机器人的自适应分散跟踪控制

提出了一种自适应分散控制策略,用于不确定性机器人的轨迹跟踪,该控制器结构简单,而且无需计算回归矩阵,通过对二自由度的机器人的仿真,证明该方法能使跟踪误差快速趋近于零.     

Rotation, Scaling and Translation Invariant Blind Image Watermarking Scheme Utilizing Zernike Moments

A novel adaptive blind image watermarking scheme resistant to Rotation, scaling and translation （RST） attacks is proposed in this paper. Based on fuzzy clustering theory and Human visual system （HVS） model, the spread spectrum watermark is adaptively embedded in Discrete wavelet transform （DWT） domain. In order to register RST transform parameters, a hierarchical neural network is utilized to learn image geometric pattern represented by low order Zernike moments. Watermark extraction is carried out after watermarked image has been synchronized without original image. It only needs a trained neural network. Experiments show that it can embed more robust watermark under certain visual distance, effectively resist Joint photographic experts group （JPEG） compression, noise and RST attacks.     

A Service Ratio-Based Dynamic Fair Queueing Algorithm for Packet Switching Networks

A new weighted fair queueing algorithm is proposed, which uses the novel flow-based service ratio parameters to schedule flows. This solves the main drawback of traditional weighted fair queneing algorithms- the packet-based calculation of the weight parameters. In addition, this paper proposes a novel service ratio calculation method and a queue mangement technology. The former adjusts the service ratio parameters adaptively based on the dynamics of the packet lengths and thee solves the unfairness problem induced by the variable packet length. The latter improves the utilization of the server＇s queue buffer and reduces the delay jitter through restricting the buffer length for each flow.     

基于支持向量机同步的自适应水印检测方法

提出了一种基于支持向量机(SVM)同步的自适应水印检测方法.该方法利用模糊聚类分析图像纹理、亮度和对比度掩蔽特性,在离散小波变换域自适应嵌入水印信号.为抵抗几何攻击,利用6个图像组合矩表示原始图像的几何特征,通过SVM学习图像旋转、缩放和平移的变换参数,同步后再进行水印的检测和提取.仿真实验表明,该算法在一定的视觉强度下可嵌入鲁棒性更强的水印,能有效抵抗噪声、JPEG压缩和几何攻击,水印检测无需原始图像,具有实用性.     

Simulink(S-function)在复杂控制系统仿真中的应用

S-function是systemfunction的简称,其功能是通过Matlab或c语言程序,设计出可实现所需功能的功能模块,将其与Simulink有机地结合,可充分发挥Simulink的优势,扩充Simulink的仿真功能,不但仿真模型简单,而且大大降底了编程的难度,特别适合于复杂控制系统的仿真.文中通过对二自由度机器人的轨迹跟踪这个控制对象,编写了S-FUNCTION程序,来说明该程序的实际应用并证明此方案的实用性.