Joint Quantization and Diffusion for Compressed Sensing Measurements of Natural Images

Recent research advances have revealed the computational secrecy of the compressed sensing (CS) paradigm. Perfect secrecy can also be achieved by normalizing the CS measurement vector. However, these findings are established on real measurements while digital devices can only store measurements at a finite precision. Based on the distribution of measurements of natural images sensed by structurally random ensemble, a joint quantization and diffusion approach is proposed for these real-valued measurements. In this way, a nonlinear cryptographic diffusion is intrinsically imposed on the CS process and the overall security level is thus enhanced. Security analyses show that the proposed scheme is able to resist known-plaintext attack while the original CS scheme without quantization cannot. Experimental results demonstrate that the reconstruction quality of our scheme is comparable to that of the original one.Comment: 4 pages, 4 figure

Chosen-plaintext attack of an image encryption scheme based on modified permutation-diffusion structure

Since the first appearance in Fridrich's design, the usage of permutation-diffusion structure for designing digital image cryptosystem has been receiving increasing research attention in the field of chaos-based cryptography. Recently, a novel chaotic Image Cipher using one round Modified Permutation-Diffusion pattern (ICMPD) was proposed. Unlike traditional permutation-diffusion structure, the permutation is operated on bit level instead of pixel level and the diffusion is operated on masked pixels, which are obtained by carrying out the classical affine cipher, instead of plain pixels in ICMPD. Following a \textit{divide-and-conquer strategy}, this paper reports that ICMPD can be compromised by a chosen-plaintext attack efficiently and the involved data complexity is linear to the size of the plain-image. Moreover, the relationship between the cryptographic kernel at the diffusion stage of ICMPD and modulo addition then XORing is explored thoroughly

Data-Driven Energy Levels Calculation of Neutral Ytterbium (ZZ = 70)

In view of the difficulty in calculating the atomic structure parameters of high-$Z$ elements, the HFR (Hartree-Fock with relativistic corrections) theory in combination with the ridge regression (RR) algorithm rather than the Cowan code's least squares fitting (LSF) method is proposed and applied. By analyzing the energy level structure parameters of the HFR theory and using the fitting experimental energy level extrapolation method, some excited state energy levels of the {Yb~I} ($Z=70$) atom including the $4f$ open shell are calculated. The advantages of the ridge regression algorithm are demonstrated by comparing it with Cowan's least squares results. In addition, the results obtained by the new method are compared with the experimental results and other theoretical results to demonstrate the reliability and accuracy of our approach

A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests

6D Pose Task Trajectory Tracking for a Class of 3D Aerial Manipulator From Differential Flatness

In this paper, the dynamics and control of a novel class of aerial manipulator for the purpose of end effector full pose trajectory tracking are investigated. The 6D pose of the end effector is set as a part of the flat output, from which the conditions that the system has the proposed flat output is obtained. The control law for the end effector tracking purpose is designed. The core part of the controller is an almost global controller in the configuration space of the system. From the transformation between the state space and the output space, the tracking control of the end effector in SE (3) is also achieved. The stability of the controlled system is analyzed. A numerical example is presented to demonstrate the theoretical analysis

Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

In this paper, we consider the fault-tolerant control problem for aerial vehicles with redundant actuators. The redundant actuator brings difficulty in fault identification and isolation. Active fault-tolerant control is adopted in this paper as it can detect actuator fault. The entire proposed fault-tolerant control algorithm contains a baseline controller, the fault detection and isolation scheme, and the controller reconstruction module. A robust parameter identification method is designed to identify the torque and thrust generated by the actuators. The feasibility of isolating the fault for the redundant actuators is analyzed through mathematical proof. Through the analysis, the practical fault isolation algorithm is also proposed. Two typical aerial vehicles with redundant actuators, an eight-rotor aircraft and a hexa-rotor aircraft, are adopted in numerical simulations to verify the effectiveness of the proposed fault-tolerant control approach

Exploiting the Security Aspects of Compressive Sampling

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