Add debug signature to APK file

resign.bat:

set curdir=resign
set zipalign=C:\android-sdk\tools\zipalign.exe

set filename=%~n1
set fullpath=%~f1

cd /d %curdir%

rmdir /S /Q unpack
mkdir unpack

cd unpack
copy %fullpath% .\%filename%.apk

REM extract apk file and remove the existing signature
jar xf %filename%.apk
del /F /Q META-INF\CERT.*

del /F /Q %filename%.apk

REM re-create the apk file
jar cf %filename%.apk .

REM add the debug signature and the allias name should be androiddebugkey
jarsigner -verbose -keystore ..\debug.keystore -storepass android -keypass android %filename%.apk androiddebugkey

%zipalign% -v -f 4 %filename%.apk %filename%-signed-aligned.apk


C:\Users\Administrator\Desktop\apktool>java -jar apktool_2.11.1.jar b ys_out --copy-original -o patched.apk I: Using Apktool 2.11.1 on patched.apk with 8 threads I: Checking whether sources have changed... I: Checking whether sources have changed... I: Smaling smali folder into classes.dex... I: Checking whether sources have changed... I: Checking whether resources have changed... I: Building resources with aapt2... W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-hdpi\ic_launcher.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-hdpi\ic_launcher.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-hdpi\ic_launcher_foreground.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-hdpi\ic_launcher_foreground.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-hdpi\ic_launcher_round.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-hdpi\ic_launcher_round.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-mdpi\ic_launcher.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-mdpi\ic_launcher.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-mdpi\ic_launcher_foreground.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-mdpi\ic_launcher_foreground.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-mdpi\ic_launcher_round.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-mdpi\ic_launcher_round.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xhdpi\ic_launcher.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xhdpi\ic_launcher.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xhdpi\ic_launcher_foreground.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xhdpi\ic_launcher_foreground.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xhdpi\ic_launcher_round.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xhdpi\ic_launcher_round.png: error: file failed to compile. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xxhdpi\ic_launcher.png: error: failed to read PNG signature: file does not start with PNG signature. W: C:\Users\Administrator\Desktop\apktool\ys_out\res\mipmap-xxhdpi\ic_launcher.png: error: file failed to compile. Exception in thread "main" brut.androlib.exceptions.AndrolibException: brut.common.BrutException: could not exec (exit code = 1): [C:\Users\Administrator\AppData\Local\Temp\brut_util_Jar_157669682827589415782199892265289432549.tmp, compile, --dir, C:\Users\Administrator\Desktop\apktool\ys_out\res, --legacy, -o, C:\Users\Administrator\Desktop\apktool\ys_out\build\resources.zip] at brut.androlib.AaptInvoker.invoke(SourceFile:106) at brut.androlib.ApkBuilder.buildResources(SourceFile:352) at brut.androlib.ApkBuilder.build(SourceFile:93) at brut.apktool.Main.main(SourceFile:322) Caused by: brut.common.BrutException: could not exec (exit code = 1): [C:\Users\Administrator\AppData\Local\Temp\brut_util_Jar_157669682827589415782199892265289432549.tmp, compile, --dir, C:\Users\Administrator\Desktop\apktool\ys_out\res, --legacy, -o, C:\Users\Administrator\Desktop\apktool\ys_out\build\resources.zip] at brut.util.OS.exec(SourceFile:143) at brut.androlib.AaptInvoker.invoke(SourceFile:102) ... 3 more ys_out\smali\com\example\floatingball\FloatingBallService$TouchListener.smali[107,0] Error for input '.end class': Invalid directive
10-12
内容概要:本文围绕六自由度机械臂的人工神经网络(ANN)设计展开,重点研究了正向与逆向运动学求解、正向动力学控制以及基于拉格朗日-欧拉法推导逆向动力学方程,并通过Matlab代码实现相关算法。文章结合理论推导与仿真实践,利用人工神经网络对复杂的非线性关系进行建模与逼近,提升机械臂运动控制的精度与效率。同时涵盖了路径规划中的RRT算法与B样条优化方法,形成从运动学到动力学再到轨迹优化的完整技术链条。; 适合人群:具备一定机器人学、自动控制理论基础,熟悉Matlab编程,从事智能控制、机器人控制、运动学六自由度机械臂ANN人工神经网络设计:正向逆向运动学求解、正向动力学控制、拉格朗日-欧拉法推导逆向动力学方程(Matlab代码实现)建模等相关方向的研究生、科研人员及工程技术人员。; 使用场景及目标:①掌握机械臂正/逆运动学的数学建模与ANN求解方法;②理解拉格朗日-欧拉法在动力学建模中的应用;③实现基于神经网络的动力学补偿与高精度轨迹跟踪控制;④结合RRT与B样条完成平滑路径规划与优化。; 阅读建议:建议读者结合Matlab代码动手实践,先从运动学建模入手,逐步深入动力学分析与神经网络训练,注重理论推导与仿真实验的结合,以充分理解机械臂控制系统的设计流程与优化策略。
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