Design and control of soft biomimetic pangasius fish robot using fin ray effect and reinforcement learning.

Soft robots provide a pathway to accurately mimic biological creatures and be integrated into their environment with minimal invasion or disruption to their ecosystem. These robots made from soft deforming materials possess structural properties and behaviors similar to the bodies and organs of living creatures. However, they are difficult to develop in terms of integrated actuation and sensing, accurate modeling, and precise control.

Plant Tissue Modelling Using Power-Law Filters.

Impedance spectroscopy has became an essential non-invasive tool for quality assessment measurements of the biochemical and biophysical changes in plant tissues. The electrical behaviour of biological tissues can be captured by fitting its bio-impedance data to a suitable circuit model. This paper investigates the use of power-law filters in circuit modelling of bio-impedance.

A generalized framework for elliptic curves based PRNG and its utilization in image encryption.

In the last decade, Elliptic Curves (ECs) have shown their efficacy as a safe fundamental component in encryption systems, mainly when used in Pseudorandom Number Generator (PRNG) design. This paper proposes a framework for designing EC-based PRNG and maps recent PRNG design techniques into the framework, classifying them as iterative and non-iterative. Furthermore, a PRNG is designed based on the framework and verified using the National Institute of Standards and Technology (NIST) statistical test suite.

Plant stem tissue modeling and parameter identification using metaheuristic optimization algorithms.

Bio-impedance non-invasive measurement techniques usage is rapidly increasing in the agriculture industry. These measured impedance variations reflect tacit biochemical and biophysical changes of living and non-living tissues. Bio-impedance circuit modeling is an effective solution used in biology and medicine to fit the measured impedance.

Modeling of Soft Pneumatic Actuators with Different Orientation Angles Using Echo State Networks for Irregular Time Series Data.

Modeling of soft robotics systems proves to be an extremely difficult task, due to the large deformation of the soft materials used to make such robots. Reliable and accurate models are necessary for the control task of these soft robots. In this paper, a data-driven approach using machine learning is presented to model the kinematics of Soft Pneumatic Actuators (SPAs).

Modified fractional-order model for biomass degradation in an up-flow anaerobic sludge blanket reactor at Zenein Wastewater Treatment Plant.

This paper presents a modified fractional-order model (FOM) for microorganism stimulation in an up-flow anaerobic sludge blanket (UASB) reactor treating low-strength wastewater. This study aimed to examine the famine period of methanogens due to biomass accumulation in the UASB reactor over long time periods at a constant organic loading rate (OLR). This modified model can investigate the substrate biodegradation in a UASB reactor while considering substrate diffusion into biological granules during the feast and famine periods of methanogens.

Underwater Soft Robotics: A Review of Bioinspiration in Design, Actuation, Modeling, and Control.

Nature and biological creatures are some of the main sources of inspiration for humans. Engineers have aspired to emulate these natural systems. As rigid systems become increasingly limited in their capabilities to perform complex tasks and adapt to their environment like living creatures, the need for soft systems has become more prominent due to the similar complex, compliant, and flexible characteristics they share with intelligent natural systems.

FPGA Realizations of Chaotic Epidemic and Disease Models Including Covid-19.

The spread of epidemics and diseases is known to exhibit chaotic dynamics; a fact confirmed by many developed mathematical models. However, to the best of our knowledge, no attempt to realize any of these chaotic models in analog or digital electronic form has been reported in the literature. In this work, we report on the efficient FPGA implementations of three different virus spreading models and one disease progress model.

Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators.

Advances of soft robotics enabled better mimicking of biological creatures and closer realization of animals' motion in the robotics field. The biological creature's movement has morphology and flexibility that is problematic deportation to a bio-inspired robot. This paper aims to study the ability to mimic turtle motion using a soft pneumatic actuator (SPA) as a turtle flipper limb.

Tactile sensing biohybrid soft E-skin based on bioimpedance using aloe vera pulp tissues.

Soft and flexible E-skin advances are a subset of soft robotics field where the soft morphology of human skin is mimicked. The number of prototypes that conformed the use of biological tissues within the structure of soft robots-to develop "Biohybrid Soft Robots"-has increased in the last decade. However, no research was conducted to realize Biohybrid E-skin.

A study of the nonlinear dynamics of human behavior and its digital hardware implementation.

This paper introduces an intensive discussion for the dynamical model of the love triangle in both integer and fractional-order domains. Three different types of nonlinearities soft, hard, and mixed between soft and hard, are used in this study. MATLAB numerical simulations for the different three categories are presented.

Realization of fractional-order capacitor based on passive symmetric network.

In this paper, a new realization of the fractional capacitor (FC) using passive symmetric networks is proposed. A general analysis of the symmetric network that is independent of the internal impedance composition is introduced. Three different internal impedances are utilized in the network to realize the required response of the FC.

Generalized double-humped logistic map-based medical image encryption.

This paper presents the design of the generalized Double Humped (DH) logistic map, used for pseudo-random number key generation (PRNG). The generalized parameter added to the map provides more control on the map chaotic range. A new special map with a zooming effect of the bifurcation diagram is obtained by manipulating the generalization parameter value.

Modeling and analysis of fractional order DC-DC converter.

Due to the non-idealities of commercial inductors, the demand for a better model that accurately describe their dynamic response is elevated. So, the fractional order models of Buck, Boost and Buck-Boost DC-DC converters are presented in this paper. The detailed analysis is made for the two most common modes of converter operation: Continuous Conduction Mode (CCM) and Discontinuous Conduction Mode (DCM).

Symmetric encryption algorithms using chaotic and non-chaotic generators: A review.

This paper summarizes the symmetric image encryption results of 27 different algorithms, which include substitution-only, permutation-only or both phases. The cores of these algorithms are based on several discrete chaotic maps (Arnold's cat map and a combination of three generalized maps), one continuous chaotic system (Lorenz) and two non-chaotic generators (fractals and chess-based algorithms). Each algorithm has been analyzed by the correlation coefficients between pixels (horizontal, vertical and diagonal), differential attack measures, Mean Square Error (MSE), entropy, sensitivity analyses and the 15 standard tests of the National Institute of Standards and Technology (NIST) SP-800-22 statistical suite.

CCII based fractional filters of different orders.

This paper aims to generalize the design of continuous-time filters to the fractional domain with different orders and validates the theoretical results with two different CCII based filters. In particular, the proposed study introduces the generalized formulas for the previous fractional-order analysis of equal orders. The fractional-order filters enhance the design flexibility and prove that the integer-order performance is a very narrow subset from the fractional-order behavior due to the extra degrees of freedom.

On some generalized discrete logistic maps.

Recently, conventional logistic maps have been used in different vital applications like modeling and security. However, unfortunately the conventional logistic maps can tolerate only one changeable parameter. In this paper, three different generalized logistic maps are introduced with arbitrary powers which can be reduced to the conventional logistic map.