Abstract This works aims at the problems of poor local searching capability and slow convergence speed existing in the current robot path planning method. Based on particle swarm optimization (PSO) algorithm, this paper presents a novel approach using self- adaptive inertia weight particle swarm optimization. This study utilizes the grid method to establish space model and is based on the particle swarm optimization... This works aims at the problems of poor local searching capability and slow convergence speed existing in the current robot path planning method. Based on particle swarm optimization (PSO) algorithm, this paper presents a novel approach using self- adaptive inertia weight particle swarm optimization. This study utilizes the grid method to establish space model and is based on the particle swarm optimization algorithm. Furthermore, self-adaptive adjustment inertia weight and a novel method of fitness function are introduced to improve particle swarm optimization algorithm to get the globally optimal path of the robot. The experiments indicate that the algorithm can find a simple and secure optimal path between the starting point and the end points. Compared with other classical methods, this algorithm has faster search speed and better convergence. Read More Read Less

Abstract In this paper, we propose only three way handshake password authenticated key exchange using only the mechanism of two-dimensional reversible cellular automata. The scheme use simple and elementary operations to handle the problem of mutual authentication between two communicating parties, and establish common secure, valid session key based only on a short, easily memorable password. Security of the proposed scheme shown to... In this paper, we propose only three way handshake password authenticated key exchange using only the mechanism of two-dimensional reversible cellular automata. The scheme use simple and elementary operations to handle the problem of mutual authentication between two communicating parties, and establish common secure, valid session key based only on a short, easily memorable password. Security of the proposed scheme shown to be high, while it resist most common attacks on authentications schemes and provide the perfect forward secrecy. Besides, runtime performances of the authentication protocol are very competitive, and outperform those of existing similar schemes. The proposed schemes ensure the three authentication requirements, namely the mutuality, the authenticity and the key exchange using only elementary and parallelizable operations. Read More Read Less

Abstract In this paper, a robust watermarking method using hadamard transform is proposed for color images. In order to resolve correlation of color channels, the Principal Component(PCA) Analysis is used and its principle component is used for watermarking. Principle component and watermark image are both divided into blocks and fast hadamard transform is applied to them. Then, hadamard coefficients of watermark blocks are embedded... In this paper, a robust watermarking method using hadamard transform is proposed for color images. In order to resolve correlation of color channels, the Principal Component(PCA) Analysis is used and its principle component is used for watermarking. Principle component and watermark image are both divided into blocks and fast hadamard transform is applied to them. Then, hadamard coefficients of watermark blocks are embedded in AC components of blocks of cover image using different robustness factors. Since, cover image is not required for detecting watermark; this method is a blind watermarking method. Using hadamard transform compared to other transforms increases speed and reduces complexity of the algorithm and preserves transparency of the watermarked image. In order to optimize robustness factors, Artificial Bee Colony (ABC) is used. Results show that the proposed method improves results of similar methods in terms of robustness and transparency. Read More Read Less