Inverse kinematics of binary manipulators by using the continuous-variable-based optimization method

Hyper redundancy, high reliability, and high task repeatability are the main advantages of binary manipulators over conventional manipulators with continuous joints, especially when manipulators are operated under tough and complex work conditions. The precise and complex movement of a binary manipulator necessitates many modules. In this case, numerically efficient inverse kinematics algorithms for binary manipulators usually require impractically large memory size for the real-time calculation of the binary states of all joints. To overcome this limitation by developing a new inverse kinematics algorithm is the objective of this research. The key idea of the proposed method is to formulate the inverse kinematics problem of a binary manipulator as an optimization problem with real design variables, in which the real variables are forced to approach the permissible binary values corresponding to two discrete joint displacements. Using the proposed optimization method, the inverse kinematics of 3-D binary manipulators with many modules can be solved almost in real time (say, less than a second for up to 16 modules) without requiring a large memory size. Furthermore, some manipulation considerations, such as operation power minimization, can be easily incorporated into the proposed formulation. The effectiveness of the proposed method is verified through several numerical problems, including 3-D inverse kinematics problems.     

Instagram Mobile Application Digital Forensics

In this research, we developed a plugin for our automated digital forensics framework to extract and preserve the evidence from the Android and the IOS-based mobile phone application, Instagram. This plugin extracts personal details from Instagram users, e.g., name, user name, mobile number, ID, direct text or audio, video, and picture messages exchanged between different Instagram users. While developing the plugin, we identified resources available in both Android and IOS-based devices holding key forensics artifacts. We highlighted the poor privacy scheme employed by Instagram. This work, has shown how the sensitive data posted in the Instagram mobile application can easily be reconstructed, and how the traces, as well as the URL links of visual messages, can be used to access the privacy of any Instagram user without any critical credential verification. We also employed the anti-forensics method on the Instagram Android’s application and were able to restore the application from the altered or corrupted database file, which any criminal mind can use to set up or trap someone else. The outcome of this research is a plugin for our digital forensics ready framework software which could be used by law enforcement and regulatory agencies to reconstruct the digital evidence available in the Instagram mobile application directories on both Android and IOS-based mobile phones.     

Performance Analysis of Smart Relaying with Equal Gain Combining

Relaying communications has been proposed as a way to provide spatial diversity. In general, one is interested in a relaying system that can achieve the maximal diversity order with a low system complexity. One enabling technique is equal gain combining (EGC) and its application in relaying systems is the main focus of this paper. In particular, the techniques of EGC and smart relaying are combined in the decode-and-forward (DF) processing method. It is shown that for a system with one relay and M-ary phase-shift-keying (M-PSK) modulation, maximal diversity orders of 2m and 2 are achieved over Nakagami-m and Hoyt fading environments, respectively. With K relays, simulation results suggest that the corresponding diversity orders are m(K?+?1) and (K?+?1).     

Architecture and algorithm for ultra-high precision image rejectionmixer using digital compensation

A Weaver-type ultra-high precision image rejection RF mixer architecture composed of analogue RF and digital IF mixers is proposed, along with the error compensating algorithm for various gain and phase mismatches. A prototype 2.4 GHz image rejection mixer using this technique with an image rejection ratio >70 dB is demonstrated