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  • Open Access


    Takagi–Sugeno Fuzzy Modeling and Control for Effective Robotic Manipulator Motion

    Izzat Al-Darraji1,2, Ayad A. Kakei2, Ayad Ghany Ismaeel3, Georgios Tsaramirsis4, Fazal Qudus Khan5, Princy Randhawa6, Muath Alrammal4, Sadeeq Jan7,*

    CMC-Computers, Materials & Continua, Vol.71, No.1, pp. 1011-1024, 2022, DOI:10.32604/cmc.2022.022451

    Abstract Robotic manipulators are widely used in applications that require fast and precise motion. Such devices, however, are prompt to nonlinear control issues due to the flexibility in joints and the friction in the motors within the dynamics of their rigid part. To address these issues, the Linear Matrix Inequalities (LMIs) and Parallel Distributed Compensation (PDC) approaches are implemented in the Takagy–Sugeno Fuzzy Model (T-SFM). We propose the following methodology; initially, the state space equations of the nonlinear manipulator model are derived. Next, a Takagy–Sugeno Fuzzy Model (T-SFM) technique is used for linearizing the state space More >

  • Open Access


    Image Manipulation Detection Through Laterally Linked Pixels and Kernel Algorithms

    K. K. Thyagharajan, G. Nirmala*

    Computer Systems Science and Engineering, Vol.41, No.1, pp. 357-371, 2022, DOI:10.32604/csse.2022.020258

    Abstract In this paper, copy-move forgery in image is detected for single image with multiple manipulations such as blurring, noise addition, gray scale conversion, brightness modifications, rotation, Hu adjustment, color adjustment, contrast changes and JPEG Compression. However, traditional algorithms detect only copy-move attacks in image and never for different manipulation in single image. The proposed LLP (Laterally linked pixel) algorithm has two dimensional arrays and single layer is obtained through unit linking pulsed neural network for detection of copied region and kernel tricks is applied for detection of multiple manipulations in single forged image. LLP algorithm… More >

  • Open Access


    An Adaptive Fuzzy Control Model for Multi-Joint Manipulators

    Yanzan Han1,*, Huawen Zhang1, Zengfang Shi1, Shuang Liang2

    Computer Systems Science and Engineering, Vol.40, No.3, pp. 1043-1057, 2022, DOI:10.32604/csse.2022.017742

    Abstract Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics, random disturbances and load variations. To account for uncertain disturbances in the operation of manipulators, we propose an adaptive manipulator control method based on a multi-joint fuzzy system, in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable. The control algorithm of the system is a MIMO (multi-input-multi-output) fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error. More >

  • Open Access


    Manipulating Chladni Patterns of Ferromagnetic Materials by an External Magnetic Field

    Kenneth R. Podolak*, Vihan A.W. Wickramasinghe, Gareth A. Mansfield, Alex M. Tuller

    Sound & Vibration, Vol.55, No.3, pp. 235-240, 2021, DOI:10.32604/sv.2021.015008

    Abstract Ernst Chladni is called the father of acoustics for his work, which includes investigating patterns formed by vibrating plates. Understanding these patterns helps research involving standing waves and other harmonic behaviors, including studies of single electron orbits in atoms. Our experiment vibrates circular plates which result in well-known patterns. Alternatively to traditional experiments that used sand or salt, we use magnetic materials, namely iron filings and nickel powder. We then manipulate the patterns by applying a localized external magnetic field to one of the rings that moves a segment of the magnetic material in that More >

  • Open Access


    Analysis of Iterative Process for Nauru Voting System

    Neelam Gohar1,*, Sidra Niaz1, Mamoona Naveed Asghar2, Salma Noor1

    Intelligent Automation & Soft Computing, Vol.28, No.1, pp. 241-259, 2021, DOI:10.32604/iasc.2021.015461

    Abstract Game theory is a popular area of artificial intelligence in which the voter acknowledges his own desires and favors the person he wants to be his representative. In multi-agent systems, social choice functions help aggregate agents’ different preferences over alternatives into a single choice. Since all voting rules are susceptible to manipulation, the analysis of elections is complicated by the possibility of voter manipulation attempts. One approach to understanding elections is to treat them as an iterative process and see if we can reach an equilibrium point. Meir et al. proposed an iterative process to… More >

