The act of transmitting photos via the Internet has become a routine and significant activity.Enhancing the security measures to safeguard these images from counterfeiting and modifications is a critical domain that c...The act of transmitting photos via the Internet has become a routine and significant activity.Enhancing the security measures to safeguard these images from counterfeiting and modifications is a critical domain that can still be further enhanced.This study presents a system that employs a range of approaches and algorithms to ensure the security of transmitted venous images.The main goal of this work is to create a very effective system for compressing individual biometrics in order to improve the overall accuracy and security of digital photographs by means of image compression.This paper introduces a content-based image authentication mechanism that is suitable for usage across an untrusted network and resistant to data loss during transmission.By employing scale attributes and a key-dependent parametric Long Short-Term Memory(LSTM),it is feasible to improve the resilience of digital signatures against image deterioration and strengthen their security against malicious actions.Furthermore,the successful implementation of transmitting biometric data in a compressed format over a wireless network has been accomplished.For applications involving the transmission and sharing of images across a network.The suggested technique utilizes the scalability of a structural digital signature to attain a satisfactory equilibrium between security and picture transfer.An effective adaptive compression strategy was created to lengthen the overall lifetime of the network by sharing the processing of responsibilities.This scheme ensures a large reduction in computational and energy requirements while minimizing image quality loss.This approach employs multi-scale characteristics to improve the resistance of signatures against image deterioration.The proposed system attained a Gaussian noise value of 98%and a rotation accuracy surpassing 99%.展开更多
A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form ...A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.展开更多
This work demonstrates in practical terms the evolutionary concepts and computational applications of Parametric Curves.Specific cases were drawn from higher order parametric Bezier curves of degrees 2 and above.Bezie...This work demonstrates in practical terms the evolutionary concepts and computational applications of Parametric Curves.Specific cases were drawn from higher order parametric Bezier curves of degrees 2 and above.Bezier curves find real life applications in diverse areas of Engineering and Computer Science,such as computer graphics,robotics,animations,virtual reality,among others.Some of the evolutionary issues explored in this work are in the areas of parametric equations derivations,proof of related theorems,first and second order calculus related computations,among others.A Practical case is demonstrated using a graphical design,physical hand sketching,and programmatic implementation of two opposite-faced handless cups,all evolved using quadratic Bezier curves.The actual drawing was realized using web graphics canvas programming based on HTML 5 and JavaScript.This work will no doubt find relevance in computational researches in the areas of graphics,web programming,automated theorem proofs,robotic motions,among others.展开更多
In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize th...In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize the amount of calculation,cubic and quartic Bezier curves are both analyzed.Furthermore,the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation.How to define the transition points for different curves is presented.A general move command interface is defined for receiving the curve limitations and transition parameters.Then,how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given.Different situations are discussed separately,including transition between two lines,transition between a line and a circle,and transition between two circles.Finally,the experiments are carried out on a six degree of freedom(DOF) industrial robot to validate the proposed method.Results of single transition and multiple transitions are presented.The trajectories in the joint space are also analyzed.The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability.展开更多
A Bezier interpolation approach is proposed which uses local generation of endpoint slopes and forces the curve and the surface to pass through an arbitrarily specified point to control and modify the shape of curve a...A Bezier interpolation approach is proposed which uses local generation of endpoint slopes and forces the curve and the surface to pass through an arbitrarily specified point to control and modify the shape of curve and surface, making the result satisfactory.展开更多
