Research on dynamic performance and motion control of robot manipulator

Amongst the robotics and autonomous systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. In this paper, the purpose is to research on dynamic performance and motion control of robot manipulator for the more precise, crucial and critical tasks in industry. Firstly, the forward and inverse kinematics was accurately described by obtaining the link transformation matrices from each joint in robot manipulator. To find admissible solutions along the path, the workspace of the manipulator was determined by joint limit condition and validated by actual measurement. And then, the dynamic performance of robot manipulator is researched by using the forming flexible multi-body system. Furthermore, the frequency response curves are obtained by exciting vibration simulation based on vibration model, which the predicted method was validated by comparing simulation and experimental results. Finally, the control system architecture was given and the grasping process was conducted by gripper based on motion trajectory control in the workspace

Improved Progressive BKZ with Lattice Sieving and a Two-Step Mode for Solving uSVP

The unique Shortest Vector Problem (uSVP) is one of the core hard problems in lattice-based cryptography. In NIST PQC standardization (Kyber, Dilithium), leaky-LWE-Estimator is used to estimate the hardness of LWE-based cryptosystems by reducing LWE to uSVP and considers the primal attack using Progressive BKZ (ProBKZ). ProBKZ trivially increases blocksize β and lifts the shortest vector in the final BKZ block to find the unique shortest vector in the full lattice. In this paper, we show that a ProBKZ algorithm as above (we call it a BKZ-only mode) is not the best way to solve uSVP. So we present a two-step mode to solve it, where the ProBKZ algorithm is followed by a sieving algorithm with the dimension larger than the blocksize of BKZ. While instantiating our two-step mode with the sieving algorithm Pump and Pump-and-jump BKZ (PnjBKZ) presented in G6K, which are the state-of-art sieving and BKZ implementations, we show that our algorithm is not only better than the BKZ-only mode but also better than the heuristic uSVP solving algorithm in G6K. However, a ProBKZ with the heuristic parameter selection in leaky-LWE-Estimator or the optimized parameter selection in the literature (Yoshinori Aono et al. at Asiacrypt 2016), is insufficient in optimizing the efficiency of a two-step solving algorithm. To find the best param- eters, we design a PnjBKZ simulator which allows the choice of value jump to be more than 1. Based on the newly designed simulator, we give a blocksize and jump strategy selection algorithm, which can achieve the best simulated efficiency in solving uSVP instances. Combining all the things above, we get a new lattice solving algorithm called Improved Progressive PnjBKZ (ProPnjBKZ for short). We test the efficiency of our ProPnjBKZ with the TU Darmstadt LWE Challenge. The experiment result shows that our ProPnjBKZ is 7.6∼12.9 times more efficient than the heuristic uSVP solving algorithm in G6K. Besides, we break the TU Darmstadt LWE Challenges with (n, α) ∈{(40, 0.035), (40, 0.040), (50, 0.025), (55, 0.020), (90, 0.005)}. Finally, we give a newly refined security estimator of LWE. The evaluation results indicate that the concrete hardness of the lattice-based NIST candidate schemes from LWE primal attack will decrease by 1.9∼4.2 bits when using our optimized blocksize and jump selection strategy and two-step solving mode. In addition, when using the list-decoding technology proposed by MATZOV in 2022, it further decreased by 8∼10.7 bits

Improved Pump and Jump BKZ by Sharp Simulator

The General Sieve Kernel (G6K) implemented a variety of lattice reduction algorithms based on sieving algorithms. One of the representative of these lattice reduction algorithms is Pump and jump-BKZ (pnj-BKZ) algorithm which is currently considered as the fastest lattice reduction algorithm. The pnj-BKZ is a BKZ-type lattice reduction algorithm which includes the jump strategy, and uses Pump as the SVP Oracle. Here, Pump which was also proposed in G6K, is an SVP sloving algorithm that combines progressive sieve technology and dimforfree technology. However unlike classical BKZ, there is no simulator for predicting the behavior of the pnj-BKZ algorithm when jump greater than 1, which is helpful to find a better lattice reduction strategy. There are two main differences between pnj-BKZ and the classical BKZ algorithm: one is that after pnj-BKZ performs the SVP Oracle on a certain projected sublattice, it won\u27t calling SVP Oracle for the next nearest projected sublattice. Instead, pnj-BKZ jumps to the corresponding projected sublattice after J indexs to run the algorithm for solving the SVP. By using this jump technique, the number of times that the SVP algorithm needs to be called for each round of pnj-BKZ will be reduced to about 1/J times of original. The second is that pnj-BKZ uses Pump as the SVP Oracle on the projected sublattice. Based on the BKZ2.0 simulator, we proposes a pnj-BKZ simulator by using the properties of HKZ reduction basis. Experiments show that our proposed pnj-BKZ simulator can well predicate the behavior of pnj-BKZ with jump greater than 1. Besides, we use this pnj-BKZ simulator to give the optimization strategy for choosing jump which can improve the reducing efficiency of pnj-BKZ. Our optimized pnj-BKZ is 2.9 and 2.6 times faster in solving TU LWE challenge ( n=75,alpha=0.005 ) and TU LWE challenge ( n=60,alpha=0.010 ) than G6K\u27s default LWE sloving strategy

