This paper investigates the motion planning problem of planar m-link (m≥4) closed chains among point obstacles with extension to arbitrary convex 2-D obstacles.The configuration space (C-space) of closed chains is embedded into two copies of m-3 dimensional tori.Two structural sets, the C-boundaries and the C-obstacles, are analyzed based up
Recently, several new metaheuristic schemes have been introduced in the literature.Although all these approaches consider very different phenomena as metaphors, the search patterns used to explore the search space are very similar.On the other hand, second-order systems are models that present different temporal behaviors depending on the value of
The information-centric Internet of things (IC-IoT) is different from the traditional Internet of things (IoT) in that the device-to-device pattern is generalized to a device-to-network pattern.Furthermore, in an IC-IoT environment, there is a demand for protecting the security of all data generated from IC-IoT devices.A cryptography scheme named a
Results of ucsb gaucho blue research of petrographic and mineralogical structure of alluvial meadow dark-coloured soils are resulted.Studying soil parts has allowed to receive the qualitative and quantitative characteristic of clay minerals.Their influence on physical properties is established.At an intensive irrigation of cultivated cultures la ra