This is a continuation of short communication([1]). In [1] a verification of the implicitization equation for degree two rational Bezier curves is presented which does not require the use of resultants. This paper pre...This is a continuation of short communication([1]). In [1] a verification of the implicitization equation for degree two rational Bezier curves is presented which does not require the use of resultants. This paper presents these verifications in the general cases, i.e., for degree n rational Bezier curves. Thus some interesting interplay between the structure of the n x n implicitization matrix and the de Casteljau algorithm is revealed.展开更多
针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特...针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特点;然后,针对TTP设计了一种避障路径规划系统方案及Bezier曲线路径优化控制方法,该方法拟合出的路径具有路径光滑、曲率连续、初末位置曲率相同等优点;最后,在CarSim仿真平台搭建TTP模型和坡道避障作业的环境模型,验证并分析横摆角速度、质心侧偏角两项重要的操稳性参数.结果表明:TTP在Bezier曲线拟合的避障路径控制方法下当运行速度小于转向极限速度时,运行稳定性良好,当转向速度超过极限速度的65.1%,其横摆角速度和质心侧偏角的超调量变化率分别达到了50.3%和78.6%;同时在该避障控制方法下,随着坡度的增加,即使速度保证在极限速度以下,TTP稳定性也会进一步恶化;在极限坡度角范围内,坡度角增大10°,其横摆角速度和质心侧偏角的超调量变化率平均达到了32.8%和14.5%.展开更多
The existing results of curve degree elevation mainly focus on the degree of algebraic polynomials. The paper considers the elevation of degree of the trigonometric polynomial, from a Bezier curve on the algebraic pol...The existing results of curve degree elevation mainly focus on the degree of algebraic polynomials. The paper considers the elevation of degree of the trigonometric polynomial, from a Bezier curve on the algebraic polynomial space, to a C-Bezier curve on the algebraic and trigonometric polynomial space. The matrix of degree elevation is obtained by an operator presentation and a derivation pyramid. It possesses not a recursive presentation but a direct expression. The degree elevation process can also be represented as a corner cutting form.展开更多
针对滩涂履带车在受潮汐影响的滩涂环境中进行长时间勘测作业的需求,提出柯西贝塞尔快速搜索随机树星(Cauchy Bessel Rapidly-exploring Random Tree Star,CB-RRT^(*))算法进行路径规划。为规划出安全路径,基于全局地图和潮汐数据,并通...针对滩涂履带车在受潮汐影响的滩涂环境中进行长时间勘测作业的需求,提出柯西贝塞尔快速搜索随机树星(Cauchy Bessel Rapidly-exploring Random Tree Star,CB-RRT^(*))算法进行路径规划。为规划出安全路径,基于全局地图和潮汐数据,并通过滩涂履带车到分界区的距离构建出滩涂预测模型;为提高滩涂履带车移动到目标点需进行多次路径规划的速度,对初始路径的关键树节点使用柯西概率密度函数进行采样缩小采样范围来提高节点的利用率,进而提高算法的收敛性;在重选父节点过程中考虑最大转角约束设定相应系数,并使用连续二次贝塞尔曲线进行拼接的方式来生成路径,达到提高路径平滑度的目的和解决平滑后路径与原路径偏差过大造成的安全性问题。仿真实验结果表明,CB-RRT^(*)算法在静态滩涂环境和动态滩涂环境中,能大大提高算法的收敛性和路径的平滑性,且保证路径长度最优,研究内容可以保证滩涂履带车在各种滩涂环境中进行长时间安全作业。展开更多
舌诊是中医望诊的重要手段,同时,温度与人体的健康息息相关。为了研究舌面的脏腑功能定位及舌象温度关系的反映,论文提出了一种红外技术的感兴趣区域(region of interest, ROI)模型研究方法。首先,利用葛立恒扫描法和Bezier曲线对多边形...舌诊是中医望诊的重要手段,同时,温度与人体的健康息息相关。为了研究舌面的脏腑功能定位及舌象温度关系的反映,论文提出了一种红外技术的感兴趣区域(region of interest, ROI)模型研究方法。首先,利用葛立恒扫描法和Bezier曲线对多边形ROI模型进行改进;然后,借助U-Net分割网络将提取出的温度信息进行训练与学习,从而做到批量处理舌体温度信息;最后,利用HSV色彩模型进行3D可视化,达成舌象温度分区的可视化研究。此外,为了验证该方法的准确性,实验还对模型截取出的舌体进行了评价指标验证,准确度可以达到0.991 1,分割效果极佳。研究表明:改进后的红外信息提取技术既能直观地观察到舌体的分区状况,也可以完整保留舌体的信息变化,为中医的数据化提供了完整可行性方案。实现了舌体红外信息数据的提取与中医诊断技术的有机结合。解决了中医一体化望诊的舌体信息完整性及准确性问题。展开更多
文摘The act of transmitting photos via the Internet has become a routine and significant activity.Enhancing the security measures to safeguard these images from counterfeiting and modifications is a critical domain that can still be further enhanced.This study presents a system that employs a range of approaches and algorithms to ensure the security of transmitted venous images.The main goal of this work is to create a very effective system for compressing individual biometrics in order to improve the overall accuracy and security of digital photographs by means of image compression.This paper introduces a content-based image authentication mechanism that is suitable for usage across an untrusted network and resistant to data loss during transmission.By employing scale attributes and a key-dependent parametric Long Short-Term Memory(LSTM),it is feasible to improve the resilience of digital signatures against image deterioration and strengthen their security against malicious actions.Furthermore,the successful implementation of transmitting biometric data in a compressed format over a wireless network has been accomplished.For applications involving the transmission and sharing of images across a network.The suggested technique utilizes the scalability of a structural digital signature to attain a satisfactory equilibrium between security and picture transfer.An effective adaptive compression strategy was created to lengthen the overall lifetime of the network by sharing the processing of responsibilities.This scheme ensures a large reduction in computational and energy requirements while minimizing image quality loss.This approach employs multi-scale characteristics to improve the resistance of signatures against image deterioration.The proposed system attained a Gaussian noise value of 98%and a rotation accuracy surpassing 99%.
