Modeling in Cyber-Physical Systems by Lattice Computing Techniques: The Case of Image Watermarking Based on Intervals’ Numbers

Watermarking regards the insertion of an "invisible" pattern to an image. It is known that watermarking can be pursued by modulating the coefficients of image moments, the latter are computationally extracted features; moreover, previous work has employed a Fuzzy Inference System (FIS) with triangular membership functions in order to compute each moment coefficient. This work proposes using irregular membership functions of multi-parametric Intervals' Numbers (INs) instead. Practical advantages of the proposed method are demonstrated comparatively in preliminary human-machine interaction applications of a Social Robot. The proposed techniques are presented as a case-specific study of modeling in Cyber-Physical Systems (CPSs) using Lattice Computing (LC) techniques.