arXiv subjects

V. Sumathy

Publications and source records attributed to V. Sumathy.

4 recordsLinked to original sources

arXiv2026

Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation

This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the physical interpretability and control structure of traditional quadrotor dynamics, while capturing the complex, time-varying behavior of pneumatically actuated soft arms. In SOFA, the soft pneumatically actuated arms are discretized as a tetrahedral mesh following an elastic material law that produces internal forces adequate to the real dynamic behavior of the body. Pneumatic actuation governed by both periodic and error-based control signals is applied within the internal cavities to analyze the morphing capability. Finally, a proportional-integral controller is proposed to study the controlled dynamic behavior and morphing capabilities of the pneumatic arm, wherein the pneumatic actuation to the soft arm is controlled to achieve the desired target position. The simulation results show the effectiveness of the proposed novel modeling framework and the related controller design.

cs.RO↗

arXiv2010

A Novel Approach Towards Cost Effective Region-Based Group Key Agreement Protocol for Peer - to - Peer Information Sharing in Mobile Ad Hoc Networks

Peer-to-peer systems have gained a lot of attention as information sharing systems for the widespread exchange of resources and voluminous information that is easily accessible among thousands of users. However, current peer-to-peer information sharing systems work mostly on wired networks. With the growing number of communication-equipped mobile devices that can self-organize into infrastructure-less communication platform, namely mobile ad hoc networks (MANETs), peer-to-peer information sharing over MANETs becomes a promising research area. In this paper, we propose a Region-Based structure that enables efficient and secure peer-to-peer information sharing over MANETs. The implementation shows that the proposed scheme is Secure, scalable, efficient, and adaptive to node mobility and provides Reliable information sharing.

cs.CR↗

arXiv2010

A Novel Approach towards Cost Effective Region-Based Group Key Agreement Protocol for Secure Group Communication

This paper addresses an interesting security problem in wireless ad hoc networks: the Dynamic Group Key Agreement key establishment. For secure group communication in an Ad hoc network, a group key shared by all group members is required. This group key should be updated when there are membership changes (when the new member joins or current member leaves) in the group. In this paper, We propose a novel, secure, scalable and efficient Region-Based Group Key Agreement protocol (RBGKA) for ad-hoc networks. This is implemented by a two-level structure and a new scheme of group key update. The idea is to divide the group into subgroups, each maintaining its subgroup keys using Group Diffie-Hellman (GDH) Protocol and links with other subgroups in a Tree structure using Tree-based Group Diffie-Hellman (TGDH) protocol. By introducing region-based approach, messages and key updates will be limited within subgroup and outer group; hence computation load is distributed among many hosts. Both theoretical analysis and experimental results show that this Region-based key agreement protocol performs better for the key establishment problem in ad-hoc network in terms of memory cost, computation cost and communication cost.

cs.CR↗

arXiv2010

Design And Implementation Of Multilevel Access Control In Medical Image Transmission Using Symmetric Polynomial Based Audio Steganography

...The steganography scheme makes it possible to hide the medical image in different bit locations of host media without inviting suspicion. The Secret file is embedded in a cover media with a key. At the receiving end the key can be derived by all the classes which are higher in the hierarchy using symmetric polynomial and the medical image file can be retrieved. The system is implemented and found to be secure, fast and scalable. Simulation results show that the system is dynamic in nature and allows any type of hierarchy. The proposed approach performs better even during frequent member joins and leaves. The computation cost is reduced as the same algorithm is used for key computation and descendant key derivation. Steganographic technique used in this paper does not use the conventional LSB's and uses two bit positions and the hidden data occurs only from a frame which is dictated by the key that is used. Hence the quality of stego data is improved.

cs.MM↗