Designing substitution boxes based on chaotic map and globalized firefly algorithm

Cipher strength mainly depends on the robust structure and a well-designed interaction of the components in its framework. A significant component of a cipher system, which has a significant influence on the strength of the cipher system, is the substitution box or S-box. An S-box is a vital and most essential component of the cipher system due to its direct involvement in providing the system with resistance against certain known and potential cryptanalytic attacks. Hence, research in this area has increased since the late 1980s, but there are still several issues in the design and analysis of the S-boxes for cryptography purposes. Therefore, it is not surprising that the design of suitable S-boxes attracts a lot of attention in the cryptography community. Nonlinearity, bijectivity, strict avalanche criteria, bit independence criteria, differential probability, and linear probability are the major required cryptographic characteristics associated with a strong S-box. Different cryptographic systems requiring certain levels of these security properties. Being that S- boxes can exhibit a certain combination of cryptographic properties at differing rates, the design of a cryptographically strong S-box often requires the establishment of a trade-off between these properties when optimizing the property values. To date, many S-boxes designs have been proposed in the literature, researchers have advocated the adoption of metaheuristic based S-boxes design. Although helpful, no single metaheuristic claim dominance over their other countermeasure. For this reason, the research for a new metaheuristic based S-boxes generation is still a useful endeavour. This thesis aim to provide a new design for 8 × 8 S-boxes based on firefly algorithm (FA) optimization. The FA is a newly developed metaheuristic algorithm inspired by fireflies and their flash lighting process. In this context, the proposed algorithm utilizes a new design for retrieving strong S- boxes based on standard firefly algorithm (SFA). Three variations of FA have been proposed with an aim of improving the generated S-boxes based on the SFA. The first variation of FA is called chaotic firefly algorithm (CFA), which was initialized using discrete chaotic map to enhance the algorithm to start the search from good positions. The second variation is called globalized firefly algorithm (GFA), which employs random movement based on the best firefly using chaotic maps. If a firefly is brighter than its other counterparts, it will not conduct any search. The third variation is called globalized firefly algorithm with chaos (CGFA), which was designed as a combination of CFA initialization and GFA. The obtained result was compared with a previous S-boxes based on optimization algorithms. Overall, the experimental outcome and analysis of the generated S-boxes based on nonlinearity, bit independence criteria, strict avalanche criteria, and differential probability indicate that the proposed method has satisfied most of the required criteria for a robust S-box without compromising any of the required measure of a secure S-box

Design and testing of a position adaptation system for KUKA robots using photoelectric sensors

This thesis presents the development and analysis of a position monitoring and adaptation system to be used in conjunction with a KUKA KR16-2 articulated robot using components readily available in most manufacturing settings. This system could be beneficial in the manufacturing sector in areas such as polymer welding and spray painting. In the former it could be used to maintain an effective distance between a welding end effector laying molten plastic and the surface area of the parts being welded, or in the case of the latter the system would be useful in painting objects of unknown shape or objects with unknown variations in the surface level. In the case of spray painting if you spray to close to an object you will get an inconsistent amount of paint applied to an area. This system would maintain the programmed distance between the robot system and target object. Typically, systems that achieve this level of control rely on expensive sensors such as force torque sensors. This research proposes to take the first step in trying to address the technical problems by introducing a novel way of adapting to a target surface deformation using comparably low cost photoelectric diffuse sensors. The key outcomes of this thesis can be found in the form of a software package to interface the photo-electric sensors to the KUKA robot system. This system is operated by a custom-built algorithm which is capable of dynamically calculating robot movements based off the sensor input. Additionally, an optimum system setup is developed with different configurations of sensor mounting and speeds of robot operation discussed and tested. The viability of the photo-electric diffuses sensors used in this application is also considered with further works suggested. Finally, a secondary application is developed for recording and analysing KUKA robot movements for use in other research activities