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UKACC International Conference on Control (CONTROL)

作者： Adrian Bruja Luige Vladareanu Gal Ionel Alexandru Hongbo Wang Hongnian Yu Jingjing Liu Institute of Solid Mechanics of Romanian Academy (IMSAR) Bucharest Romania School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position.

关键词： Mobile robots Springs Wheels Trajectory Collision avoidance Shafts

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RGB Color Image Encryption Method Based on Lorenz Chaotic System and DNA Computation

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IETE technical review 2013年第5期30卷 404-409页

作者： Qiang Zhang Xiaopeng Wei Key Laboratory of Advanced Design and Intelligent Computing (Dalian University) Ministry of Education Dalian 116622 China

In this paper, an RGB color image encryption method based on the Lorenz chaotic system and DNA computation is presented. This method can not only change the location of the image pixel but also change the pixel values. Firstly, we split the RGB color image into R, G, B three components. Then, we use the 2D-hyperchaotic sequence to disorder the location of R, G, B three-component pixels. Secondly, three different chaotic sequences are generated by a one-dimensional logistic chaotic map, and the pixel values of the three components R, G, B can be scrambled through the three logistic chaotic sequences. Then the R, G, B digital images can be transformed into DNA coding matrices based on DNA coding rules. Thirdly, 3D chaotic sequences are generated by use of Lorenz chaotic system and are encoded based on DNA encoding rules in order to generate three DNA sequences. Finally, the encrypted image can be obtained by utilizing DNA operations on the DNA sequences of three components R, G, B and DNA sequences generated by the Lorenz chaotic system. The experiment results and encryption effect demonstrate that the proposed scheme is effective, and it has strong sensibility, high security, and good ability of resisting statistic attack.

关键词： 2D-hyperchaotic DNA computation Logistic chaotic map Security color image Security pixel DNA Computation cryptography Lorenz chaotic system DNA Sequence red-green-blue colour model

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A novel couple images encryption algorithm based on DNA subsequence operation and chaotic system

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Optik 2013年第23期124卷 6276-6281页

作者： Qiang Zhang Xiaopeng Wei Key Laboratory of Advanced Design and Intelligent Computing (Dalian University) Ministry of Education Dalian 116622 China

A novel couple images encryption algorithm based on DNA subsequence operation and chaotic system is presented. Different from the traditional DNA encryption methods, our algorithm is not use complex biological operation, but just uses the idea of DNA subsequence operation (such as elongation operation, truncation operation, and deletion operation). And then, do the DNA addition operation under the Chen's Hyper-chaotic map in this image cipher. The simulation experimental results and security analysis show that our algorithm not only has good encryption effect, but also has the ability of resisting exhaustive attack and statistical attack.

关键词： Image encryption DNA sequence Subsequence operation Addition operation Chen's hyper-chaotic Lorenz Security

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Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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Face recognition based on PCA image reconstruction and LDA

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Optik 2013年第22期124卷 5599-5603页

作者： Changjun Zhou Lan Wang Qiang Zhang Xiaopeng Wei Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian 116622 China

Face recognition has become a research hotspot in the field of pattern recognition and artificial intelligence. Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) are two traditional methods in pattern recognition. In this paper, we propose a novel method based on PCA image reconstruction and LDA for face recognition. First, the inner-classes covariance matrix for feature extraction is used as generating matrix and then eigenvectors from each person is obtained, then we obtain the reconstructed images. Moreover, the residual images are computed by subtracting reconstructed images from original face images. Furthermore, the residual images are applied by LDA to obtain the coefficient matrices. Finally, the features are utilized to train and test SVMs for face recognition. The simulation experiments illustrate the effectivity of this method on the ORL face database.

关键词： PCA Image reconstruction Residual images LDA Face recognition

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Inferring gene regulatory network from bayesian network model based on re-sampling

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Telkomnika 2013年第1期11卷 215-222页

作者： Zhang, Qian Zheng, Xuedong Zhang, Qiang Zhou, Changjun Key Laboratory of Advanced Design and Intelligent Computing Dalian university Ministry of Education Dalian 116622 China

Nowadays, gene chip technology has rapidly produced a wealth of information about gene expression activities. But the time-series expression data present a phenomenon that the number of genes is in thousands and the number of experimental data is only a few dozen. For such cases, it is difficult to learn network structure from such data. And the result is not ideal. So it needs to take measures to expand the capacity of the sample. In this paper, the Block bootstrap re-sampling method is utilized to enlarge the small expression data. At the same time, we apply "K2+T" algorithm to Yeast cell cycle gene expression data. Seeing from the experimental results and comparing with the semi-fixed structure EM learning algorithm, our proposed method is successful in constructing gene networks that capture much more known relationships as well as several unknown relationships which are likely to be novel.

