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Digital watermarking has been considered as an important technique to protect the copyright of digital content. For a digital wa-termarking method to be effective, it is essential that a watermark embedded in a still or moving image resists against various attacks ranging from compression, filtering to cropping. As JPEG is a dominant still image compression(More)
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A variety of devices are used for robot control such as personal computers or other human interface devices, haptic devices, and so on. However, sometimes it is not easy to select a device which fits the specific character of varied kinds of robots while at the same time increasing the user's convenience. Under these circumstances, in this study, we have(More)
Our study is concerned with avoiding the local minimum that occurs when the mobile robot is trapped at a concave-shaped obstacle. Mobile robots use VFF (Virtual Force Field) as their autonomous navigation method. This algorithm generates the attractive force from the target and the repulsive force from the obstacle. So using the sum of these forces, the(More)