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“Tooth-arrangement Three-fingered Hands” is a brand-new oral cavity repairing robot. It has the functions of fine grasping and arranging artificial tooth, manufacturing complete denture, etc. A new optimization design method is proposed in this paper that solves the problems in optimization structure parameter confirming and optimal dexterous design. The bionic theorem behind duplicating the dexterity of the human finger is incorporated into the structure parameter optimization algorithm. Through analyzing the dexterity of the single finger, adopting the design criteria of dexterous degree with optimum index and combining the characteristic of grasping the smallest object, this design method can confirm the best dexterity area for single finger, relations between every rod length and rotation range of every joint. Using MATLAB optimization toolbox to optimize above-mentioned structure parameter, it gains the optimal dimension that meets characteristic of human fingers and can finish grasping. A quantitative method is also proposed in this paper to calculate the relative position between fingers. It is applied to the real design of Tooth-Arrangement Three-fingered Hands and obtained optimal flexible performance. Keywords : dexterity, three-fingered hands, structure parameter, optimize

This system adopted two-level structure that was composed of Cable Monitoring And Controlling Device (CMCD) and Cable Monitoring Center (CMC). CMC receives the alarm data via the MODEM and the telephone net. In this way, the functions of typing the fault point's map, alarming and the cable management can be picked up. CMCD takes the processor chip Atemega128 as the center of the system that adopted the alternating current and direct current on-line switching electricity-supply mode. Also, the system includes four groups of independent power, the relay and the optical isolation to separate the system from the monitoring cable and the telephone net. CMCD accomplishes the cable real-time monitoring, malfunctions auto-locating, telephone voice alarming, long-distance parameters modification, data up-loading, error verifying and the telecommunication room's environment monitoring and so on. The longest distance of monitoring cable is 20 km, and the precision is 1%.

A key management approach of multicast is provided in this paper. It is based on the approach of assignment key to every group member through key center. In view of some management schemes where members join, leave or are deleted, key service center must distribute new key through unicast another time. The bigger amount of members the greater expenses will be spent. In this paper with member varying their upper key service center still distribute the new keythrough multicast and an ID is assigned to every member to identify their transmission message so as to implement data origin authentication. The essential principle of this approach is distributing a key generator for each member. For example a random number generator depending on certain algorithm can be distributed. And every member needs store a seed table. In this project key can automatically be renewed as time goes by or immediately renewed. Replace unicast by multicast to renew key decrease the spending. It is not only suitable for the key centralized management scheme with fewer members but also for the key separated management scheme with large group members and member frequently changed.

In this paper an implementation approach of IPSec inside host operating system is given, which is composed of three main modules: Kernel IPSec module, where AFT, ESP and theirs encapsulation in kernel are implemented, Key Management Process module, where IKE consultation and its connection with other parts are implemented, and Interface module. The whole implementation approach is introduced and each component part is detailed. The implementation diagram is shown. Several key points such as policy management and so on which should be considered in implementation are provided. Main software flow diagrams are illustrated. Some functions are mentioned. The integrated approach inside operation system presented in this paper is modularized to three parts, and every part is supported by its backstage procedure. So this approach is characterized by easily disposal and transplant. For example it also can be conveniently applied to router software to implement integration inside router.