Abstract: Robot manipulators are highly coupled nonlinear
systems, therefore real system and mathematical model of dynamics
used for control system design are not same. Hence, fine-tuning of
controller is always needed. For better tuning fast simulation speed
is desired. Since, Matlab incorporates LAPACK to increase the speed
and complexity of matrix computation, dynamics, forward and
inverse kinematics of PUMA 560 is modeled on Matlab/Simulink in
such a way that all operations are matrix based which give very less
simulation time. This paper compares PID parameter tuning using
Genetic Algorithm, Simulated Annealing, Generalized Pattern Search
(GPS) and Hybrid Search techniques. Controller performances for all
these methods are compared in terms of joint space ITSE and
cartesian space ISE for tracking circular and butterfly trajectories.
Disturbance signal is added to check robustness of controller. GAGPS
hybrid search technique is showing best results for tuning PID
controller parameters in terms of ITSE and robustness.
Abstract: Image watermarking has become an important tool for
intellectual property protection and authentication. In this paper a
watermarking technique is suggested that incorporates two
watermarks in a host image for improved protection and robustness.
A watermark, in form of a PN sequence (will be called the secondary
watermark), is embedded in the wavelet domain of a primary
watermark before being embedded in the host image. The technique
has been tested using Lena image as a host and the camera man as
the primary watermark. The embedded PN sequence was detectable
through correlation among other five sequences where a PSNR of
44.1065 dB was measured. Furthermore, to test the robustness of the
technique, the watermarked image was exposed to four types of
attacks, namely compression, low pass filtering, salt and pepper noise
and luminance change. In all cases the secondary watermark was
easy to detect even when the primary one is severely distorted.
Abstract: Many artificial intelligence (AI) techniques are inspired
by problem-solving strategies found in nature. Robustness is a key
feature in many natural systems. This paper studies robustness in
artificial neural networks (ANNs) and proposes several novel, nature
inspired ANN architectures. The paper includes encouraging results
from experimental studies on these networks showing increased
robustness.
Abstract: Dichotomization of the outcome by a single cut-off point is an important part of various medical studies. Usually the relationship between the resulted dichotomized dependent variable and explanatory variables is analyzed with linear regression, probit regression or logistic regression. However, in many real-life situations, a certain cut-off point dividing the outcome into two groups is unknown and can be specified only approximately, i.e. surrounded by some (small) uncertainty. It means that in order to have any practical meaning the regression model must be robust to this uncertainty. In this paper, we show that neither the beta in the linear regression model, nor its significance level is robust to the small variations in the dichotomization cut-off point. As an alternative robust approach to the problem of uncertain medical categories, we propose to use the linear regression model with the fuzzy membership function as a dependent variable. This fuzzy membership function denotes to what degree the value of the underlying (continuous) outcome falls below or above the dichotomization cut-off point. In the paper, we demonstrate that the linear regression model of the fuzzy dependent variable can be insensitive against the uncertainty in the cut-off point location. In the paper we present the modeling results from the real study of low hemoglobin levels in infants. We systematically test the robustness of the binomial regression model and the linear regression model with the fuzzy dependent variable by changing the boundary for the category Anemia and show that the behavior of the latter model persists over a quite wide interval.
Abstract: Digital watermarking is one of the techniques for
copyright protection. In this paper, a normalization-based robust
image watermarking scheme which encompasses singular value
decomposition (SVD) and discrete cosine transform (DCT)
techniques is proposed. For the proposed scheme, the host image is
first normalized to a standard form and divided into non-overlapping
image blocks. SVD is applied to each block. By concatenating the
first singular values (SV) of adjacent blocks of the normalized image,
a SV block is obtained. DCT is then carried out on the SV blocks to
produce SVD-DCT blocks. A watermark bit is embedded in the highfrequency
band of a SVD-DCT block by imposing a particular
relationship between two pseudo-randomly selected DCT
coefficients. An adaptive frequency mask is used to adjust local
watermark embedding strength. Watermark extraction involves
mainly the inverse process. The watermark extracting method is blind
and efficient. Experimental results show that the quality degradation
of watermarked image caused by the embedded watermark is visually
transparent. Results also show that the proposed scheme is robust
against various image processing operations and geometric attacks.
Abstract: Design patterns describe good solutions to common
and reoccurring problems in program design. Applying design
patterns in software design and implementation have significant
effects on software quality metrics such as flexibility, usability,
reusability, scalability and robustness. There is no standard rule for
using design patterns. There are some situations that a pattern is
applied for a specific problem and this pattern uses another pattern.
In this paper, we study the effect of using chain of patterns on
software quality metrics.
