Active gravity compensation test bed for a six-DOF free-flying robot
A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic behaviors of a free-flying robot. The experimental fabrication contains an active horizontal motion tracking mechanism composed of primary and secondary active rotating arms. An multi-objective optimization method calculating the tension of the wires to minimize torques on robot joints is approved. The tension of the suspension wires is obtained through passive counterweights using pulley mechanisms. The kinematics and dynamics of a 6-DOF free-flying manipulator were calculated in MATLAB and simulated in MSC Adams under three working conditions: zero-gravity, gravity compensation and gravity. The lowest ratio of the torque compensation reached 80%. Agreements between numerical analyses and simulation results confirm the ability of this gravity compensation concept to simulate the kinematic and dynamic behaviors of free-flying manipulator in space.
Application and research on cryptography of guard against theft
This paper introduces the history, classes and characters of cryptography and indicates the necessity of guard against code theft. In order to protect just identity and secret information, a new kind of cryptography and its application and advantages has been given and analyzed. To develop a better character of guard against theft, the operator must rightly use fixed first code with validation code which is decided by algorithm of each time to pass identity verification. The paper illuminates the theory of software control, puts forward a novel secure cryptography that has not been found before.
The Bastille: A History of a Symbol of Despotism and Freedom
This book is both an analysis of the Bastille as cultural paradigm and a case study on the history of French political culture. It examines in particular the storming and subsequent fall of the Bastille in Paris on July 14, 1789 and how it came to represent the cornerstone of the French Revolution, becoming a symbol of the repression of the Old Regime. Lusebrink and Reichardt use this semiotic reading of the Bastille to reveal how historical symbols are generated; what these symbols’ functions are in the collective memory of societies; and how they are used by social, political, and ideological groups.

To facilitate the symbolic nature of the investigation, this analysis of the evolving signification of the Bastille moves from the French Revolution to the nineteenth century to contemporary history. The narrative also shifts from France to other cultural arenas, like the modern European colonial sphere, where the overthrow of the Bastille acquired radical new signification in the decolonization period of the 1940s and 1950s. The Bastille demonstrates the potency of the interdisciplinary historical research that has characterized the end of this century, combining quantitative and qualitative approaches, and taking its methodological tools from history, sociology, linguistics, and cultural and literary studies.