A Refined Hardness Estimation of LWE in Two-step Mode

Recently, researchers have proposed many LWE estimators, such as lattice-estimator (Albrecht et al, Asiacrypt 2017) and leaky-LWE-Estimator (Dachman-Soled et al, Crypto 2020), while the latter has already been used in estimating the security level of Kyber and Dilithium using only BKZ. However, we prove in this paper that solving LWE by combining a lattice reduction step (by LLL or BKZ) and a target vector searching step (by enumeration or sieving), which we call a Two-step mode, is more efficient than using only BKZ. Moreover, we give a refined LWE estimator in Two-step mode by analyzing the relationship between the probability distribution of the target vector and the solving success rate in a Two-step mode LWE solving algorithm. While the latest Two-step estimator for LWE, which is the “primal-bdd” mode in lattice-estimator1, does not take into account some up-to-date results and lacks a thorough theoretical analysis. Under the same gate-count model, our estimation for NIST PQC standards drops by 2.1∼3.4 bits (2.2∼4.6 bits while considering more flexible blocksize and jump strategy) compared with leaky-LWE-Estimator. Furthermore, we also give a conservative estimation for LWE from the Two-step solving algorithm. Compared with the Core-SVP model, which is used in previous conservative estimations, our estimation relies on weaker assumptions and outputs higher evaluation results than the Core- SVP model. For NIST PQC standards, our conservative estimation is 4.17∼8.11 bits higher than the Core-SVP estimation. Hence our estimator can give a closer estimation for both upper bound and lower bound of LWE hardness

Revisiting the Concrete Hardness of SelfTargetMSIS in CRYSTALS-Dilithium

In this paper, we reconsider the security for CRYSTALS-Dilithium, a lattice-based post-quantum signature scheme standardized by NIST. In their documentation, the authors proved that the security of the signature scheme can be based on the hardness of the following three assumptions: MLWE, MSIS and SelfTargetMSIS. While the first two are standard lattice assumptions with hardness well studied, the authors claimed that the third assumption SelfTargetMSIS can be estimated by the hardness of MSIS (and further into SIS). However, we point out that this is in fact not the case. We give a new algorithm for solving SelfTargetMSIS, by both experimental results and asymptotic complexities, we prove that under specific parameters, solving SelfTargetMSIS might be faster than MSIS. Although our algorithm does not propose a real threat to parameters used in Dilithium, we successfully show that solving SelfTargetMSIS cannot be turned into solving MSIS or MISIS. Furthermore, we define a new variant of MISIS, called sel-MISIS, and show that solving SelfTargetMSIS can only be turned into solving sel-MISIS. We believe that in order to fully understand the concrete hardness of SelfTargetMSIS and prevent potential attacks to Dilithium, the hardness of this new problem needs to be further studied

Cell-Free DNA Sequencing of Intraocular Fluid as Liquid Biopsy in the Diagnosis of Vitreoretinal Lymphoma

PurposeTo seek novel diagnostic approaches, we improved the workflow of cell-free DNA (cfDNA) sequencing and evaluated its feasibility in vitreoretinal lymphoma (VRL) specimens; the profile of mutations was preliminarily analyzed for potential diagnostic value.MethodsThe study was a diagnostic trial. 23 eyes of 23 patients with VRL and 25 eyes of 25 patients with inflammatory eye diseases were enrolled. Approximate 500μl undiluted vitreous humor and 10ml diluted vitreous fluid was obtained through diagnostic vitrectomy and sent for cytopathological examinations. 500μl of the diluted vitreous fluid was spared for cfDNA sequencing. For cfDNA sequencing, DNA fragmentation procedure was added to the workflow to improve the extraction efficiency; mutations detected were analyzed for potential diagnostic model. The sensitivity and specificity of the cytopathology and cfDNA sequencing were compared. The clinical manifestations were preliminarily analyzed for potential correlations with the genotypes.ResultsCfDNA sequencing was accomplished in 23 eyes with VRL and 20 eyes with inflammatory eye diseases. VRL-related mutated genes included MYD88 (18 eyes, 78%), ETV6 (11 eyes, 48%), PIM1 (11 eyes,48%), BTG2 (7 eyes, 30%), IRF4 (7 eyes, 30%), CD79B (6 eyes, 26%), LRP1B (6 eyes, 26%), etc. Logistic regression based on the mutations of MYD88 and ETV6 was of the potential for the diagnosis of VRL (P<0.001, adjusted R2 = 0.789, sensitivity 0.913, specificity 0.950); by comparison, the sensitivity and specificity of the vitreous cytopathology were 0.826 and 1.000, respectively. Further analysis of the mutation profile showed that patients carrying CD79B mutation tended to have higher intraocular interleukin-10 level (P=0.030), that CARD11 mutation was correlated with younger age at ocular onset (P=0.039), and that patients with intracranial involvement carried more multiple-site mutations in the BTG2 gene (P=0.013).ConclusionsThe improved workflow of CfDNA sequencing is of sound feasibility in a limited amount of vitreous humor. The logistic model based on the mutations could help to provide reliable clues for the diagnosis of VRL

