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Due to the rapid growth of the digital music industry, music copyrights have become valuable intangible assets for businesses, offering exclusivity and profitability. This article takes music copyrights as an example and designs a copyright protection method for music score digital images. The zero-watermarking algorithm offers an effective and lossless means of copyright protection. Owing to their geometric invariance, orthogonal moments exhibit superior robustness, positioning them as one of the mainstream methods in the research of zero-watermarking algorithms. The current zero-watermarking algorithms based on orthogonal moments face a trade-off between robustness and discriminability. In this paper, we propose a mixed low-order moments method based on quaternion-type fractional-order moments (QTFM), which balances the global information and texture details of color image contained in QTFM. Experimental results show that the mixed low-order moments method based on QTFM exhibits superior performance in terms of robustness. In the context of using mixed low-order moment features for image analysis, Franklin moments achieve higher average structural similarity (SSIM) values than other QTFMs.

Uncertainty and Jacobian transformation matrix (JMT) are two critical aspects that affect the coordinated robotic arm systems (CRAS) to achieve high accuracy task space trajectory tracking. To address the above two problems, a robust control design and parameter optimization method is proposed for the task space trajectory tracking of the CRAS in this paper. First, a fuzzy dynamical model of the CRAS is established. In this model, the uncertainty is assumed to be bounded and described by fuzzy set theory. It provides a bridge between the dynamical model and the practical system. Then, based on the fuzzy dynamical model, a robust approximate constraint-following servo control is developed to guarantee uniform boundedness (UB) and uniform ultimate boundedness (UUB) of the controlled CRAS. The proposed control can realize the trajectory tracking in task space without JMT, which alleviates the difficulty of control design and implementation. Third, the optimal parameter of the proposed control is selected by solving a fuzzy-based performance index. This performance index is formulated to merge the system manifestation and the control consumption. Finally, a numerical simulation of a dual-arm system is carried out to show the effectiveness of the proposed control method.

Due to the rapid growth of the digital music industry, music copyrights have become valuable intangible assets for businesses, offering exclusivity and profitability. This article takes music copyrights as an example and designs a copyright protection method for music score digital images. The zero-watermarking algorithm offers an effective and lossless means of copyright protection. Owing to their geometric invariance, orthogonal moments exhibit superior robustness, positioning them as one of the mainstream methods in the research of zero-watermarking algorithms. The current zero-watermarking algorithms based on orthogonal moments face a trade-off between robustness and discriminability. In this paper, we propose a mixed low-order moments method based on quaternion-type fractional-order moments (QTFM), which balances the global information and texture details of color image contained in QTFM. Experimental results show that the mixed low-order moments method based on QTFM exhibits superior performance in terms of robustness. In the context of using mixed low-order moment features for image analysis, Franklin moments achieve higher average structural similarity (SSIM) values than other QTFMs.

To resolve the inherent coupling conflict between trajectory tracking and lateral stability in distributed electric drive buses, this paper proposes a hierarchical cooperative control framework. A simplified two-degree-of-freedom (2-DOF) vehicle model is first established, and kinematically derived reference states for stable motion are computed. At the upper level, a model predictive controller (MPC) generates real-time steering commands while explicitly minimizing lateral tracking error. At the lower level, a proportional integral derivative (PID)-based roll moment controller and a linear quadratic regulator (LQR)-based direct yaw moment controller are designed, with four-wheel torque distribution achieved via quadratic programming subject to friction circle and vertical load constraints. Co-simulation results using TruckSim and MATLAB/Simulink demonstrate that, during high-speed single-lane-change maneuvers, peak lateral error is reduced by 11.59–18.09%, and root-mean-square (RMS) error by 8.67–14.77%. Under medium-speed double-lane-change conditions, corresponding reductions of 3.85–12.16% and 4.48–11.33% are achieved, respectively. These results fully validate the effectiveness of the proposed strategy. Compared with the existing MPC–direct yaw moment control (DYC) decoupled control framework, the coordinated control strategy proposed in this paper achieves the optimal trade-off between trajectory tracking and lateral stability while maintaining the quadratic programming solution delay below 0.5 milliseconds.

The paper analyzed the cause of rockburst, indicating that the risk came from hard and thick strata of roof, folding structure, fault, coal pillar and advance speed. Meanwhile SOS micro-seismic monitoring system and KBD5, KBD7 electromagnetic radiation meter was applied to monitor and measure the bumping danger zone. Corresponding to the unloading blasting and water softening, effectively avoid the occurrence of percussive ground pressure to ensure the safety in production.