Abstract: This paper deals with a design method of a discrete
modified Internal Model Control (IMC) for a plant with an integrator
and dead time. If there is a load disturbance in the input or output side
of the plant, the proposed control system can eliminate the steady-state
error caused by it. The disturbance compensator in this method is
simple and its order is low regardless of that of a plant. The simulation
studies show that the proposed method has superior performance for a
load disturbance rejection and robustness.
Abstract: A novel robust audio watermarking scheme is
proposed in this paper. In the proposed scheme, the host audio signals
are segmented into frames. Two consecutive frames are assessed if
they are suitable to represent a watermark bit. If so, frequency
transform is performed on these two frames. The compressionexpansion
technique is adopted to generate distortion over the two
frames. The distortion is used to represent one watermark bit.
Psychoacoustic model is applied to calculate local auditory mask to
ensure that the distortion is not audible. The watermarking schemes
using mono and stereo audio signals are designed differently. The
correlation-based detection method is used to detect the distortion
and extract embedded watermark bits. The experimental results show
that the quality degradation caused by the embedded watermarks is
perceptually transparent and the proposed schemes are very robust
against different types of attacks.
Abstract: Many states are now committed to implementing
international human rights standards domestically. In terms of
practical governance, how might effectiveness be measured? A facevalue
answer can be found in domestic laws and institutions relating
to human rights. However, this article provides two further tools to
help states assess their status on the spectrum of robust to fragile
human rights governance. The first recognises that each state has its
own 'human rights history' and the ideal end stage is robust human
rights governance, and the second is developing criteria to assess
robustness. Although a New Zealand case study is used to illustrate
these tools, the widespread adoption of human rights standards by
many states inevitably means that the issues are relevant to other
countries. This is even though there will always be varying degrees of
similarity-difference in constitutional background and developed or
emerging human rights systems.
Abstract: Over last two decades, due to hostilities of environment
over the internet the concerns about confidentiality of information
have increased at phenomenal rate. Therefore to safeguard the information
from attacks, number of data/information hiding methods have
evolved mostly in spatial and transformation domain.In spatial domain
data hiding techniques,the information is embedded directly on
the image plane itself. In transform domain data hiding techniques the
image is first changed from spatial domain to some other domain and
then the secret information is embedded so that the secret information
remains more secure from any attack. Information hiding algorithms
in time domain or spatial domain have high capacity and relatively
lower robustness. In contrast, the algorithms in transform domain,
such as DCT, DWT have certain robustness against some multimedia
processing.In this work the authors propose a novel steganographic
method for hiding information in the transform domain of the gray
scale image.The proposed approach works by converting the gray
level image in transform domain using discrete integer wavelet
technique through lifting scheme.This approach performs a 2-D
lifting wavelet decomposition through Haar lifted wavelet of the cover
image and computes the approximation coefficients matrix CA and
detail coefficients matrices CH, CV, and CD.Next step is to apply the
PMM technique in those coefficients to form the stego image. The
aim of this paper is to propose a high-capacity image steganography
technique that uses pixel mapping method in integer wavelet domain
with acceptable levels of imperceptibility and distortion in the cover
image and high level of overall security. This solution is independent
of the nature of the data to be hidden and produces a stego image
with minimum degradation.
Abstract: In this paper, we present a novel, principled approach to resolve the remained problems of substitution technique of audio steganography. Using the proposed genetic algorithm, message bits are embedded into multiple, vague and higher LSB layers, resulting in increased robustness. The robustness specially would be increased against those intentional attacks which try to reveal the hidden message and also some unintentional attacks like noise addition as well.
Abstract: Bond Graph as a unified multidisciplinary tool is widely
used not only for dynamic modelling but also for Fault Detection and
Isolation because of its structural and causal proprieties. A binary
Fault Signature Matrix is systematically generated but to make the
final binary decision is not always feasible because of the problems
revealed by such method. The purpose of this paper is introducing a
methodology for the improvement of the classical binary method of
decision-making, so that the unknown and identical failure signatures
can be treated to improve the robustness. This approach consists of
associating the evaluated residuals and the components reliability data
to build a Hybrid Bayesian Network. This network is used in two
distinct inference procedures: one for the continuous part and the
other for the discrete part. The continuous nodes of the network are
the prior probabilities of the components failures, which are used by
the inference procedure on the discrete part to compute the posterior
probabilities of the failures. The developed methodology is applied
to a real steam generator pilot process.
Abstract: The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonomous underwater vehicle. The CDM is an algebraic approach in which the characteristic polynomial and the controller are synthesized simultaneously. Particularly, a coefficient diagram (comparable to Bode diagram) is used effectively to convey pertinent design information and as a measure of trade-off between stability, response speed and robustness. In the polynomial ring, Kharitonov polynomials are employed to analyze the robustness of the controller due to parametric uncertainties.
