Nonlinear Dyn (2024) 112:4951–4976

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ORIGINAL PAPER

Image cryptography communication using FPAA-based

multi-scroll chaotic system
Khunanon Karawanich . Jirat Chimnoy . Fabian Khateb . Muhammad Marwan .
Pipat Prommee

Received: 5 October 2023 / Accepted: 13 December 2023 / Published online: 26 January 2024
Ó The Author(s), under exclusive licence to Springer Nature B.V. 2024

Abstract This research presents an image cryptog- and six-scroll attractors by adjusting only one coeffi-
raphy communication system based on a novel 3D cient. The fundamental dynamical properties of the
high-complex chaotic system. The chaotic system is proposed system are investigated, viz., equilibria and
implemented by field programmable analog array stability, dissipative, phase portraits, bifurcation, and
(FPAA), which is a conveniently reconfigurable Lyapunov exponent, etc. The four-scroll attractor of
system. The image cryptography communication the proposed system is applied in image encryption.
system is realized using low-cost microcontrollers The multi-scroll attractor’s characteristic in this work
and commercially available devices. The proposed can achieve relatively high complexity, with a high
chaotic system based on the jerk model incorporated Kaplan–Yorke dimension of up to 2.45. The perfor-
two different nonlinear functions that can generate mances of the multi-scroll chaotic using FPAAs are
single-scroll, double-scroll, three-scroll, four-scroll, proven by comparing the experimental and numerical
results. The image cryptography communication sys-
tem based on the chaotic masking method (CM) has
K. Karawanich  J. Chimnoy  P. Prommee (&) been tested around 1 9 107 bits under 9600 bps. The
Department of Telecommunications Engineering, School measuring signals of the image cryptography commu-
of Engineering, King Mongkut’s Institute of Technology nication system are demonstrated in different scenar-
Ladkrabang, Bangkok 10520, Thailand
e-mail: [email protected]
ios. The experimental results can be ensured that
mismatched parameters give the complete cipher
F. Khateb image if and only if the bit error rate is more
Department of Microelectronics, Brno University of significant than 490,000 9 10–6.
Technology, Technická 10, 601 90 Brno, Czech Republic

F. Khateb Keywords Image cryptography  Multi-scroll

Faculty of Biomedical Engineering, Czech Technical attractor  High complexity  FPAA  Communication 
University in Prague, nám. Sı́tná 3105, 272 01 Kladno, Low cost
Czech Republic

F. Khateb
Department of Electrical Engineering, Brno University of
Defence, Kounicova 65, 662 10 Brno, Czech Republic

M. Marwan
School of Mathematics and Statistics, Linyi University,
Linyi 276005, Shandong, China

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4952 K. Karawanich et al.

