Nowadays the digital problems, such as copyright violation and content alteration, have been grown. To solve these problems, many watermarking based schemes have been proposed, however most of them address to solve one of these two problems. This work shows a way to embed the watermark for both purposes: copyright protection and content authentication. The main scheme is based on a self-embedding algorithm which generates the watermark sequence from the original image using halftoning method. The halftone watermark image furthermore is watermarked modifying their pixels to embed logotype related to the owner’s copyright; and the watermarked halftone image is embedded for content authentication using Quantization Index Modulation (QIM) in the Integer Wavelet Transform (IWT) domain.
{"title":"Multipurpose Image Watermarking Scheme Based on Self-Embedding and Data Hiding into Halftone Image","authors":"Carlos Santiago Avila, M. Miyatake","doi":"10.1109/CERMA.2010.112","DOIUrl":"https://doi.org/10.1109/CERMA.2010.112","url":null,"abstract":"Nowadays the digital problems, such as copyright violation and content alteration, have been grown. To solve these problems, many watermarking based schemes have been proposed, however most of them address to solve one of these two problems. This work shows a way to embed the watermark for both purposes: copyright protection and content authentication. The main scheme is based on a self-embedding algorithm which generates the watermark sequence from the original image using halftoning method. The halftone watermark image furthermore is watermarked modifying their pixels to embed logotype related to the owner’s copyright; and the watermarked halftone image is embedded for content authentication using Quantization Index Modulation (QIM) in the Integer Wavelet Transform (IWT) domain.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133147012","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Luis Adrian Zuñiga Aviles, J. Pedraza, E. Gorrostieta, J. M. Ramos
A new approach of methodology in the field of modeling and simulation of mechatronics designs of high complexity, formed by a mobile platform and a manipulator arm is presented, this methodology considers the systematic analysis of an IEDD unit [1] (improvised explosive device disposal) divided into 7 stages in order to increase the accuracy of validation of whole system, this mechatronic unit is a Nonholonomic Unmanned wheeled mobile manipulator, MU-NHWMM, formed by a Differential Traction and a manipulator arm with 4 degrees of freedom mounted on wheeled mobile platform, hence the contribution of this work is a novel methodology based on a practice proposal of philosophy of mechatronics design, which establishes the suitable kinematics to coupled wheeled mobile manipulator, where the motion equations and kinematics transformations are the base of the specific stages in order to obtain the dynamic of coupled system, validating the behavior and the trajectories tracking, in order to achieve the complex tasks of approaching to work area the suitable handling of explosive device and transportation to deactivation area,; such that the errors in the model can be detected and later confined by proposed control.
{"title":"New Approach to Modeling and Simulation Methodology for the Mechatronic Design of IEDD-Unmanned Wheeled Mobile Manipulator","authors":"Luis Adrian Zuñiga Aviles, J. Pedraza, E. Gorrostieta, J. M. Ramos","doi":"10.1109/CERMA.2010.107","DOIUrl":"https://doi.org/10.1109/CERMA.2010.107","url":null,"abstract":"A new approach of methodology in the field of modeling and simulation of mechatronics designs of high complexity, formed by a mobile platform and a manipulator arm is presented, this methodology considers the systematic analysis of an IEDD unit [1] (improvised explosive device disposal) divided into 7 stages in order to increase the accuracy of validation of whole system, this mechatronic unit is a Nonholonomic Unmanned wheeled mobile manipulator, MU-NHWMM, formed by a Differential Traction and a manipulator arm with 4 degrees of freedom mounted on wheeled mobile platform, hence the contribution of this work is a novel methodology based on a practice proposal of philosophy of mechatronics design, which establishes the suitable kinematics to coupled wheeled mobile manipulator, where the motion equations and kinematics transformations are the base of the specific stages in order to obtain the dynamic of coupled system, validating the behavior and the trajectories tracking, in order to achieve the complex tasks of approaching to work area the suitable handling of explosive device and transportation to deactivation area,; such that the errors in the model can be detected and later confined by proposed control.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131211523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The system-on-chip of study is a proposed CMOS Image Sensor (CIS) architecture which includes: passive pixel array, digital switches for rows/columns and a first-order single-bit Sigma-Delta Modulator for every four columns. This paper presents the behavioral model of the Sigma-Delta Modulator, to estimate their performance in terms of Signal to Noise Ratio and Dynamic Range. The model starts with an ideal modulator, and then are added noise sources and nonlinear distortions, arose by the light source and the modulator non-idealities. All modeling was developed at system level. The performance obtained with the compartmental model showed good agreement with the temporal measurements obtained directly from CIS. This model allows determining the main noise sources that degrade the performance.
