tracking is a serious function for an autonomous mobile robot navigating in unknown environments such as disaster areas, projects sites, and any dangerous place which the human cannot reach. This paper deals with modified the parameters of PID controller using Artificial Bee Colony (ABC) and Genetic Algorithm (GA) for path tracking of autonomous mobile robot. Two PID control are designed, one for speed control and the other for azimuth control. The MATLAB program is used to simulate the autonomous mobile robot model with optimal PID controllers, ABC algorithm and GA. To test the effectiveness of the proposed controllers, two path trajectories have been chosen: circular path and sine wave path. The results have clearly shown the effectiveness and good performances of the PID controllers which are tuned using ABC algorithm than using GA.
Multimodal Biometric Watermarking System using multiple sources of information for establishing the individuality has been widely recognized, computational models for multimodal biometrics recognition have only recently got attention. In this paper multimodal biometric images such as fingerprint, palmprint, and iris are extracted individually and are fused together using Average, Minimum and Maximum fusion mechanism. The fused template is then watermarked using the PSO watermarking system. The biometric features used here are fingerprint, iris and palmprint. The image quality is measured by using various metrics such as Peak Signal Noise ratio(PSNR), Normalized Absolute Error(NAE) and Normalized Cross Correlation(NCC). CASIA database is chosen for the biometric images. All the images are 8 bit gray-level JPEG image with the resolution of 320*280.
Electronic voting refers to the using of computers or computerized voting equipments to cast ballots in the election. The e-voting has been developed for more than 20 years. In the electronic voting, there are three stages: the registration stage, the voting stage, and the tally stage. Verifiable cryptographic voting systems use encryption technology to secure electorate’s votes and to avoid coerce them to vote for any particular candidate or to buy their votes, and any another threats. This research aims to obtain an electronic voting system could be used easily in the third world countries. In this research ten of existing cryptography verifiable voting systems have been studied, and especially focused on End-toEnd verifiable voting systems, which is considered as the newest class of voting systems. In addition this paper took a system from another type of verifiable voting systems for a comparison purpose. The comparison between these systems has done according to a set of public evaluation contexts that is followed in any voting system such as: properties, cryptographic building block, ballot format, and models. This paper discusses seven of E2E voting systems, which are closer to deal with in the developing communities in order to modify any one of those systems for using in third world countries. This study concludes that most of the modern voting systems currently in place are not usable in the third world countries (despite the many positive achievements in many aspects) but can be adjusted to fit with these countries. In the future, the most appropriate E2E voting system will be chosen among systems which are mentioned in this study to be adjusted in order to fit in the third world countries.
Wireless Sensor Networks (WSNs) consist of sensor nodes those are capable of sensing environmental data such as temperature, humidity, pressure, sound etc. and transmit those data to a basestation through the network. Achieving sufficient coverage in the sensing area is a challenging feature in WSNs. Coverage indicates that how well an area is monitored i.e., whether each location of an area is within the sensing range of sensors. Some WSNs applications require multilevel coverage where each location in an area is covered by more than one sensor node. Moreover, sensor nodes must have to maintain a communication range among themselves. In this paper, a survey has been presented onk-coverage problems in WSNs where each location of an area should be covered by at least k sensors. Here, two categories of k-coverage problems have been identified and their different solution approaches have been discussed.