Visual Servoing

The goal of this book is to introduce the visional application by excellent researchers in the world currently and offer the knowledge that can also be applied to another field widely. This book collects the main studies about machine vision currently in the world, and has a powerful persuasion in the applications employed in the machine vision. The contents, which demonstrate that the machine vision theory, are realized in different field. For the beginner, it is easy to understand the development in the vision servoing. For engineer, professor and researcher, they can study and learn the chapters, and then employ another application method

Intelligent Circuits and Systems

ICICS-2020 is the third conference initiated by the School of Electronics and Electrical Engineering at Lovely Professional University that explored recent innovations of researchers working for the development of smart and green technologies in the fields of Energy, Electronics, Communications, Computers, and Control. ICICS provides innovators to identify new opportunities for the social and economic benefits of society.　 This conference bridges the gap between academics and R&D institutions, social visionaries, and experts from all strata of society to present their ongoing research activities and foster research relations between them. It provides opportunities for the exchange of new ideas, applications, and experiences in the field of smart technologies and finding global partners for future collaboration. The ICICS-2020 was conducted in two broad categories, Intelligent Circuits & Intelligent Systems and Emerging Technologies in Electrical Engineering

A Recursive Watermark Method for Hard Real-Time Industrial Control System Cyber-Resilience Enhancement

© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.International audienceCybersecurity is of vital importance to industrial control systems (ICSs), such as ship automation, manufacturing, building, and energy automation systems. Many control applications require hard real-time channels, where the delay and jitter are in the levels of milliseconds or less. To the best of our knowledge, no encryption algorithm is fast enough for hard real-time channels of existing industrial fieldbuses and, therefore, made mission-critical applications vulnerable to cyberattacks, e.g., delay and data injection attacks. In this article, we propose a novel recursive watermark (RWM) algorithm for hard real-time control system data integrity validation. Using a watermark key, a transmitter applies watermark noise to hard real-time signals and sends through the unencrypted hard real-time channel. The same key is transferred to the receiver by the encrypted nonreal-time channel. With the same key, the receiver can detect if the data have been modified by the attackers and take action to prevent catastrophic damages. We provide analysis and methods to design proper watermark keys to ensure reliable attack detection. We use a ship propulsion control system for the simulation-based case study, where our algorithm smoothly shuts down the system after attacks. We also evaluated the algorithm speed on a Siemens S7-1500 programmable logic controller (PLC). This hardware experiment demonstrated that the RWM algorithm takes about 2.8 μs to add or validate the watermark noise on one sample data point. As a comparison, common cryptic hashing algorithms can hardly process a small data set under 100 ms. The proposed RWM is about 32 to 1375 times faster than the standard approaches

