Novel Blind Robust Watermarking Based on Chaotic Mixing

This paper proposed a novel blind robust watermarking scheme. Multi-bits watermark is embedded in the chaotic mixed image blocks. Energy of the watermark is spread to all region of the blocks instead of some individual pixels, which entitles the watermark with imperceptibility and high robustness. A class of 1-D Markov chaotic maps is employed to perform image block mixing and watermark encryption ensures security of the system.To prove the validity of this proposed scheme, some objective comparisons with the popular spread spectrum scheme were also presented. The simulation results show that this scheme can survive processing such as high-ratio JPEG compression, Gaussian noise pollution and histogram equalization.     

地下空间开挖过采空区时覆岩移动变形的数值模拟研究

为掌握在采空区上方开发地下空间时,地下空间开挖对采空区覆岩移动变形的影响情况,以山西拟开发的跨越南坑矿8#煤层部分采空区的某大型地下空间工程为研究对象,采用数值模拟方法研究分析开挖对采空区覆岩的移动变形影响,发现控制层及其稳定性在开挖过程中对地下空间工程的稳定性起着至关重要的作用。开始开挖时控制层在应力作用下纵向下移,在开挖面经过采空区一段时间后停止移动,而非控制层在应力作用下继续移动,导致离层;开挖过程中采空区覆岩横向不同程度的错动,总体趋势是两侧岩层向中间移动;控制层的稳定性对岩层的移动变形有重要作用,控制层稳定存在时,其上部岩层不会产生向下的大变形,否则相反。为进一步开发研究地下空间开挖过采空区时的岩层控制技术提供了理论基础。     

Moment-Based Method to Estimate Image Affine Transform

The estimation of affine transform is a crucial problem in the image recognition field. This paper resorted to some invariant properties under translation, rotation and scaling, and proposed a simple method to estimate the affine transform kernel of the two-dimensional gray image. Maps, applying to the original, produce some correlative points that can accurately reflect the affine transform feature of the image. Furthermore, unknown variables existing in the kernel of the transform are calculated. The whole scheme only refers to one-order moment,therefore, it has very good stability.     

基于CORBA技术的异构机器人互操作系统的研究

介绍了CORBA中间件的技术规范和应用，设计了一种基于CORBA技术的异构机器人互操作系统。该系统以ACE／TAO为开发平台，实现了分布式环境下具有不同硬件平台、操作系统、通信协议和编程语言的机器人之间的相互通信。试验表明，该系统具有很好的可移植性和可维护性，并且便于升级。