{"title":"Performance Estimation of a First-Order Sigma-Delta Modulator in a CMOS Image Sensor Using Behavioral Modeling","authors":"Sergio Garduza-González","doi":"10.1109/CERMA.2010.89","DOIUrl":"https://doi.org/10.1109/CERMA.2010.89","url":null,"abstract":"The system-on-chip of study is a proposed CMOS Image Sensor (CIS) architecture which includes: passive pixel array, digital switches for rows/columns and a first-order single-bit Sigma-Delta Modulator for every four columns. This paper presents the behavioral model of the Sigma-Delta Modulator, to estimate their performance in terms of Signal to Noise Ratio and Dynamic Range. The model starts with an ideal modulator, and then are added noise sources and nonlinear distortions, arose by the light source and the modulator non-idealities. All modeling was developed at system level. The performance obtained with the compartmental model showed good agreement with the temporal measurements obtained directly from CIS. This model allows determining the main noise sources that degrade the performance.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121532627","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ma. del Carmen Espino-Gudino, V. Rodríguez-Hernández
The accreditation and usefulness of ICTs within education are one of the purposes of this research. This paper presents a study of free and open technology effectiveness. New tools of technologies will impact not only in education but also in social, economic and political aspects. LMS based on SCORM have unlimited possibilities. It is proposed herein that such a method must perform a thorough evaluation of the primary problem that is the adaption of methodology of QSOS plus the usability metrics ISO/IEC-9126 [1]-[4]. These investigators have set out to compare technological options available. This study aims to explore the expectations of the teachers and students. The virtual education possibilities with the general-purpose free and open source is one most useful alternative in education. With fewer inversions, it is possible to offer quality education using the last-technology like Moodle3D because of its potential in general-purpose free and open source.
{"title":"A Good Technology Proposal for the Education","authors":"Ma. del Carmen Espino-Gudino, V. Rodríguez-Hernández","doi":"10.1109/CERMA.2010.25","DOIUrl":"https://doi.org/10.1109/CERMA.2010.25","url":null,"abstract":"The accreditation and usefulness of ICTs within education are one of the purposes of this research. This paper presents a study of free and open technology effectiveness. New tools of technologies will impact not only in education but also in social, economic and political aspects. LMS based on SCORM have unlimited possibilities. It is proposed herein that such a method must perform a thorough evaluation of the primary problem that is the adaption of methodology of QSOS plus the usability metrics ISO/IEC-9126 [1]-[4]. These investigators have set out to compare technological options available. This study aims to explore the expectations of the teachers and students. The virtual education possibilities with the general-purpose free and open source is one most useful alternative in education. With fewer inversions, it is possible to offer quality education using the last-technology like Moodle3D because of its potential in general-purpose free and open source.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114741512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Rodríguez-León, M. Cruz-Chávez, Rafael Rivera-López, É. Ávila-Melgar, Fredy Juárez-Pérez, M. Cruz-Rosales
In this work is defined a scheme of two stages for sending population segments of one Parallel Genetic Algorithm (PGA) to the nodes of an experimental grid called “Tarántula miniGrid”. The technique used to link the clusters and to configure the Tarántula mini Grid is described and the effects of latency in the communications between these clusters and the behavior of the speedup are discussed. The PGA is used for solving instances of the Vehicle Routing Problem with Time Windows (VRPTW). Results of this approach show that this communication scheme increases the efficiency of PGA in a grid environment and produces greater exploration and exploitation of the solution space of VRPTW.
