This paper presents a technique of digital image watermarking using DCT wavelet transform. Use of Haar wavelet is very common in watermarking. However, here DCT wavelet transform of size 256*256 is generated using existing well known orthogonal transform DCT of dimension 128*128 and 2*2. This DCT Wavelet transform is used in combination with the orthogonal transform DCT and SVD to increase the ...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

this paper presents simplified hydrodynamics model for a biomimetic robot fish based on quantitative morphological and kinematic parameters of crangiform fish. the motion of four pangasius sanitwongsei with different length and swimming speed were recorded by the digital particle image velocimetry (dpiv) and image processing methods and optimal coefficients of the motion equations and appropria...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

This paper presents three hybrid metaheuristic algorithms that further improve the two hybrid differential evolution (DE) metaheuristic algorithms described in Liao [1]. The three improved algorithms are: (i) MDE′–HJ, which is a modification of MA–MDE′ in Liao [1] by replacing the random walk with direction exploitation local search with the Hooke and Jeeves (HJ) method; (ii) MDE′–IHS–HJ, which...

Multiphase flow meters (MPFMs) are utilized to provide quick and accurate well test data in numerous numbers of oil production applications like those in remote or unmanned locations topside exploitations that minimize platform space and subsea applications. Flow rates of phases (oil, gas and water) are most important parameter which is detected by MPFMs. Conventional MPFM data collecting is do...

recently a method has been developed to decouple the equations of motion for multi-rigid body systems. in this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using lagaranges equations and kanes equation with congruency transformations. finally, the results obtained from both methods are throroughly ...