buyer and seller's interests. Through two mechanisms of content server generating digital watermarking pool and mobile Agent dynamic distributing license, the protocol solved the security problems such as tolerance of conspiracy, middle attacks, hard disk cloning attacks and user treason. And it ensured the data security and integrity in the protocol entities exchange through encryption, authentication, digital signature and one-way permutation function. In addition, it still adopted the mechanism of buyer from arbitration, which enabled protocol more perfect and feasible.

Concerning the inefficient problem of traditional signature-based virus filtering algorithm in practice, a novel virus filtering algorithm based on Matrix Bloom Filter (MBF) was proposed. Based on the analysis of the space efficiency, time efficiency and the potential effects of false positives, the mathematical model of the algorithm was studied and the design scheme of virus filters in high-speech engine was given. Finally, the simulation experimental results demonstrate the effectiveness and practicability of the proposed algorithm.