{"title":"A Communication Scheme for an Experimental Grid in the Resolution of VRPTW Using an Evolutionary Algorithm","authors":"A. Rodríguez-León, M. Cruz-Chávez, Rafael Rivera-López, É. Ávila-Melgar, Fredy Juárez-Pérez, M. Cruz-Rosales","doi":"10.1109/CERMA.2010.8","DOIUrl":"https://doi.org/10.1109/CERMA.2010.8","url":null,"abstract":"In this work is defined a scheme of two stages for sending population segments of one Parallel Genetic Algorithm (PGA) to the nodes of an experimental grid called “Tarántula miniGrid”. The technique used to link the clusters and to configure the Tarántula mini Grid is described and the effects of latency in the communications between these clusters and the behavior of the speedup are discussed. The PGA is used for solving instances of the Vehicle Routing Problem with Time Windows (VRPTW). Results of this approach show that this communication scheme increases the efficiency of PGA in a grid environment and produces greater exploration and exploitation of the solution space of VRPTW.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122110576","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
L. Flores-Pulido, M. Olivares-Gonzalez, Mauricio Osorio, O. Starostenko
Computer vision imply several morphological and mathematical process. Image compression requires methods which involves algorithms and image processing techniques. AHBE system (Algorithm of Huffman combined with Bit Extraction method) provides a novel method to image compression when high quantity of light is present. Preprocessing images is useful in robotics applications to avoid noised data providing relevant information and normalized vector of data. Hoffman algorithm is a greedy technique that is combined with Bit Extraction technique that improves bright and contrast for images obtaining an image equalization in a novel way compressing binary pixels code.
{"title":"HABE: Huffman Algorithm and Bit Extraction Applied to Image Equalization","authors":"L. Flores-Pulido, M. Olivares-Gonzalez, Mauricio Osorio, O. Starostenko","doi":"10.1109/CERMA.2010.42","DOIUrl":"https://doi.org/10.1109/CERMA.2010.42","url":null,"abstract":"Computer vision imply several morphological and mathematical process. Image compression requires methods which involves algorithms and image processing techniques. AHBE system (Algorithm of Huffman combined with Bit Extraction method) provides a novel method to image compression when high quantity of light is present. Preprocessing images is useful in robotics applications to avoid noised data providing relevant information and normalized vector of data. Hoffman algorithm is a greedy technique that is combined with Bit Extraction technique that improves bright and contrast for images obtaining an image equalization in a novel way compressing binary pixels code.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116275558","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Edgar R. Ponce-de-Leon-Sanchez, Itzel Trejo-Mota, O. Dominguez-Ramirez
This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof the passivity and stability results, the control strategy is evaluated in a experimental platform, in our case the PHANToM premium 1.0 haptic device [4].
{"title":"Robust Passive Computed Torque Control Applied to Haptic Human-Machine Interaction Systems","authors":"Edgar R. Ponce-de-Leon-Sanchez, Itzel Trejo-Mota, O. Dominguez-Ramirez","doi":"10.1109/CERMA.2010.126","DOIUrl":"https://doi.org/10.1109/CERMA.2010.126","url":null,"abstract":"This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof the passivity and stability results, the control strategy is evaluated in a experimental platform, in our case the PHANToM premium 1.0 haptic device [4].","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117198021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
C. Zepeda, A. Marin, S. Arzola, Mario Rossainz, M. Galindo
We present an overview of an implementation of p-stable semantics, since we consider that this semantics can be a formal approach useful in the fields of Electronics, Robotics, or Automotive Mechanics.