Fast and Efficient Foveated Video Compression Schemes for H.264/AVC Platform

Some fast and efficient foveated video compression schemes for H.264/AVC platform are presented in this dissertation. The exponential growth in networking technologies and widespread use of video content based multimedia information over internet for mass communication applications like social networking, e-commerce and education have promoted the development of video coding to a great extent. Recently, foveated imaging based image or video compression schemes are in high demand, as they not only match with the perception of human visual system (HVS), but also yield higher compression ratio. The important or salient regions are compressed with higher visual quality while the non-salient regions are compressed with higher compression ratio. From amongst the foveated video compression developments during the last few years, it is observed that saliency detection based foveated schemes are the keen areas of intense research. Keeping this in mind, we propose two multi-scale saliency detection schemes. (1) Multi-scale phase spectrum based saliency detection (FTPBSD); (2) Sign-DCT multi-scale pseudo-phase spectrum based saliency detection (SDCTPBSD). In FTPBSD scheme, a saliency map is determined using phase spectrum of a given image/video with unity magnitude spectrum. On the other hand, the proposed SDCTPBSD method uses sign information of discrete cosine transform (DCT) also known as sign-DCT (SDCT). It resembles the response of receptive field neurons of HVS. A bottom-up spatio-temporal saliency map is obtained by linear weighted sum of spatial saliency map and temporal saliency map. Based on these saliency detection techniques, foveated video compression (FVC) schemes (FVC-FTPBSD and FVC-SDCTPBSD) are developed to improve the compression performance further.Moreover, the 2D-discrete cosine transform (2D-DCT) is widely used in various video coding standards for block based transformation of spatial data. However, for directional featured blocks, 2D-DCT offers sub-optimal performance and may not able to efficiently represent video data with fewer coefficients that deteriorates compression ratio. Various directional transform schemes are proposed in literature for efficiently encoding such directional featured blocks. However, it is observed that these directional transform schemes suffer from many issues like ‘mean weighting defect’, use of a large number of DCTs and a number of scanning patterns. We propose a directional transform scheme based on direction-adaptive fixed length discrete cosine transform (DAFL-DCT) for intra-, and inter-frame to achieve higher coding efficiency in case of directional featured blocks.Furthermore, the proposed DAFL-DCT has the following two encoding modes. (1) Direction-adaptive fixed length ― high efficiency (DAFL-HE) mode for higher compression performance; (2) Direction-adaptive fixed length ― low complexity (DAFL-LC) mode for low complexity with a fair compression ratio. On the other hand, motion estimation (ME) exploits temporal correlation between video frames and yields significant improvement in compression ratio while sustaining high visual quality in video coding. Block-matching motion estimation (BMME) is the most popular approach due to its simplicity and efficiency. However, the real-world video sequences may contain slow, medium and/or fast motion activities. Further, a single search pattern does not prove efficient in finding best matched block for all motion types. In addition, it is observed that most of the BMME schemes are based on uni-modal error surface. Nevertheless, real-world video sequences may exhibit a large number of local minima available within a search window and thus possess multi-modal error surface (MES). Hence, the following two uni-modal error surface based and multi-modal error surface based motion estimation schemes are developed. (1) Direction-adaptive motion estimation (DAME) scheme; (2) Pattern-based modified particle swarm optimization motion estimation (PMPSO-ME) scheme. Subsequently, various fast and efficient foveated video compression schemes are developed with combination of these schemes to improve the video coding performance further while maintaining high visual quality to salient regions. All schemes are incorporated into the H.264/AVC video coding platform. Various experiments have been carried out on H.264/AVC joint model reference software (version JM 18.6). Computing various benchmark metrics, the proposed schemes are compared with other existing competitive schemes in terms of rate-distortion curves, Bjontegaard metrics (BD-PSNR, BD-SSIM and BD-bitrate), encoding time, number of search points and subjective evaluation to derive an overall conclusion

Recent Advances in Signal Processing

The signal processing task is a very critical issue in the majority of new technological inventions and challenges in a variety of applications in both science and engineering fields. Classical signal processing techniques have largely worked with mathematical models that are linear, local, stationary, and Gaussian. They have always favored closed-form tractability over real-world accuracy. These constraints were imposed by the lack of powerful computing tools. During the last few decades, signal processing theories, developments, and applications have matured rapidly and now include tools from many areas of mathematics, computer science, physics, and engineering. This book is targeted primarily toward both students and researchers who want to be exposed to a wide variety of signal processing techniques and algorithms. It includes 27 chapters that can be categorized into five different areas depending on the application at hand. These five categories are ordered to address image processing, speech processing, communication systems, time-series analysis, and educational packages respectively. The book has the advantage of providing a collection of applications that are completely independent and self-contained; thus, the interested reader can choose any chapter and skip to another without losing continuity

Digital watermarking methods for data security and authentication

Philosophiae Doctor - PhDCryptology is the study of systems that typically originate from a consideration of the ideal circumstances under which secure information exchange is to take place. It involves the study of cryptographic and other processes that might be introduced for breaking the output of such systems - cryptanalysis. This includes the introduction of formal mathematical methods for the design of a cryptosystem and for estimating its theoretical level of securit

Entropy in Image Analysis II

Image analysis is a fundamental task for any application where extracting information from images is required. The analysis requires highly sophisticated numerical and analytical methods, particularly for those applications in medicine, security, and other fields where the results of the processing consist of data of vital importance. This fact is evident from all the articles composing the Special Issue "Entropy in Image Analysis II", in which the authors used widely tested methods to verify their results. In the process of reading the present volume, the reader will appreciate the richness of their methods and applications, in particular for medical imaging and image security, and a remarkable cross-fertilization among the proposed research areas