In order to protect copyright of digital images,a new robust digital image watermarking algorithm based on chaotic system and QR factorization was proposed.The host images were firstly divided into blocks with same si...In order to protect copyright of digital images,a new robust digital image watermarking algorithm based on chaotic system and QR factorization was proposed.The host images were firstly divided into blocks with same size,then QR factorization was performed on each block.Pseudorandom circular chain(PCC) generated by logistic mapping(LM) was applied to select the embedding blocks for enhancing the security of the scheme.The first column coefficients in Q matrix of chosen blocks were modified to embed watermarks without causing noticeable artifacts.Watermark extraction procedure was performed without the original cover image.The experimental results demonstrate that the watermarked images have good visual quality and this scheme is better than the existing techniques,especially when the image is attacked by cropping,noise pollution and so on.Analysis and discussion on robustness and security issues were also presented.展开更多
In order to explore the precise dynamic response of the maglev train and verify the validity of proposed controller,a maglev guideway-electromagnet-air spring-cabin coupled model is developed in the first step.Based o...In order to explore the precise dynamic response of the maglev train and verify the validity of proposed controller,a maglev guideway-electromagnet-air spring-cabin coupled model is developed in the first step.Based on the coupled model,the stresses of the modules are analyzed,and it is pointed out that the inherent nonlinearity,the inner coupling,misalignments between the sensors and actuators,and external disturbances are the main issues that should be considered for the maglev engineering.Furthermore,a feedback linearization controller based on the mathematical model of a maglev module is derived,in which the nonlinearity,coupling and misalignments are taken into account.Then,to attenuate the effect of external disturbances,a disturbance observer is proposed and the dynamics of the estimation error is analyzed using the input-to-state stability theory.It shows that the error is negligible under a low-frequency disturbance.However,at the high-frequency range,the error is unacceptable and the disturbances can not be compensated in time,which lead to over designed fluctuations of levitation gap,even a clash between the upper surface of electromagnet and lower surface of guideway.To solve this problem,a novel nonlinear acceleration feedback is put forward to enhancing the attenuation ability of fast varying disturbances.Finally,numerical comparisons show that the proposed controller outperforms the traditional feedback linearization controller and maintains good robustness under disturbances.展开更多
基金Project(2007AA01Z241-2) supported by the National High-tech Research and Development Program of ChinaProject(2006XM002) supported by Beijing Jiaotong University Science Foundation,ChinaProject(0910KYZY55) supported by the Fundamental Research Funds for the Central University in China
文摘In order to protect copyright of digital images,a new robust digital image watermarking algorithm based on chaotic system and QR factorization was proposed.The host images were firstly divided into blocks with same size,then QR factorization was performed on each block.Pseudorandom circular chain(PCC) generated by logistic mapping(LM) was applied to select the embedding blocks for enhancing the security of the scheme.The first column coefficients in Q matrix of chosen blocks were modified to embed watermarks without causing noticeable artifacts.Watermark extraction procedure was performed without the original cover image.The experimental results demonstrate that the watermarked images have good visual quality and this scheme is better than the existing techniques,especially when the image is attacked by cropping,noise pollution and so on.Analysis and discussion on robustness and security issues were also presented.
基金Project(60404003)supported by the National Natural Science Foundation of China
文摘In order to explore the precise dynamic response of the maglev train and verify the validity of proposed controller,a maglev guideway-electromagnet-air spring-cabin coupled model is developed in the first step.Based on the coupled model,the stresses of the modules are analyzed,and it is pointed out that the inherent nonlinearity,the inner coupling,misalignments between the sensors and actuators,and external disturbances are the main issues that should be considered for the maglev engineering.Furthermore,a feedback linearization controller based on the mathematical model of a maglev module is derived,in which the nonlinearity,coupling and misalignments are taken into account.Then,to attenuate the effect of external disturbances,a disturbance observer is proposed and the dynamics of the estimation error is analyzed using the input-to-state stability theory.It shows that the error is negligible under a low-frequency disturbance.However,at the high-frequency range,the error is unacceptable and the disturbances can not be compensated in time,which lead to over designed fluctuations of levitation gap,even a clash between the upper surface of electromagnet and lower surface of guideway.To solve this problem,a novel nonlinear acceleration feedback is put forward to enhancing the attenuation ability of fast varying disturbances.Finally,numerical comparisons show that the proposed controller outperforms the traditional feedback linearization controller and maintains good robustness under disturbances.