Analysis on the intention and influencing factors of free influenza vaccination among the elderly people aged 70 and above in Hangzhou in 2022

BackgroundAlthough influenza vaccination is recommended for people aged 70 and above in Hangzhou, and the vaccine is provided free of charge, the elderly influenza vaccination rate is still low. The purpose of this study was to understand the barriers and motivations of older people in deciding to receive free influenza vaccine through questionnaires.MethodsThe method of stratified random sampling was adopted to take samples. A questionnaire survey was conducted among the elderly aged 70 years and above by face-to-face interview or telephone interview.ResultsA total of 11,663 elderly people aged 70–100 years were successfully and effectively interviewed. 85.98% of the respondent were willing to get the influenza shot, 8.91% were unwilling to get the influenza shot, and 5.11% were on vaccine hesitancy. The people of age of 70–79 years old (hesitancy: OR70~79 = 0.668, 95%CI: 0.571 0.782, Unwilling: OR70 − 79 = 0.755, 95%CI: 0.622 0.916), primary school degree or below (hesitancy: ORSecondary school degree or above = 1.467, 95%CI: 1.249 1.724, Unwilling: ORSecondary school degree or above = 1.255, 95%CI: 1.028 1.535), remote areas (hesitancy: ORnear central urban area = 2.111, 95%CI: 1.604 2.778, ORcentral urban area = 2.957, 95%CI: 2.255 3.877, Unwilling: ORnear central urban area = 1.687, 95%CI: 1.230 2.313. ORcentralurbanarea = 2.218, 95%CI: 1.626 3.027), and convenient for movement (hesitancy: ORyes = 0.494, 95%CI: 0.420 0.580, Unwilling: ORyes = 0.585, 95%CI: 0.480 0.713), understanding of the free vaccine policy (hesitancy: ORunderstand = 0.204, 95%CI: 0.171 0.245, Unwilling: ORunderstand = 0.164, 95%CI: 0.128 0.210), influenza knowledge level≥ 13 points (hesitancy: OR≥13points = 0.628, 95%CI: 0.533 0.739, Unwilling: OR≥13points = 0.538, 95%CI: 0.437 0.662), influenza vaccine knowledge level≥ 12 points (hesitancy: OR≥12points = 0.422, 95%CI: 0.350 0.508, Unwilling: OR≥12points = 0.370, 95%CI: 0.290 0.472), and social trust level ≥ 12 points (hesitancy: OR≥12points = 0.134, 95%CI: 0.112 0.160, Unwilling: OR≥12points = 0.220, 95%CI: 0.180 0.269) are more willing to receive free influenza vaccine.ConclusionThe proportion of elderly people aged 70 and above who are willing to receive free influenza vaccine is high in Hangzhou. But the level of knowledge about influenza, vaccine and trust in society is low. The government should continue to improve the elderly's awareness and trust in society through medical staff, family members, television and radio media, and guide the elderly to actively vaccinate against influenza. Effective publicity should be carried out through the above channels to guide the elderly to actively vaccinate against influenza

Case Report: Extragonadal Yolk Sac Tumors Originating From the Endometrium and the Broad Ligament: A Case Series and Literature Review

Yolk sac tumors (YSTs) of the endometrium and the broad ligament are very rare, with only 29 cases and one case of each other reported before in the English literature. Due to lack of standard guidelines, the treatment strategies of these diseases are controversial. Here, we share two cases of YSTs originating from the endometrium and the broad ligament respectively and review related literature. A 35-year-old woman was diagnosed with endometrial YST in our center and underwent surgery followed by chemotherapy with BEP (bleomycin, cisplatin and etoposide) regimen for six courses. After follow-up for 21 months, there is still no evidence of relapse. Another 36-year-old woman was admitted to our department with YST of the broad ligament. She was treated with surgery followed by chemotherapy with BEP regimen and was lost to follow-up after completing therapy. The case of endometrial YST we shared was similar to cases reported before, while the case with YST of the broad ligament we shared was the second case reported worldwide. Both of these two cases were treated with surgery combined with chemotherapy with BEP regimen