基金Supported by National Natural Science Foundation of China(Grant No.61733017)Foundation of State Key Laboratory of Robotics of China(Grant No.2018O13)Shanghai Pujiang Program of China(Grant No.18PJD018).
文摘A super redundant serpentine manipulator has slender structure and multiple degrees of freedom.It can travel through narrow spaces and move in complex spaces.This manipulator is composed of many modules that can form different lengths of robot arms for different application sites.The increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint space.This paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant manipulator.In this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader strategy.The relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth curve.Simulation results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint constraints.The proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.
文摘This work demonstrates in practical terms the evolutionary concepts and computational applications of Parametric Curves.Specific cases were drawn from higher order parametric Bezier curves of degrees 2 and above.Bezier curves find real life applications in diverse areas of Engineering and Computer Science,such as computer graphics,robotics,animations,virtual reality,among others.Some of the evolutionary issues explored in this work are in the areas of parametric equations derivations,proof of related theorems,first and second order calculus related computations,among others.A Practical case is demonstrated using a graphical design,physical hand sketching,and programmatic implementation of two opposite-faced handless cups,all evolved using quadratic Bezier curves.The actual drawing was realized using web graphics canvas programming based on HTML 5 and JavaScript.This work will no doubt find relevance in computational researches in the areas of graphics,web programming,automated theorem proofs,robotic motions,among others.
基金Supported by the National Natural Science Foundation of China(No.61573358)Research and Development of Large Multi-function Demolition Equipment in Disaster Site(No.2015BAK06B00)
文摘In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize the amount of calculation,cubic and quartic Bezier curves are both analyzed.Furthermore,the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation.How to define the transition points for different curves is presented.A general move command interface is defined for receiving the curve limitations and transition parameters.Then,how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given.Different situations are discussed separately,including transition between two lines,transition between a line and a circle,and transition between two circles.Finally,the experiments are carried out on a six degree of freedom(DOF) industrial robot to validate the proposed method.Results of single transition and multiple transitions are presented.The trajectories in the joint space are also analyzed.The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability.
文摘A Bezier interpolation approach is proposed which uses local generation of endpoint slopes and forces the curve and the surface to pass through an arbitrarily specified point to control and modify the shape of curve and surface, making the result satisfactory.
基金Supported by the National High Technology Research and Development Programme of China(No. 2006AAllZ225) and the National Natural Science Foundation of China (No. 60605026, 60635010).
基金Supported by National Natural Science Foundation of China (61272307, 11201422), Natural Science Foundation of Zhejiang Province (Y6110639, LQ13A010004, Yl110034)
基金Supported by the Ministry of Research,Technology,and Higher Education Republic of Indonesia,through the Budget Implementation List(DIPA)of Diponegoro University,Grant No.DIPA-023.04.02.189185/2014,December 05,2013
文摘优化分析和计算液体动力学(CFD ) 同时被使用了,在哪个一个参量的模型在发现最佳的答案起一个重要作用。然而,与不规则的曲线为复杂形状创造一个参量的模型是困难的,例如一种海底的壳形式。在这研究,立方的 Bezier 曲线和曲线飞机交叉方法被用来产生考虑三个输入参数的一种参量的海底的壳形式的一个稳固的模型:鼻子半径,尾巴半径,和长度高度壳比率(L/H ) 。应用程序接口(API ) 脚本也被用来在 ANSYS 设计 modeler 写代码。结果证明海底的形状能与输入参数的某变化被产生。一个例子被给那显示出建议方法怎么能成功地被用于一个壳抵抗优化盒子。中间的海底的类型的参量的设计被选择被修改。首先,预先,原来的海底的模型用 CFD 被分析。然后,使用反应表面图,某候选人有一个最小的壳抵抗系数的最佳的图案被获得。进一步,在目标驱动的优化(GDO ) 的优化方法被实现与最小的壳抵抗系数发现海底的壳形式(C <sub> t </sub>) 。最小的 C <sub> t </sub> 被获得。在在起始的潜水艇和最佳潜水艇之间的 C <sub> t </sub> 价值的计算差别在 0.26% 附近,与起始的潜水艇和是的最佳潜水艇的 C <sub> t </sub> 0.001 508 26 和 0.001 504 29 分别地。结果证明最佳潜水艇壳形式显示出更高的鼻子半径(r <sub> n </sub>) 和更高的 L/H 起始的潜水艇比那些塑造,当时尾巴的半径(r <sub> t </sub>) 比起始的形状的小。
文摘This is a continuation of short communication([1]). In [1] a verification of the implicitization equation for degree two rational Bezier curves is presented which does not require the use of resultants. This paper presents these verifications in the general cases, i.e., for degree n rational Bezier curves. Thus some interesting interplay between the structure of the n x n implicitization matrix and the de Casteljau algorithm is revealed.