Abstract: In this paper, a novel LVTSCR-based device for
electrostatic discharge (ESD) protection of integrated circuits (ICs) is
designed, fabricated and characterized. The proposed device is similar
to the conventional LVTSCR but it has an embedded PMOSFET in the
anode n-well to enhance the turn on speed, the clamping capability and
the robustness. This is possible because the embedded PMOSFET
provides the sub-path of ESD discharge current. The TLP, HBM and
MM testing are carried out to verify the ESD performance of the
proposed devices, which are fabricated in 0.35um
(Bipolar-CMOS-DMOS) BCDMOS process. The device has the
robustness of 70mA/um that is higher about 60mA/um than the
LVTSCR, approximately.
Abstract: This paper proposes an effective algorithm approach to hybrid control systems combining fuzzy logic and conventional control techniques of controlling the speed of induction motor assumed to operate in high-performance drives environment. The introducing of fuzzy logic in the control systems helps to achieve good dynamical response, disturbance rejection and low sensibility to parameter variations and external influences. Some fundamentals of the fuzzy logic control are preliminary illustrated. The developed control algorithm is robust, efficient and simple. It also assures precise trajectory tracking with the prescribed dynamics. Experimental results have shown excellent tracking performance of the proposed control system, and have convincingly demonstrated the validity and the usefulness of the hybrid fuzzy controller in high-performance drives with parameter and load uncertainties. Satisfactory performance was observed for most reference tracks.
Abstract: Repetitive control and feedback dithering modulation
are applied to a single-phase voltage source inverter, with an aim to
eliminate harmonics and stabilize the inverter under load variations.
The proposed control and modulation scheme comprise multiple loops
of feedback, which helps improve inverter performance and
robustness. Experimental results show that the designed inverter
exhibits very low distortion at its output with THD of about 0.3%
under different load variations.
Abstract: Cryptography, Image watermarking and E-banking are
filled with apparent oxymora and paradoxes. Random sequences are
used as keys to encrypt information to be used as watermark during
embedding the watermark and also to extract the watermark during
detection. Also, the keys are very much utilized for 24x7x365
banking operations. Therefore a deterministic random sequence is
very much useful for online applications. In order to obtain the same
random sequence, we need to supply the same seed to the generator.
Many researchers have used Deterministic Random Number
Generators (DRNGs) for cryptographic applications and Pseudo
Noise Random sequences (PNs) for watermarking. Even though,
there are some weaknesses in PN due to attacks, the research
community used it mostly in digital watermarking. On the other hand,
DRNGs have not been widely used in online watermarking due to its
computational complexity and non-robustness. Therefore, we have
invented a new design of generating DRNG using Pi-series to make it
useful for online Cryptographic, Digital watermarking and Banking
applications.
Abstract: This paper proposes a novel feature extraction method,
based on Discrete Wavelet Transform (DWT) and K-L Seperability
(KLS), for the classification of Functional Data (FD). This method
combines the decorrelation and reduction property of DWT and the
additive independence property of KLS, which is helpful to extraction
classification features of FD. It is an advanced approach of the
popular wavelet based shrinkage method for functional data reduction
and classification. A theory analysis is given in the paper to prove the
consistent convergence property, and a simulation study is also done
to compare the proposed method with the former shrinkage ones. The
experiment results show that this method has advantages in improving
classification efficiency, precision and robustness.
Abstract: In this paper, a novel feature-based image
watermarking scheme is proposed. Zernike moments which have
invariance properties are adopted in the scheme. In the proposed
scheme, feature points are first extracted from host image and several
circular patches centered on these points are generated. The patches
are used as carriers of watermark information because they can be
regenerated to locate watermark embedding positions even when
watermarked images are severely distorted. Zernike transform is then
applied to the patches to calculate local Zernike moments. Dither
modulation is adopted to quantize the magnitudes of the Zernike
moments followed by false alarm analysis. Experimental results show
that quality degradation of watermarked image is visually
transparent. The proposed scheme is very robust against image
processing operations and geometric attacks.
Abstract: Digital watermarking has become an important technique for copyright protection but its robustness against attacks remains a major problem. In this paper, we propose a normalizationbased robust image watermarking scheme. In the proposed scheme, original host image is first normalized to a standard form. Zernike transform is then applied to the normalized image to calculate Zernike moments. Dither modulation is adopted to quantize the magnitudes of Zernike moments according to the watermark bit stream. The watermark extracting method is a blind method. Security analysis and false alarm analysis are then performed. The quality degradation of watermarked image caused by the embedded watermark is visually transparent. Experimental results show that the proposed scheme has very high robustness against various image processing operations and geometric attacks.