Design a Hybrid FPGA Architecture for Visible Digital Image Watermarking in Spatial and Frequency Domain

Hybrid field programmable gate array (FPGA) implementation is proposed to improve the performance of visible image watermarking systems. The visible watermarking process is implemented as pixel by pixel operation under a spatial domain or vector operation in the frequency domain. The proposed approach is mainly designed for watermarking the images taken from digital cameras of various sizes. The padding technique is used for unequal sizes of the watermark image and original host image. The architecture data path consists of eight and six stages of pipeline capable of watermarking on the pixel-based operation and vector-based operation, respectively. The dual image watermarking architecture data path consists of a 13-stage pipeline. Pipeline and parallelism mechanisms are used to improve throughput. To improve the performance in discrete cosine transform operations at the frequency domain, the shift-add technique replaces the conventional multipliers. The clock gating technique is employed to reduce the power by preventing unnecessary switching in a path. Hardware implementation of the algorithm is tested in Intel Cyclone FPGA with the device of EP4CGX22CF19C6, with which the throughput achieved is 1.27[Formula: see text]Gbits/s with a total area utilization of 35[Formula: see text]digital signal processing (DSP) blocks, 378 look-up tables (LUTs) and 486 registers.

AERO: A 1.28 MOP/s/LUT Reconfigurable Inference Processor for Recurrent Neural Networks in a Resource-Limited FPGA

This study presents a resource-efficient reconfigurable inference processor for recurrent neural networks (RNN), named AERO. AERO is programmable to perform inference on RNN models of various types. This was designed based on the instruction-set architecture specializing in processing primitive vector operations that compose the dataflows of RNN models. A versatile vector-processing unit (VPU) was incorporated to perform every vector operation and achieve a high resource efficiency. Aiming at a low resource usage, the multiplication in VPU is carried out on the basis of an approximation scheme. In addition, the activation functions are realized with the reduced tables. We developed a prototype inference system based on AERO using a resource-limited field-programmable gate array, under which the functionality of AERO was verified extensively for inference tasks based on several RNN models of different types. The resource efficiency of AERO was found to be as high as 1.28 MOP/s/LUT, which is 1.3-times higher than the previous state-of-the-art result.

Orthogonality Measurement of Three-Axis Motion Trajectories for Micromanipulation Robot Systems

In robotic micromanipulation systems, the orthogonality of the three-axis motion trajectories of the motion control systems influences the accuracy of micromanipulation. A method of measuring and evaluating the orthogonality of three-axis motion trajectories is proposed in this paper. Firstly, a system for three-axis motion trajectory measurement is developed and an orthogonal reference coordinate system is designed. The influence of the assembly error of laser displacement sensors on the reference coordinate system is analyzed using simulation. An approach to estimating the orthogonality of three-axis motion trajectories and to compensating for its error is presented using spatial line fitting and vector operation. The simulation results show that when the assembly angle of the laser displacement sensors is limited within a range of 10°, the relative angle deviation of the coordinate axes of the reference coordinate frame is approximately 0.09%. The experiment results show that precision of spatial line fitting is approximately 0.02 mm and relative error of the orthogonality measurement is approximately 0.3%.

Transfer equation for the strain rate tensor and description of an incompressible dispersed mixture (incompressible fluid) by a system of equations of dynamic type

It is known that the application of the vector operation rot to the equations of hydrodynamics leads to the Helmholtz-Friedman equation for a vortex. A dispersed mixture, tensor transformations are used, in a certain sense generalizing the vector operation rot, which gives more than one, a couple of equations. One of them describes the transfer of vorticity is the well-known Helmholtz-Friedman equation. The second equation was obtained for the first time, and it describes the transfer of the strain rate tensor. Any tensor decomposes into symmetric and antisymmetric parts. By definition, the symmetric part of the tensor U is the strain rate tensor. The antisymmetric part of U is a tensor whose components are related in a known manner to the pseudovector angular velocity.

A Vector Operation to Extract Second-Order Terrain Derivatives from Digital Elevation Models

Terrain derivatives exhibit surface morphology in various aspects. However, existing spatial change calculation methods for terrain derivatives are based on a mathematical scalar operating system, which may disregard the directional property of the original data to a certain extent. This situation is particularly true in second-order terrain derivatives, in which original data can be terrain derivatives with clear directional properties, such as slope or aspect. Thus, this study proposes a mathematical vector operation method for the calculation of second-order terrain derivatives. Given the examples of the first-order terrain derivatives of slope and aspect, their second-order terrain derivatives are calculated using the proposed vector method. Directional properties are considered and vectorized using the following steps: rotation-type judgment, standardization of initial direction, and vector representation. The proposed vector method is applied to one mathematical Gaussian surface and three different ground landform areas using digital elevation models (DEMs) with 5 and 1 m resolutions. Comparison analysis results between the vector and scalar methods show that the former achieves more reasonable and accurate second-order terrain derivatives than the latter. Moreover, the vector method avoids overexpression or even exaggeration errors. This vector operation concept and its expanded methods can be applied in calculating other terrain derivatives in geomorphometry.

A baitbox for all seasons: temporal shifts in a vector’s propagule supply characteristics and implications for invasion ecology

Invasion dynamics are influenced by both vector operation and propagule pressure. Which propagules are entrained in a vector depends on how, where, and when a vector operates, but the timing and effects of vector operations on species delivery patterns is poorly resolved. Using the live marine baitworm trade, we tested vector selectivity across 3 boreal seasons (summer 2011, fall 2011, and spring 2012). We compared macroinvertebrate assemblages at the source (Maine, US east coast field) and in baitboxes upon delivery (Mid-Atlantic distributors, US east coast) and quantified live and dead biota to test for interactive effects of season and vector stage (i.e. source vs. destination) on per capita abundance, species richness, diversity, functional richness, and community composition. In all, we identified 46262 hitchhiking macro-organisms from 56 distinct taxa. Among live biota, taxonomic richness, functional group richness, and abundance differed by vector stage and season. Community composition showed seasonality for functional groups, but not for taxonomic groups. Vector stage affected dead community composition more than season, implying that vector operations (i.e. handling at source and during shipping) filter species transfers differentially. Dead communities were typically composed of the most abundant live organisms in the same baitboxes, emphasizing how important propagule pressure is to successful transport. Some combinations of 5 key functional traits (body size, feeding mode, growth form, modularity, and motility) were associated with increased survival during vector transfer. Successful species transfers are correlated with specific functional traits and propagule pressure, both of which are influenced by seasonal variation.