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A Technical Framework for Selection of Autonomous UAV Navigation Technologies and Sensors

Computers, Materials & Continua 2021年第8期68卷 2771-2790页

作者： Izzat Al-Darraji Morched Derbali Houssem Jerbi Fazal Qudus Khan Sadeeq Jan Dimitris Piromalis georgios tsaramirsis Department of Automated Manufacturing University of BaghdadBaghdadIraq Department of Mechanical Engineering University of KirkukIraq Department of Information Technology Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia Department of Industrial Engineering College of EngineeringUniversity of Ha’ilHail1234Saudi Arabia Department of Computer Science&IT University of Engineering&Technology PeshawarPakistan Department of Automation University of West AtticaAthensGreece Abu Dhabi Women’s College Higher Colleges of TechnologyAbu DhabiUAE

The autonomous navigation of an Unmanned Aerial Vehicle(UAV)relies heavily on the navigation *** UAV’s level of autonomy depends upon the various navigation systems,such as state measurement,mapping,and obstacle *** the correct components is a critical part of the design ***,this can be a particularly difficult task,especially for novices as there are several technologies and components available on the market,each with their own individual advantages and *** example,satellite-based navigation components should be avoided when designing indoor *** them in the design brings no added value to the final product and will simply lead to increased cost and power *** issue is the number of vendors on the market,each trying to sell their hardware solutions which often incorporate similar *** aim of this paper is to serve as a guide,proposing various methods to support the selection of fit-for-purpose technologies and components whilst avoiding system layout *** paper presents a study of the various navigation technologies and supports engineers in the selection of specific hardware solutions based on given *** selection methods are based on easy-to-follow flow charts.A comparison of the various hardware components specifications is also included as part of this work.

关键词： UAV navigation sensors selection UAV navigation autonomous navigation UAV development navigation sensors study navigation systems mapping systems obstacle-avoidance systems

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Takagi–Sugeno Fuzzy Modeling and Control for Effective Robotic Manipulator Motion

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Computers, Materials & Continua 2022年第4期71卷 1011-1024页

作者： Izzat Al-Darraji Ayad AKakei Ayad Ghany Ismaeel georgios tsaramirsis Fazal Qudus Khan Princy Randhawa Muath Alrammal Sadeeq Jan Department of Automated Manufacturing University of BaghdadBaghdad10001Iraq Department of Mechanical Engineering University of KirkukKirkuk36001Iraq Department of Computer Technical Engineering Al-kitab UniversityKirkuk36001Iraq Higher Colleges of Technology Abu Dhabi Women’s CollegeAbu Dhabi41012UAE Department of Computer Science University of SwatShangla CampusAlpurai19100ShanglaPakistan Department of Mechatronics Engineering Manipal University JaipurJaipur302004India Department of Computer Science&IT University of Engineering&Technology PeshawarPeshawar25000Pakistan

Robotic manipulators are widely used in applications that require fast and precise *** devices,however,are prompt to nonlinear control issues due to the flexibility in joints and the friction in the motors within the dynamics of their rigid *** address these issues,the Linear Matrix Inequalities(LMIs)and Parallel Distributed Compensation(PDC)approaches are implemented in the Takagy–Sugeno Fuzzy Model(T-SFM).We propose the following methodology;initially,the state space equations of the nonlinear manipulator model are ***,a Takagy–Sugeno Fuzzy Model(T-SFM)technique is used for linearizing the state space equations of the nonlinear *** T-SFM controller is developed using the Parallel Distributed Compensation(PDC)*** prime concept of the designed controller is to compensate for all the fuzzy ***,the Linear Matrix Inequalities(LMIs)are applied to generate adequate cases to ensure stability and *** programming methods are applied to solve the developed LMIs *** developed for the proposed model show that the proposed controller stabilized the system with zero tracking error in less than 1.5 s.

关键词： Nonlinear robot manipulator precise fast robot motion flexible joints motor friction Takagy-Sugeno fuzzy control modeling nonlinear flexible robot system

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A Novel Approach of Image Steganography for Secure

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Computers, Materials & Continua 2020年第7期 31-61页

作者： Shahid Rahman Fahad Masood Wajid Ullah Khan Niamat Ullah Fazal Qudus Khan georgios tsaramirsis Sadeeq Jan Majid Ashraf University of Buner Buner19290Pakistan Abasyn University Peshawar25000Pakistan Department of Information Technology Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21577Saudi Arabia National Center for Cyber Security-UETP Department of CS&ITUniversity of Engineering&TechnologyPeshawar25000Pakistan Department of Electrical Engineering University of Engineering&TechnologyPeshawar25000Pakistan

Steganography aims to hide the messages from unauthorized persons for various purposes,e.g.,military correspondence,financial transaction *** the data during transmission is of utmost importance these *** confidentiality,integrity,and availability of the data are at risk because of the emerging technologies and complexity in software applications,and therefore,there is a need to secure such systems and *** are various methodologies to deal with security issues when utilizing an open system like the *** research proposes a new technique in steganography within RGB shading space to achieve enhanced security compared with existing *** evaluate our approach with the help of diverse image quality evaluation techniques including MSE(Mean Square Error),RMSE(Root Mean Square Error),PSNR(Peak Signal-to-Noise Ratio),MAE(Mean Absolute Error),NCC(Normalized Cross-Correlation)and SSIM(Structural Similarity Index).Our experimental results demonstrate improved strength,intangibility,and security when contrasted with existing techniques and vindicate the effectiveness of this exploration *** proposed approach achieved a 3.6701%average higher score for PSNR Correlation than the next best existing ***,in PSNR with a variable amount of cipher embedded in the same images of the same dimensions,the proposed approach attained a 5.22%better *** the same size of cipher in images of different size resulted a 3.56%better score.

关键词： Image steganography least significant bits MLEA and RGB color space

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