  • Open Access


    Soy Protein Isolate Non-Isocyanates Polyurethanes (NIPU) Wood Adhesives

    Xinyi Chen1,2, Antonio Pizzi1,*, Xuedong Xi1,2, Xiaojian Zhou2, Emmanuel Fredon1, Christine Gerardin3

    Journal of Renewable Materials, Vol.9, No.6, pp. 1045-1057, 2021, DOI:10.32604/jrm.2021.015066

    Abstract Soy-protein isolate (SPI) was used to prepare non-isocyanate polyurethane (NIPU) thermosetting adhesives for wood panels by reacting it with dimethyl carbonate (DMC) and hexamethylene diamine. Both linear as well as branched oligomers were obtained and identified, indicating how such oligomer structures could further cross-link to form a hardened network. Unusual structures were observed, namely carbamic acid-derived urethane linkages coupled with lactam structures. The curing of the adhesive was followed by thermomechanical analysis (TMA). It appeared to follow a two stages process: First, at a lower temperature (maximum 130°C), the growth of linear oligomers occurred, finally… More >

  • Open Access


    Organosolv Lignin for Non-Isocyanate Based Polyurethanes (NIPU) as Wood Adhesive

    Jaša Saražin1, Antonio Pizzi2, Siham Amirou2, Detlef Schmiedl3, Milan Šernek1,*

    Journal of Renewable Materials, Vol.9, No.5, pp. 881-907, 2021, DOI:10.32604/jrm.2021.015047

    Abstract A non-isocyanate-based polyurethane (NIPU) wood adhesive was produced from organosolv lignin, which is a bio-sourced raw material, available in large quantities and produced as a by-product of the paper industry. The formulation of this new lignin-based NIPU adhesive, which is presented, was chemically characterised by Matrix-Assisted Laser Desorption Ionization Time of Flight (MALDI ToF) mass spectrometry and by Fourier Transform Infra-Red (FTIR) spectrometry analyses. The oligomers formed were determined and showed that the three species involved in the NIPU adhesive preparation were formed by the co-reaction of the three reagents used: lignin, dimethyl carbonate, and… More >

  • Open Access


    Multiparty Quantum Key Agreement With Strong Fairness Property

    Vankamamidi S. Naresh1,∗, Sivaranjani Reddi2

    Computer Systems Science and Engineering, Vol.35, No.6, pp. 457-465, 2020, DOI:10.32604/csse.2020.35.457

    Abstract Multiparty Key Agreement (MKA) is the backbone for secure multiparty communication. Although numerous efficient MKA-cryptosystems are available in the classical field, their security relies on the assumption that some computational issues are infeasible. To overcome this dependency, a new area, quantum cryptography, evolves to support key agreement among two or more participants securely. In this paper, first, we present a two-part quantum key agreement with Strong Fairness Property (SFP) and extends it to a Multiparty Quantum Key Agreement (MQKA) protocol. In the first round of proposed MQKA, a participant will act as a group controller… More >

  • Open Access


    An Overview of Face Manipulation Detection

    Xingwang Ju*

    Journal of Cyber Security, Vol.2, No.4, pp. 197-207, 2020, DOI:10.32604/jcs.2020.014310

    Abstract Due to the power of editing tools, new types of fake faces are being created and synthesized, which has attracted great attention on social media. It is reasonable to acknowledge that one human cannot distinguish whether the face is manipulated from the real faces. Therefore, the detection of face manipulation becomes a critical issue in digital media forensics. This paper provides an overview of recent deep learning detection models for face manipulation. Some public dataset used for face manipulation detection is introduced. On this basis, the challenges for the research and the potential future directions More >

  • Open Access


    Research on Trajectory Tracking Method of Redundant Manipulator Based on PSO Algorithm Optimization

    Shifu Xu*, Yanan Jiang

    CMES-Computer Modeling in Engineering & Sciences, Vol.125, No.1, pp. 401-415, 2020, DOI:10.32604/cmes.2020.09608

    Abstract Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize, the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied. The kinematic diagram of redundant manipulator is created, to derive the equation of motion trajectory of redundant manipulator end. Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy. Based on the tracking ellipse of redundant manipulator, the tracking shape of redundant manipulator is determined with the overall tracking index as the second index, and the optimization… More >

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