Kinematics/Fuzzy Logic Combined Controller for Formation Control of Mobile Robots

A kinematics and fuzzy logic combined formation controller was proposed for leader-follower based formation control using backstepping method in order to accommodate the dynamics of the robot.The kinematics controller generates desired linear and angular velocities for follower robots,which make the configuration of follower robots coverage to the desired.The fuzzy logic controller takes dynamics of the leader and followers into consideration,which is built upon Mamdani fuzzy model.The force and torque acting on robots are described as linguistic variables and also 25 if-then rules are designed.In addition,the fuzzy logic controller adopts the Centroid of Area method as defuzzification strategy and makes robots’actual velocities converge to the expected which is generated by the kinematics controller.The innovation of the kinematics and fuzzy logic combined formation controller presented in the paper is that the perfect velocity tracking assumption is removed and realtime performance of the system is improved.Compared with traditional torque-computed controller,the velocity error convergence time in case of the proposed method is shorter than traditional torque-computed controller.The simulation results validate that the proposed controller can drive robot members to form the desired formation and formation tracking errors which can coverage to a neighborhood of the origin.Additionally,the simulations also show that the proposed method has better velocity convergence performance than traditional torque-computed method.

Always-optimally-coordinated candidate selection algorithm for peer-to-peer files sharing system in mobile self-organized networks

In order to improve the performance of peer-to-peer files sharing system under mobile distributed en- vironments, a novel always-optimally-coordinated （AOC） criterion and corresponding candidate selection algorithm are proposed in this paper. Compared with the traditional min-hops criterion, the new approach introduces a fuzzy knowledge combination theory to investigate several important factors that influence files transfer success rate and efficiency. Whereas the min-hops based protocols only ask the nearest candidate peer for desired files, the selection algorithm based on AOC comprehensively considers users＇ preferences and network requirements with flexible balancing rules. Furthermore, its advantage also expresses in the independence of specified resource discovering protocols, allowing for scalability. The simulation results show that when using the AOC based peer selection algorithm, system performance is much better than the rain-hops scheme, with files successful transfer rate improved more than 50% and transfer time re- duced at least 20%.

Secure and resilient improved image steganography using hybrid fuzzy neural network with fuzzy logic

The exponential growth in communication networks,data technology,advanced libraries,and mainly World Wide Web services has played a pivotal role in facilitating the retrieval of various types of information as needed.However,this progress has also led to security concerns related to the transmission of confidential data.Nevertheless,safeguarding these data during communication through insecure channels is crucial for obvious reasons.The emergence of steganography offers a robust approach to concealing confidential information,such as images,audio tracks,text files,and video files,in suitable media carriers.A novel technique is envisioned based on back-propagation learning.According to the proposed method,a hybrid fuzzy neural network(HFNN)is applied to the output obtained from the least significant bit substitution of secret data using pixel value dif-ferences and exploiting the modification direction.Through simulation and test results,it has been observed that the proposed methodology achieves secure steganography and superior visual quality.During the experiments,we observed that for the secret image of the cameraman,the PSNR&MSE values of the proposed technique are 61.963895 and 0.041361,respectively.

A Hybrid FCW-EMD and KF-BA-SVM Based Model for Short-term Load Forecasting

This paper proposes a hybrid short-term load forecasting method,which is based on the fuzzy combination weights as well as the empirical mode decomposition process(FCW-EMD),and support vector machine optimized via the Bat algorithm as well as the Kalman filtering process(KF-BA-SVM).The subjective weight is presented as a new theory and is applied to capture the inherent correlation effectively among hourly loads.Based on the proposed objective weights and subjective weights,the fuzzy combination weights theory(FCW)-a new similar day selection theory is presented,which improves the accuracy of the similar day selection,and correspondingly,makes the original data for EMD processing decrease dramatically.BA is introduced to optimize parameters of the SVM model for further improving the forecasting accuracy.Using the decomposed load series via empirical model decomposition(EMD)as inputs to SVM and further correcting the output of SVM via KF,a hybrid FCW-EMD and KF-BA-SVM short-term load forecasting method is established.Numerical case studies on the load forecasting of a transformer substation in south China show that the proposed hybrid forecasting model outperforms other forecasting methods and effectively improves the prediction accuracy.