Color balancing of digital photos using simple image statistics

The great diffusion of digital cameras and the widespread use of the internet have produced a mass of digital images depicting a huge variety of subjects, generally acquired by unknown imaging systems under unknown lighting conditions. This makes color balancing, recovery of the color characteristics of the original scene, increasingly difficult. In this paper, we describe a method for detecting and removing a color cast (i.e. a superimposed color due to lighting conditions, or to the characteristics of the capturing device), from a digital photo without any a priori knowledge of its semantic content. First a cast detector, using simple image statistics, classifies the input images as presenting no cast, evident cast, ambiguous cast, a predominant color that must be preserved (such as in underwater images or single color close-ups) or as unclassifiable. A cast remover, a modified version of the white balance algorithm, is then applied in cases of evident or ambiguous cast. The method we propose has been tested with positive results on a data set of some 750 photos.     

Stability robustness of networked control systems with respect to packet loss

This paper is concerned with stability analysis of discrete-time networked control systems over a communication channel subject to packet loss whose behavior is modeled by an i.i.d Bernoulli process with a packet dropping probability bounded by a constant. A necessary and sufficient condition for stability is obtained. A packet dropping margin is introduced as a measure of stability robustness of a system against packet dropping, and a formula for it is derived. A design method is proposed for achieving a large margin subject to a constraint that the system has a set of prescribed nominal closed-loop poles.     

Nonlinear model predictive control with polytopic invariant sets

Ellipsoidal invariant sets have been widely used as target sets in model predictive control (MPC). These sets can be computed by constructing appropriate linear difference inclusions together with additional constraints to ensure that the ellipsoid lies within a given inclusion polytope. The choice of inclusion polytope has a significant effect on the size of the target ellipsoid, but the optimal inclusion polytope cannot in general be computed systematically. This paper shows that use of polytopic invariant sets overcomes this difficulty, allowing larger stabilizable sets without loss of performance. In the interests of online efficiency, consideration is focused on interpolation-based MPC.     

Multispectral image compression using eigenregion-based segmentation

In the study, a novel segmentation technique is proposed for multispectral satellite image compression. A segmentation decision rule composed of the principal eigenvectors of the image correlation matrix is derived to determine the similarity of image characteristics of two image blocks. Based on the decision rule, we develop an eigenregion-based segmentation technique. The proposed segmentation technique can divide the original image into some proper eigenregions according to their local terrain characteristics. To achieve better compression efficiency, each eigenregion image is then compressed by an efficient compression algorithm eigenregion-based eigensubspace transform (ER-EST). The ER-EST contains 1D eigensubspace transform (EST) and 2D-DCT to decorrelate the data in spectral and spatial domains. Before performing EST, the dimension of transformation matrix of EST is estimated by an information criterion. In this way, the eigenregion image may be approximated by a lower-dimensional components in the eigensubspace. Simulation tests performed on SPOT and Landsat TM images have demonstrated that the proposed compression scheme is suitable for multispectral satellite image.     

Geometrically invariant image watermarking using SVR correction in NSCT domain

Based on the support vector regression (SVR) geometric distortions correction, we propose a robust image watermarking algorithm in nonsubsampled contourlet transform (NSCT) domain with good visual quality and reasonable resistance toward geometric attacks in this paper. Firstly, the NSCT is performed on original host image, and corresponding low-pass subband is selected for embedding watermark. Then, the selected low-pass subband is divided into small blocks. Finally, the digital watermark is embedded into host image by modulating the NSCT coefficients in small blocks. In digital watermark detecting procedure, the SVR geometrical distortions correction is utilized. Experimental results show that the proposed image watermarking is invisible, and robust against common image processing and some geometrical attacks.     

Developing an efficient query system for encrypted XML documents

XQuery is a query and functional programming language that is designed for querying the data in XML documents. This paper addresses how to efficiently query encrypted XML documents using XQuery, with the key point being how to eliminate redundant decryption so as to accelerate the querying process. We propose a processing model that can automatically translate the XQuery statements for encrypted XML documents. The implementation and experimental results demonstrate the practicality of the proposed model.     

A portable wireless body sensor data logger and its application in video capsule endoscopy

Due to the advancement of low power miniature electronic devices, there is growing interest of physiological data sensing and recording using wireless body sensor networks. The paper presents the design of a portable physiological data logger that includes rechargeable battery, wireless radio frequency and Bluetooth connectivity, and graphical display with touch screen capability. The target application is video capsule endoscopy. Image data are logged in micro SD cards which can be easily transferred to PC or Smartphone using SD card reader, USB interface or Bluetooth wireless link. The hardware design is general and can be used in various medical or industrial applications by changing only the firmware of the microcontroller. The design is prototyped in 109 × 107 × 20 mm printed circuit board (PCB). Tests with animal tissues have been conducted to demonstrate the performance advantages of the data logger. A demonstration of wireless heart pulse monitoring and data logging is also presented.     

Key management systems for sensor networks in the context of the Internet of Things

If a wireless sensor network (WSN) is to be completely integrated into the Internet as part of the Internet of Things (IoT), it is necessary to consider various security challenges, such as the creation of a secure channel between an Internet host and a sensor node. In order to create such a channel, it is necessary to provide key management mechanisms that allow two remote devices to negotiate certain security credentials (e.g. secret keys) that will be used to protect the information flow. In this paper we will analyse not only the applicability of existing mechanisms such as public key cryptography and pre-shared keys for sensor nodes in the IoT context, but also the applicability of those link-layer oriented key management systems (KMS) whose original purpose is to provide shared keys for sensor nodes belonging to the same WSN.     

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels

The problem of path following for marine surface vessels using the rudder angle is addressed in this paper. A four-degree-of-freedom nonlinear surface vessel model, together with the Serret-Frenet equations, is introduced to describe the ship dynamics and path following error dynamics. While similar models have been used and reported in the literature for path following control algorithm development, the novelty of the approach presented in this work lies in the following aspects. (a) The back-stepping nonlinear controller design is based on feedback dominance, instead of feedback linearization and nonlinearity cancelation; (b) additional design parameters are employed in the Lyapunov function that lead to simplification of the controller in the design procedure and normalization of different variables in the Lyapunov function to improve the controller performance; (c) relying on feedback dominance and the introduction of the additional parameters in the Lyapunov function, the resulting controller is almost linear, with very benign nonlinearities allowing for analysis and evaluation; and (d) the performance of the nonlinear controller, in terms of path following, is analyzed for robustness in the presence of model uncertainties. The simulation results are presented to verify and illustrate the analytic development and the effectiveness of the resulting control against rudder saturation and rate limits, and delays in the control execution, as well as measurement noises. Furthermore, the control design is validated by experimental results conducted in a tank using a model ship.