Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction

In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robot’s end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations; however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations and experiments on a two DOFs robot, the effectiveness of the proposed controller is investigated.     

A novel image encryption based on hash function with only two-round diffusion process

In this paper, a novel algorithm for image encryption based on hash function is proposed. In our algorithm, a 512-bit long external secret key is used as the input value of the salsa20 hash function. First of all, the hash function is modified to generate a key stream which is more suitable for image encryption. Then the final encryption key stream is produced by correlating the key stream and plaintext resulting in both key sensitivity and plaintext sensitivity. This scheme can achieve high sensitivity, high complexity, and high security through only two rounds of diffusion process. In the first round of diffusion process, an original image is partitioned horizontally to an array which consists of 1,024 sections of size 8 × 8. In the second round, the same operation is applied vertically to the transpose of the obtained array. The main idea of the algorithm is to use the average of image data for encryption. To encrypt each section, the average of other sections is employed. The algorithm uses different averages when encrypting different input images (even with the same sequence based on hash function). This, in turn, will significantly increase the resistance of the cryptosystem against known/chosen-plaintext and differential attacks. It is demonstrated that the 2D correlation coefficients (CC), peak signal-to-noise ratio (PSNR), encryption quality (EQ), entropy, mean absolute error (MAE) and decryption quality can satisfy security and performance requirements (CC <0.002177, PSNR <8.4642, EQ >204.8, entropy >7.9974 and MAE >79.35). The number of pixel change rate (NPCR) analysis has revealed that when only one pixel of the plain-image is modified, almost all of the cipher pixels will change (NPCR >99.6125 %) and the unified average changing intensity is high (UACI >33.458 %). Moreover, our proposed algorithm is very sensitive with respect to small changes (e.g., modification of only one bit) in the external secret key (NPCR >99.65 %, UACI >33.55 %). It is shown that this algorithm yields better security performance in comparison to the results obtained from other algorithms.     

A new intelligent algorithm for dynamic facility layout problem in state of fuzzy constraints

In the present paper, the dynamic facilities layout problem is studied in presence of ambiguity of information flow. Product demand (and consequently material flow) is defined as fuzzy numbers with different membership functions. The problem is modeled in fuzzy programming. Three models of expected value, chance-constrained programming and dependent-chance programming and two hybrid intelligent algorithms are then presented. At the end, efficiency of algorithms for solving fuzzy models of dynamic facilities layout is shown through some numerical examples.     

Hierarchy-Debug: a scalable statistical technique for fault localization

Considering the fact that faults may be revealed as undesired mutual effect of program predicates on each other, a new approach for localizing latent bugs, namely Hierarchy-Debug, is presented in this paper. To analyze the vertical effect of predicates on each other and on program termination status, the predicates are fitted into a logistic lasso model. To support scalability, a hierarchical clustering algorithm is applied to cluster the predicates according to their presence in different executions. Considering each cluster as a pseudo-predicate, a distinct lasso model is built for intermediate levels of the hierarchy. Then, we apply a majority voting technique to score the predicates according to their lasso coefficients at different levels of the hierarchy. The predicates with relatively higher scores are ranked as fault relevant predicates. To provide the context of failure, faulty sub-paths are identified as sequences of fault relevant predicates. The grouping effect of Hierarchy-Debug helps programmers to detect multiple bugs. Four case studies have been designed to evaluate the proposed approach on three well-known test suites, Space, Siemens, and Bash. The evaluations show that Hierarchy-Debug produces more precise results compared with prior fault localization techniques on the subject programs.     

A model for the adsorption of single metal ion solutes in aqueous solution onto activated carbon produced from pecan shells

Adsorption isotherms for activated carbon made from pecan shells have been obtained at 25 °C and an approximate pH of 3 for a number of metal ion solutes. It was found that the Slips and Freundlich equations were satisfactory for explaining the experimental data. The correlation of metal ion adsorption with the solute parameters of metal ion electronegativity and first stability constant of the metal hydroxide was investigated. In the case of most of the metal ions studied, higher electronegativities and stability constants corresponded to the higher adsorption levels of metal ions onto the activated carbon. A correlation was developed that predicts the constants of the Freundlich equation from the selected parameters of the metal ions, and thus can predict the adsorption isotherms at constant pH. The developed correlation gives results with acceptable deviations from experimental data. A procedure is proposed for obtaining similar correlations for different conditions (temperature, pH, carbon type and dosage). The ratio of equivalent metal ions adsorbed to protons released is calculated for the studied metal ions over a range of concentrations. In most cases, particularly at low concentrations, this ratio is close to one, confirming that ion exchange of one proton with one equivalent metal ion is the dominant reaction mechanism.     

Quantifying nonclassicality of correlations based on the concept of nondisruptive local state identification

A bipartite state is classical with respect to party A if and only if party A can perform nondisruptive local state identification (NDLID) by a projective measurement. Motivated by this we introduce a class of quantum correlation measures for an arbitrary bipartite state. The measures utilize the general Schatten p-norm to quantify the amount of departure from the necessary and sufficient condition of classicality of correlations provided by the concept of NDLID. We show that for the case of Hilbert–Schmidt norm, i.e., \(p=2\), a closed formula is available for an arbitrary bipartite state. The reliability of the proposed measures is checked from the information-theoretic perspective. Also, the monotonicity behavior of these measures under LOCC is exemplified. The results reveal that for the general pure bipartite states these measures have an upper bound which is an entanglement monotone in its own right. This enables us to introduce a new measure of entanglement, for a general bipartite state, by convex roof construction. Some examples and comparison with other quantum correlation measures are also provided.     

Dynamics of localizable entanglement in a qutrit chain with Dzyaloshinskii–Moriya interaction

Dynamics of localizable entanglement in a qutrit chain, in the presence of the Dzyaloshinskii–Moriya (DM) interaction is studied. Three distinct initial states, namely, superposition of the ground and the first excited state (SGE), a GHZ state and a superposition of qutrit coherent states (SQCS) are considered in this investigation. While the ground and the first excited state exhibit the maximum of entanglement, the latter is diminished for any superposition of the states. In both SGE and GHZ cases, localizable entanglement (LE) oscillates and its period is a decreasing function of the ratio of the strength of DM interaction and the spin coupling constant (DS ratio), but its maximum value is independent of the latter. In SQCS case, LE also oscillates in time at small values of DS ratio; its average is reduced as the strength of the DM interaction increases and gains its maximum average and the highest peaks at a specific value of the coherence parameter.