Blockchain is a revolutionary technology that has reshaped the trust model among mutually distrustful peers in a distributed network. While blockchain is well-known for its initial usage in a public manner, such as the cryptocurrency of Bitcoin, consortium blockchain, which requires authentication of all involved participants, has also been widely adopted in various domains. Nevertheless, there is a lack of comprehensive study of consortium blockchain in terms of its architecture design, consensus mechanisms, comparative performance, etc. In this study, we aim to fill this gap by surveying the most popular consortium blockchain platforms and assessing their core designs in a layered fashion. Particularly, Byzantine fault tolerant (BFT) state machine replication (SMR) is introduced to act as a basic computational model of consortium blockchain. Then the consortium blockchain is split into the hardware layer, layer-0 (network layer), layer-I (data layer, consensus layer and contract layer), layer-II protocols, and application layer. Each layer is presented with closely related discussion and analysis. Furthermore, with the extraction of the core functionalities, i.e., robust storage and guaranteed execution, that a consortium blockchain can provide, several typical consortium blockchain-empowered decentralized application scenarios are introduced. With these thorough studies and analyses, this work aims to systematize the knowledge dispersed in the consortium blockchain, highlight the unsolved challenges, and also indicate the propitious avenues of future work.

The industrial chain forms a network of interconnected enterprises spanning from raw material procurement to final product distribution, enabling cost reduction, operational efficiency improvement, and enhanced market competitiveness. However, business resource conversion among enterprises often leads to information asymmetry, which impedes effective interconnection and collaboration. To address this challenge, WFC-Net (Workflow-Control Petri Net with Resource Fusion), a model tailored for multi-collaboration scenarios among interconnected enterprises in the industrial chain, is proposed. The proposed approach integrates WF-Net workflow characteristics with C-Net dependency modeling and Petri net transitions to enable precise workflow control and effective business resource coordination. The resource attributes are incorporated as first-class net elements, and a receding-horizon optimization policy is employed to dynamically adapt to varying operational conditions. Comparative simulation experiments demonstrate that WFC-Net achieves superior performance across all metrics, with an 89.1% authorization success rate and 36.0% event completion rate, outperforming Petri Net, C-Net, and WF-Net baselines. The full-rank reachability matrix provides a necessary condition for linearized controllability, offering a theoretical foundation for stable authorization behavior under the receding-horizon policy. These results demonstrate that WFC-Net consistently achieves or approximates target business-side metrics while ensuring controllability and soundness.

To solve the problem of abnormal angular velocity and angular acceleration in manipulator trajectory motion controlled by quintic spline interpolation algorithm, a manipulator trajectory control algorithm combined with moving average filtering algorithm was proposed. Based on the quintic spline interpolation algorithm, the moving average filtering algorithm was used to clean the abnormal data under the quintic spline interpolation. And the recursive forward dynamics model based on joint space motion was used to design the trajectory motion control of the manipulator. The simulation results show that the manipulator trajectory control algorithm combined with the moving average filtering algorithm has strong constraint ability of diagonal velocity and angular acceleration, and 67% of the maximum velocity and maximum acceleration of the joint axis of the designed manipulator trajectory are significantly reduced, and the curve is smoother.