For many industrial parts, their natural resting pose differs from the orientation desired for assembly. We have found that it is possible in many cases to compensate for this difference using a parallel-jaw gripper with fixed orientation. The idea is to arrange contact points on each gripper jaw so that the part is reoriented as it is grasped. We analyze the mechanics of compensatory grasping ...

The fall velocity of sediment particles plays a key role in sediment transport studies. Researchers have attempted to determine the terminal fall velocity, and most of the studies in this regard have been based on experimental, quasi-experimental, and in-situ measurements. The present study aimed to use a numerical model to estimate the fall velocity of a single sediment particle in distilled a...

In this report the transient rocking response of electrical equipment subjected to trigonometric pulses and near-source ground motions is investigated in detail. First the rocking response of a rigid block subjected to a half-sine pulse motion is reviewed. It is shown that the solution presented by Housner (1963) for the minimum acceleration amplitude of a half-sine pulse that is needed to over...

The aim of this technical report is to complement the work in [To et al. 2014] by proposing a Group Key Exchange protocol so that the Querier and TDSs (and TDSs themselves) can securely create and exchange the shared key. Then, the security of this protocol is formally proved using the game-based model. Finally, we perform the comparison between this protocol and other related works.

In this work, we introduce an active attack on a Group Key Exchange protocol by Burmester and Desmedt. The attacker obtains a copy of the shared key, which is created in a collaborative manner with the legal users in a communication group.