文摘针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特点;然后,针对TTP设计了一种避障路径规划系统方案及Bezier曲线路径优化控制方法,该方法拟合出的路径具有路径光滑、曲率连续、初末位置曲率相同等优点;最后,在CarSim仿真平台搭建TTP模型和坡道避障作业的环境模型,验证并分析横摆角速度、质心侧偏角两项重要的操稳性参数.结果表明:TTP在Bezier曲线拟合的避障路径控制方法下当运行速度小于转向极限速度时,运行稳定性良好,当转向速度超过极限速度的65.1%,其横摆角速度和质心侧偏角的超调量变化率分别达到了50.3%和78.6%;同时在该避障控制方法下,随着坡度的增加,即使速度保证在极限速度以下,TTP稳定性也会进一步恶化;在极限坡度角范围内,坡度角增大10°,其横摆角速度和质心侧偏角的超调量变化率平均达到了32.8%和14.5%.
基金Supported by the National Natural Science Foundation of China(61402201,11326243,61272300,11371174)the Jiangsu Natural Science Foundation of China(BK20130117)
文摘The existing results of curve degree elevation mainly focus on the degree of algebraic polynomials. The paper considers the elevation of degree of the trigonometric polynomial, from a Bezier curve on the algebraic polynomial space, to a C-Bezier curve on the algebraic and trigonometric polynomial space. The matrix of degree elevation is obtained by an operator presentation and a derivation pyramid. It possesses not a recursive presentation but a direct expression. The degree elevation process can also be represented as a corner cutting form.
文摘针对滩涂履带车在受潮汐影响的滩涂环境中进行长时间勘测作业的需求,提出柯西贝塞尔快速搜索随机树星(Cauchy Bessel Rapidly-exploring Random Tree Star,CB-RRT^(*))算法进行路径规划。为规划出安全路径,基于全局地图和潮汐数据,并通过滩涂履带车到分界区的距离构建出滩涂预测模型;为提高滩涂履带车移动到目标点需进行多次路径规划的速度,对初始路径的关键树节点使用柯西概率密度函数进行采样缩小采样范围来提高节点的利用率,进而提高算法的收敛性;在重选父节点过程中考虑最大转角约束设定相应系数,并使用连续二次贝塞尔曲线进行拼接的方式来生成路径,达到提高路径平滑度的目的和解决平滑后路径与原路径偏差过大造成的安全性问题。仿真实验结果表明,CB-RRT^(*)算法在静态滩涂环境和动态滩涂环境中,能大大提高算法的收敛性和路径的平滑性,且保证路径长度最优,研究内容可以保证滩涂履带车在各种滩涂环境中进行长时间安全作业。
文摘舌诊是中医望诊的重要手段,同时,温度与人体的健康息息相关。为了研究舌面的脏腑功能定位及舌象温度关系的反映,论文提出了一种红外技术的感兴趣区域(region of interest, ROI)模型研究方法。首先,利用葛立恒扫描法和Bezier曲线对多边形ROI模型进行改进;然后,借助U-Net分割网络将提取出的温度信息进行训练与学习,从而做到批量处理舌体温度信息;最后,利用HSV色彩模型进行3D可视化,达成舌象温度分区的可视化研究。此外,为了验证该方法的准确性,实验还对模型截取出的舌体进行了评价指标验证,准确度可以达到0.991 1,分割效果极佳。研究表明:改进后的红外信息提取技术既能直观地观察到舌体的分区状况,也可以完整保留舌体的信息变化,为中医的数据化提供了完整可行性方案。实现了舌体红外信息数据的提取与中医诊断技术的有机结合。解决了中医一体化望诊的舌体信息完整性及准确性问题。