{"title":"The p-Stable Semantics Applied to ICT Systems","authors":"C. Zepeda, A. Marin, S. Arzola, Mario Rossainz, M. Galindo","doi":"10.1109/CERMA.2010.100","DOIUrl":"https://doi.org/10.1109/CERMA.2010.100","url":null,"abstract":"We present an overview of an implementation of p-stable semantics, since we consider that this semantics can be a formal approach useful in the fields of Electronics, Robotics, or Automotive Mechanics.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123004229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
D. Colorado-Garrido, S. Serna, M. Cruz-Chávez, J. Hernández, B. Campillo
Micro alloyed steels mechanical properties can be modified by nano-modification based on aging heat treatments inducing different levels of nano precipitates on their surface microstructure. Under sour corrosion, electrochemical impedance spectroscopy (EIS) technique could serve to identify the modified micro alloyed steel corrosion properties. This paper present a predictive model for EIS-Ny quist curves using artificial neural networks (ANN) of micro alloyed steels under sour corrosion. For the ANN, an approach based on Levenberg–Marquardt learning algorithm, hyperbolic tangent sigmoid transfer function, and a linear transfer function was used. The model takes into account of the variations of the real impedance, time and steel exposure temperature. The developed model can be used for prediction at short simulation times illustrating the utility of the ANN. On the validation data set, the simulations and the theoretical data tests were in good agreement with R2 > 0.98 for all experimental databases. These results suggest that ANN may play a key role in making lifetime predictions for components based on laboratory measurements.
{"title":"Artificial Neural Networks for Electrochemical Impedance Spectroscopy Sour Corrosion Predictions of Nano-modified Microalloyed Steels","authors":"D. Colorado-Garrido, S. Serna, M. Cruz-Chávez, J. Hernández, B. Campillo","doi":"10.1109/CERMA.2010.31","DOIUrl":"https://doi.org/10.1109/CERMA.2010.31","url":null,"abstract":"Micro alloyed steels mechanical properties can be modified by nano-modification based on aging heat treatments inducing different levels of nano precipitates on their surface microstructure. Under sour corrosion, electrochemical impedance spectroscopy (EIS) technique could serve to identify the modified micro alloyed steel corrosion properties. This paper present a predictive model for EIS-Ny quist curves using artificial neural networks (ANN) of micro alloyed steels under sour corrosion. For the ANN, an approach based on Levenberg–Marquardt learning algorithm, hyperbolic tangent sigmoid transfer function, and a linear transfer function was used. The model takes into account of the variations of the real impedance, time and steel exposure temperature. The developed model can be used for prediction at short simulation times illustrating the utility of the ANN. On the validation data set, the simulations and the theoretical data tests were in good agreement with R2 > 0.98 for all experimental databases. These results suggest that ANN may play a key role in making lifetime predictions for components based on laboratory measurements.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121048051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Montserrat Jiménez-Licea, S. Vidal-Beltrán, J. López-Bonilla
This work presents the experimental results related to performance measurements in GSM and GPRS cellular data networks. Two Mobile Terminals were used, in order to take place the scenario. Power Level, Power vs. Time, Modulation Analysis, Modulation Spectrum, (BER) Bit Error Rate and Throughput were considered in this analysis.
{"title":"Performance Characterization Parameters on Voice and Data Transmission in Mobile Terminals to Cellular Networks","authors":"Montserrat Jiménez-Licea, S. Vidal-Beltrán, J. López-Bonilla","doi":"10.1109/CERMA.2010.35","DOIUrl":"https://doi.org/10.1109/CERMA.2010.35","url":null,"abstract":"This work presents the experimental results related to performance measurements in GSM and GPRS cellular data networks. Two Mobile Terminals were used, in order to take place the scenario. Power Level, Power vs. Time, Modulation Analysis, Modulation Spectrum, (BER) Bit Error Rate and Throughput were considered in this analysis.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121591216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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