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The study proposed a vertex-based authentication algorithm based on spatial subdivision. A binary space partitioning tree was employed to subdivide the bounding volume of the input model into voxels. Each vertex could then be encoded into a series of binary digits, denoted as its authentication code, by traversing the constructed tree. Finally, the above authentication code was embedded into the corresponding reference vertex by modulating its position within the located subspace. Extensive experimental results demonstrated that the proposed algorithm provided high embedding capacity and high robustness. Furthermore, the proposed algorithm supported controllable distortion and self-recovery.

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A compliant gripper with nearly parallel gripping motion is developed by a topology synthesis and a dimensional synthesis approach. The topology synthesis process can generate linkage type compliant mechanisms. Suitable boundary conditions of the topology synthesis process are selected to achieve the desired functions of the device. The dimensional synthesis is based on an evolutionary optimal design process. In order to meet various design goals, a nondominated multi-objective genetic algorithm is selected for the optimal design process. A kinetostaic model based on the chained beam constraint model is developed for force-displacement analysis of the designs. Efficiency and accuracy of the design approach are proved by experiments. Appropriate linkage types of compliant mechanisms may be discovered by the topology optimization process before moving on to dimensional synthesis to obtain final designs.