1 Introduction investigating various possible chaotic behaviors is

essential. Analyzing the performances of creating new
The chaotic system is a nonlinear system that can be chaotic systems is indispensable. The most prominent
controlled and applied in many fields, such as power Lyapunov exponent (LE) [15] provides the pre-
systems protection, biomedical systems analysis, com- dictability of chaos in a dynamical system. A system
puter sciences, and telecommunications cryptography with a positive Lyapunov exponent is usually chaotic.
[1, 2]. Various chaotic systems with their dynamic Holding a large value positive LE and a high-value
behaviors were recently introduced and physically overview of Kaplan–Yorke [16] means the system is
implemented [3, 4]. One superior behavior of the highly complex. Likewise, examining the influence of
chaotic system is sensitivity to the initial condition. parameters of the chaotic system that affect various
This property contributes to many interesting complex behavior dynamics with the bifurcation theoretical is
features (e.g., mixed mode, multistability, bursting, extremely important.
hysteresis, coexisting multiple asymmetric attractors, However, a circuit design of chaotic systems is
etc.). Studying the complex features of chaotic systems necessary to confirm the possibility of numerical
is challenging for researchers. It is, therefore, a popular results and realistic engineering applications. Differ-
topic of current chaotic research. ent approaches are available to realize chaotic circuits,
In the past, many models have been invented to whether designed as analog or digital circuits (em-
develop chaotic studying. Models of the chaotic bedded systems). Analog circuit designs using
system well known in the literature are the Lorenz OPAMP [17] and digital designs using microcon-
system 1963 [5], Rossler system 1976 [6], Chua troller unit (MCU) [18] and FPGA (field pro-
system 1984 [7], Sportt system 1994 [8], Jerk system grammable gate array) [19, 20] were preferable in
2000 [9], etc. Each model mentioned earlier has the experiment. Digital designs can be designed and
different complexity with the number of state vari- programmed according to the block diagram of
ables in the system and the characteristics of nonlinear chaotic systems that design. FPAA (field pro-
functions until various dynamic behaviors can occur grammable analog array) is a programmable device
inside the system. Jerk is a system with a low-complex for designing analog functions. Because this electronic
structure and is simple to customize. The general form device has a feature that can be used to change
...
of the jerk system is x ¼ Fðx; € x;_ xÞ, where x is the first component values and interconnections programmat-
derivative of the location, x_ namely speed, x€ the ically, it can be dynamically reconfigured. This meant
second derivative is the acceleration, and the third- a design modification or a completely new design
...
order derivative is x known as Jerk [9]. Recently, new could be implemented with a reconfigurable FPAA
chaotic attractors with high complexity, such as multi- device. FPAA provides more efficient and economical
scroll or multi-wing chaotic attractors in 3D autono- solutions for analog dynamical system designs,
mous systems, have been rapidly developed [10]. Most including configurable analog blocks (CABs) to
of the multi-scroll attractors were generated by perform the desired analog operations. In the design
increasing the breakpoints in the nonlinearity. software developed by the manufacturer, configurable
Recently, a four-wing or three-wing attractor can be analog modules (CAMs) for various functions are
generated in some 3D systems [11], and two-, three-, prepared and presented to the users. [21]. Using
and four-wing attractors of 3D autonomous chaotic FPAAs, various dynamical systems, including differ-
systems have been reported in [12]. However, note ent chaotic systems, can be implemented at less cost in
that 3D systems cannot quickly provide multi-scroll a much smaller size than discrete circuit realizations.
generation. In literature, some results exist about how Chaos has unpredictable motion but is a determin-
to generate multi-scroll chaotic attractors by using the istic dynamical system. The unique properties are the
jerk system, which is modified by increasing the sensitivity of the initial condition and the parameter.
breakpoint of nonlinear functions to appear multi- From these characteristics, chaotic systems are fre-
scroll, such as the signum function [13] and sine quently adopted in cryptography to develop secure
function [14]. How to generate multi-wing chaotic communication systems. In 1989, the chaotic encryp-
attractors remains an open problem; therefore, tion algorithm was explicitly presented by R.