关键词： Gene expression

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A hybrid algorithm for protein structure prediction

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Journal of Computational and Theoretical Nanoscience 2013年第11期10卷 2701-2707页

作者： Zhou, Changjun Jiao, Yingying Zhang, Qiang Wang, Bin Wei, Xiaopeng Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian 116622 China

The prediction of protein structure that attracts many researchers to study is an NP-hard problem. In recent year, numerous algorithms are proposed. Although particle swarm optimizer has many advantages, the disadvantages of poor convergence precision and easy to trap into local optimum cannot be ignored. Tabu search which has been applied for various combination optimization problems is one of global optimization algorithms. So, in this paper, we put forward a hybrid algorithm of particle swarm optimizer (PSO) and tabu search (TS) for three-dimension protein structure prediction based on AB off-lattice protein model. Experiments show that the proposed algorithm performs better in predicting of protein structure. Copyright © 2013 American Scientific Publishers.

关键词： Tabu search

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Analysis on exponential stability of genetic regulatory networks with variable delays

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Journal of Computational and Theoretical Nanoscience 2013年第11期10卷 2604-2608页

作者： Zhang, Qiang Wei, Xiaopeng Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian 116622 China

This paper presents an analysis method to the global exponential stability for the delayed genetic regulatory networks with SUM regulatory functions. By transforming the kinetics of networks into a single delay differential equation and utilizing the method of delay differential inequalities, several sufficient conditions for ensuring global exponential stability of the genetic regulatory networks with variable delays are derived. Since our method does not make use of Lyapunov functionals, it is simpler and more straightforward. Two numerical examples are provided to show the validity of the obtained results. Copyright © 2013 American Scientific Publishers.

关键词： Differential equations

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A novel DWT-based watermarking for image with the SIFT

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Telkomnika 2013年第1期11卷 191-198页

作者： Xu, Yuan Zhang, Qiang Zhou, Changjun Key Laboratory of Advanced Design and Intelligent Computing Dalian university Ministry of Education Dalian 116622 China

A kind of scale invariant features transformation (SIFT for short) operators on DWT domain are proposed for watermarking algorithm. Firstly, the low frequency of the image is obtained by DWT. And then the SIFT transformation is used to calculate the key feature points for the low frequency sub-image. Based on the chosen space's key points with moderate scale, a circular area as watermark embedding area is constructed. According to the research and final results, the novel digital watermark algorithm is proposed benefiting from the characteristics of SIFT's key points and local time-frequency of DWT. The algorithm not only has good robustness to resist on such operations as compression, shearing, noise addition, median filtering and scaling, but also has good inhibition to possible watermark fake verification.

关键词： Median filters

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A novel image fusion encryption algorithm based on DNA sequence operation and hyper-chaotic system

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Optik 2013年第18期124卷 3596-3600页

作者： Qiang Zhang Ling Guo Xiaopeng Wei Key Laboratory of Advanced Design and Intelligent Computing (Dalian University) Ministry of Education Dalian 116622 China

A new image fusion encryption algorithm based on image fusion and DNA sequence operation and hyper-chaotic system is presented. Firstly, two DNA sequences matrices are obtained by encoding the original image and the key image. Secondly, using the chaotic sequences generated by Chen's hyper-chaotic maps to scramble the locations of elements from the DNA sequence matrix which generated form original image. Thirdly, XOR the scrambled DNA matrix and the random DNA matrix by using DNA sequence addition operation. At last, decoding the DNA sequence matrix, we will get the encrypted image. The simulation experimental results and security analysis show that our algorithm not only has good encryption effect, but also has the ability of resisting exhaustive attack and statistical attack.

关键词： Image encryption DNA sequence XOR operation Chen's hyper-chaotic Security

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