Feature scalability for a low complexity face recognition with unconstrained spatial resolution

Automatic face recognition (FR) based applications in low computing power constrained systems, such as mobile and smart camera, have become particularly interesting topic in recent years. In this context, we present computationally efficient FR framework underpinning the so-called feature scalability algorithm. The proposed framework aims at implementing robust FR systems under low-computing power restriction and varying face resolution. Key beneficial property of our proposed FR framework based on feature scalability is to require low computational complexity without sacrificing a level of FR performance. To do this, using feature scalability algorithm enables to directly estimate the features (from pre-enrolled gallery images) that are well matched with the feature of an input probe image with different resolution (generally lower resolution) without any complex process. In addition, our method is helpful for relieving storage shortage problem as it does not require a large amount of training and gallery images with different face resolutions. Results show that our proposed feature scalability algorithm can be seamlessly embedded into state-of-the-art feature extraction methods extensively used for FR by achieving impressive recognition performance. Also, according to the results on computational complexity measurement, the proposed method is proven to be useful for substantially saving FR operation time.     

A secure image encryption scheme based on chaotic maps and affine transformation

Due to the interesting nonlinear dynamic properties of chaotic maps, recently chaos-based encryption algorithms have gained much attention in cryptographic communities. However, many encryption schemes do not fulfil the minimum key space requirement, which is an essential concern in many secure data applications. In this paper, an efficient chaos-based image encryption scheme with higher key space is presented. Even with a single round of encryption, a significantly larger key space can be achieved. The proposed scheme removes correlation among image pixels via random chaotic sequences, simply by XOR and addition operations. In order to resist against numerous attacks, we apply the affine transformation to get the final ciphertext image. The security of the proposed scheme is proved through histogram, contrast, PSNR, entropy, correlation, key space, key sensitivity and differential attack analysis. Many significant properties of chaotic maps, sensitivity to initial condition and control parameters, structure and attack complexity, make the anticipated scheme very reliable, practical and robust in various secure communication applications.     

Gait Generation and Stabilization for Nearly Passive Dynamic Walking Using Auto‐distributed Impulses

We propose a state feedback control design via linearization for flexible walking on flat ground. First, we generate nearly passive limit cycles, being stable or not, using impulsive toe‐off actuations. The term ‘nearly passive’ means that the dynamics is completely passive almost everywhere except at the toe‐off moment. A feature of our gait generation method is that walking gaits are characterized only by amounts of supplied energy, and we observe that other variables, including input torques, are auto‐balanced via our method. After gait generation, we design a feedback controller considering robustness and input saturation. As a result, each limit cycle can be matched with its respective controller classified only by energy levels. We have verified that walking speeds monotonically increase by adding more energy, and the ankle joint plays a significant role in compass‐gait walking. Finally, instead of applying impulsive torques, we discuss a practical issue regarding realistic control inputs that ensure stable gait transitions as energy levels are elevated.     

Robust Input Covariance Constraint Control for Uncertain Polytopic Systems

In this paper, the robust input covariance constraint (ICC) control problem with polytopic uncertainty is solved using convex optimization with linear matrix inequality (LMI) approach. The ICC control problem is an optimal control problem that optimizes the output performance subjected to multiple constraints on the input covariance matrices. This control problem has significant practical implications when hard constraints need to be satisfied on control actuators. The contribution of this paper is the characterization of the control synthesis LMIs used to solve the robust ICC control problem for polytopic uncertain systems. Both continuous‐ and discrete‐time systems are considered. Parameter‐dependent and independent Lyapunov functions have been used for robust ICC controller synthesis. Numerical design examples are presented to illustrate the effectiveness of the proposed approach.     

Robust Adaptive Neural Control for a Class of Time‐Varying Delay Systems with Backlash‐like Hysteresis Input

This paper proposes a robust adaptive dynamic surface control (DSC) scheme for a class of time‐varying delay systems with backlash‐like hysteresis input. The main features of the proposed DSC method are that 1) by using a transformation function, the prescribed transient performance of the tracking error can be guaranteed; 2) by estimating the norm of the unknown weighted vector of the neural network, the computational burden can be greatly reduced; 3) by using the DSC method, the explosion of complexity problem is eliminated. It is proved that the proposed scheme guarantees all the closed‐loop signals being uniformly ultimately bounded. The simulation results show the validity of the proposed control scheme.     

