Cooperative obstacle avoidance is one of the key technologies of Unmanned Aerial Vehicle （UAV） system. While there exist problems of formation loss， mission failure， and increasing energy consumption during the obstacle avoidance of UAV swarm. For solving these problems， a cooperative obstacle avoidance algorithm based on improved artificial potential field and consensus protocol was proposed. First， according to the control law of multi-rotor UAVs， a control protocol to keep speed and position consistency was designed， and the artificial potential field force was scaled and transformed by normalization and high-order exponents， thereby solving the problem of oscillation failure caused by the excessive variation of the potential field force. Then， the artificial potential field force was introduced to modify the expectation formation of consensus protocol for solving the control conflict problem of the combination algorithm of artificial potential field method and consensus protocol. The proposed algorithm was simulated and compared with the formation division obstacle avoidance algorithm and dynamic window obstacle avoidance algorithm in complex obstacle environment. The results show that the proposed algorithm has the average formation loss degree reduced by 82.60% and 64.38% respectively， the average failure degree of task decreased by 98.66% and 86.01% respectively， and the total length of flight path reduced by 9.95% and 17.63% respectively. It can be seen that the proposed algorithm is suitable for the complex flight environment with multiple obstacles.

Engineering and Scientific Computation Accelerator (ESCA) is a heterogeneous multi-core architecture to accelerate computation-intensive parallel computing in scientific and engineering applications. This paper described an implementation of Laplace transform on the hybrid system based on ESCA coprocessor, and the performance of Laplace transform on the quad-core prototype ESCA was exploited. The experimental results show that the ESCA can accelerate program of compute-intensive applications fairly well.

To solve the problems existing in BLP (Bell-LaPadula) model, such as information aggregation leakage, excessive privileges of trusted subject and the deficiency of integrity, with reference to the application requirement of hierarchical file protection, an information aggregation leakage proof model named IALP (Information Aggregation Leakage Proof) was proposed based on assignment partition. First of all, the cause of information aggregation leakage and the current research situation were discussed. Secondly, on the basis of assignments partition, the knowledgeable degree of subject and the information weight of object were quantized, and the relatively trusted subject was proposed. Security axioms and state transition rules were given. Finally, the theoretical proof, application examples and analysis indicate that IALP can control the knowable degree of the subject towards the object set with the aggregation leakage relation, and limits the privilege of trusted subject and enhances the integrity to some extent.