Tracking Performance Bound with Finite Control Energy and Erasure Channel Energy Constraint

This paper studies the tracking performance of the single‐input single‐output (SISO), finite dimensional, linear and time‐invariant (LTI) system under the channel input energy constraint over the Erasure channel. A new performance index is proposed which is minimized over all two‐degree‐of‐freedom stabilizing controllers. The explicit expressions of the lower bound of the performance index and the minimum of the signal‐to‐noise ratio are obtained. The results show that the performance bound is correlated to unstable poles, non‐minimum phase zeros and the packet loss probability. Finally, examples are given to validate the conclusions derived.     

Consensus in second‐order Markovian jump multi‐agent systems via impulsive control using sampled information with heterogenous delays

This paper investigates the consensus problem of second‐order Markovian jump multi‐agent systems with delays. Both network‐induced random delay and node‐induced state delay are considered, where the network‐induced random delay, subjected to a Markov chain, exists in the switching signal and the node‐induced state delay, related to switching topologies, is heterogeneous between any two linked agents. In order to reduce communication and control energy, an impulsive protocol is proposed, where each agent only can get delayed relative positions to neighbors and the velocity of itself at impulsive instants. By performing three steps of model transformation and introducing a mapping for two independent Markov chains, the consensus problem of the original continuous‐time system is equivalent to the stability problem of a discrete‐time expand error system with two Markovian jumping parameters and a necessary and sufficient criterion is derived. A numerical example is given to illustrate the effectiveness of the theoretical result.@@@@This work is supported by the National Natural Science Foundation of China under Grants 61374171, 61572210, and 51537003, the Fundamental Research Funds for the Central Universities (2015TS030), and the Program for Changjiang Scholars and Innovative Research Team in University (IRT1245).     

Robust H∞ Tracking Control of Uncertain Robotic Systems with Periodic Disturbances

This paper addresses the problem of designing robust tracking control for a large class of uncertain robotic systems. A more general model of the external disturbance is employed in the sense that the external disturbance can be expressed as the sum of a modeled disturbance and an unmodeled disturbance, for example, any periodic disturbance can be expressed in this general form. An adaptive neural network system is constructed to approximate the behavior of unknown robot dynamics. An adaptive control algorithm is designed to estimate the behavior of the modeled disturbance, and in turn the robust H_∞ control algorithm is required to attenuate the effects of the unmodeled disturbance only. Consequently, an intelligent adaptive/robust tracking control scheme is constructed such that an H_∞ tracking control is achieved in the sense that all the states and signals of the closed‐loop system are bounded and the effect due to the unmodeled disturbance on the tracking error can be attenuated to any preassigned level. Finally, simulations are provided to demonstrate the effectiveness and performance of the proposed control algorithm.     

Quantum teleportation between a single-rail single-photon qubit and a coherent-state qubit using hybrid entanglement under decoherence effects

We study quantum teleportation between two different types of optical qubits using hybrid entanglement as a quantum channel under decoherence effects. One type of qubit employs the vacuum and single-photon states for the basis, called a single-rail single-photon qubit, and the other utilizes coherent states of opposite phases. We find that teleportation from a single-rail single-photon qubit to a coherent-state qubit is better than the opposite direction in terms of fidelity and success probability. We compare our results with those using a different type of hybrid entanglement between a polarized single-photon qubit and a coherent state.     

A noninvasive method to predict fluid viscosity and nanoparticle size using total internal reflection fluorescence microscopy (TIRFM) imaging

This study examines the development of an automated particle tracking algorithm to predict the hindered Brownian movement of fluorescent nanoparticles within an evanescent wave field created using total internal reflection fluorescent microscopy. The two-dimensional motion of the fluorescent nanoparticles was tracked, with sub-pixel resolution, by fitting the intensity distribution of the particles to a known Gaussian distribution, thus providing the particle center within a single pixel. Spherical yellow-green polystyrene nanoparticles (200, 500, and 1000 nm in diameter) were suspended in deionized water (control), 10 wt% d-glucose, and 10 wt% glycerol solutions, with 1 mM of NaCl added to each. The motion of tracked nanoparticles was compared with the theoretical tangential hindered Brownian motion to estimate particle diameters and fluid viscosity using a nonlinear regression technique. The automatic tracking algorithm was initially validated by comparing the automated results with manually tracked particles, 1 µm in size. Our results showed that both particle size and solution viscosity were accurately predicted from the experimental mean square displacement. Specifically, the results show that the error of particle size prediction is below 10 % and the error of solution viscosity prediction is less than 1 %. The proposed automatic analysis tool could prove to be useful in bio-application fields for examination of single protein tracking, drug delivery, and cytotoxicity. Furthermore, the proposed tool could be useful in microfluidic areas such as particle tracking velocimetry and noninvasive viscosimetry.