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4953

Matthews [22]. Since then, there has been extensive proposed chaotic system’s four-scroll attractor is
research on chaos-based cryptography, including the applied to image encryption based on the chaotic
practical application stage. masking method (CM). Using FPAA, the system can
Currently, image information is widely transmitted facilitate the adjustment of parameters in the encryp-
over the Internet. As a result, image data security is an tion processing. The communications system is pro-
essential requirement [23]. Much research on image totyped using a low-cost microcontroller and
and video encryption has been published. The princi- commercially available devices. The experimental
ple of chaos encryption is based on the ability to results of image encryption and communications are
produce a sequence of numbers that are unpredictable. demonstrated. The results consist of reconstructed
This property is used to encrypt messages. The images in successfully recovered and mismatched
difficulty of decryption for chaos depends on the cases, including the output waveforms in each process
initial condition and the parameter of the chaotic and the values of each realized parameter.
system used for generating. A slight deviation between
the transmitter and the receiver for a chaotic system
causes a mismatch decryption. Moreover, P. Sanprang 2 Description and analysis of the proposed system
et al. proposed image cryptography using FPAA-based
two conventional chaotic systems [24]. Other litera- 2.1 Description of the proposed jerk chaotic
ture proposed a Feedback Chaotic Synchronization system
(FCS) for designing a real-time secure symmetric
encryption scheme implemented in hardware [25]. One of the hallmarks of the jerk model is a simple
Multi-scroll chaotic generation on a 3D system customized independent nonlinear function [9]. This
challenge, a novel 3D chaotic jerk system with two work chooses the jerk model for designing the multi-
different nonlinear functions, is aimed to generate the scroll chaotic attractor. The model is reestablished by
multi-scroll output. One of the highlights in this work is using two nonlinear functions by increasing the G(x)
the several dynamic behaviors, viz., single-scroll, and G(y) nonlinear functions of variable x and y
double-scroll, three-scroll, four-scroll, and six-scroll positions [26, 27]. The ordinary differential equation
attractors from only one parameter control. Moreover, (ODE) of the proposed system can be expressed in
multistability can be found in symmetry and asymme- Eq. (1a). The nonlinear functions G(x) and G(y) are
try boundaries from parallel branch bifurcation exam- designed as Eqs. (1b) and (1c), respectively.
ination. With characteristics of a strange attractor, the 8
< x_ ¼ y þ GðyÞ;
complexity of this work is high, up to 2.45 by the
y_ ¼ z; ð1aÞ
Kaplan–Yorke dimension. The proposed system has :
z_ ¼ kz  y  GðxÞ;
essential dynamic properties investigation, including
equilibrium, stability, dissipative of attractor, phase Cx
portraits, Lyapunov exponents, and bifurcation. Some GðxÞ ¼ CxRectðDxÞ   ððtanhðmðx þ 1=2DÞÞ
2
special features are graphically illustrated, viz., Poin- tanhðmðx  1=2DÞÞÞ þ 1Þ;
caré map, 0–1 test chart, amplitude control, and offset
boosting. The several basins of attraction are also used ð1bÞ
to confirm the multistability phenomenon. The several
GðyÞ ¼ Ay  BsgnðyÞ  Ay  B tanhðmyÞ ð1cÞ
dynamic behaviors that occur in the proposed system
can be gainful in various fields of application. where all coefficients (A, B, C, D, k) are positive
The proposed multi-scroll chaotic system is imple- constants, and m = 100.
mented on the FPAA evaluation board. The experi-
mental results are compared with numerical results to 2.2 The configuration and approximation
confirm the possibility of several dynamic behaviors. of the nonlinear functions
The programmability of the FPAA device allows for
exploring accurate experimental results. Finally, The nonlinear function of a chaotic system is an essential
applying a multi-scroll chaotic attractor in encryption ingredient that makes the system generate chaotic signals.
improves the security of communication systems. The The characteristics of the nonlinear function influence

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4954 K. Karawanich et al.

Fig. 1 Plot of modified rectangular function G(x) a the relation of coefficients C and D b the compatibility between the modified
rectangular functions and approximating functions with varying C and D

various complex behaviors of the system. Significantly, system is described by e = (x, y, z)T, e_ ¼ HðeÞ and
adjusting the related condition of parameters can exhibit _ T. Thus, the divergence of the system
H(e) = (x,_ y,_ z)
the presence of symmetry or asymmetry coexisting (1) can be easily derived as follows:
behaviors (complex dynamic features), making chaotic ox_ oy_ oz_
K¼rHðeÞ¼ þ þ
systems more interesting for education. ox oy oz
This work uses two nonlinear functions, viz., K¼rHðeÞ¼
o½yþfAyBtanhðmyÞg oðzÞ
þ
modified rectangular function (G(x)) and modified ox oy
o½kzyfCx=2ððtanhmðxþ1=2DÞtanhmðx1=2DÞÞþ1Þg
signum function (G(y)) expressed as Eqs. (1b) and (1c), þ
oz
respectively. The nonlinear functions consist of the K¼rHðeÞ¼k\0:
coefficients of the gain (C) and boundary (1/2D) for ð2Þ
G(x), the slope (A), and amplitude (B) for G(y) [26, 27]
and given m = 100. The approximation method of Since K = -k \ 0, the proposed system is dissipa-
nonlinear function transformed into trigonometric tive (convergent). Hence, the trajectories are confined
form can be seen in [26]. The graphical of the nonlinear in a contracted volume and could eventually form an
functions proposed are shown in Figs. 1 and 2. attractor [28, 29].
From the above design principles, an interesting
example of the strange four-scroll attractor (falcon- 2.4 Dynamical analysis of the proposed system
like scroll attractor) for the proposed system is shown
in Fig. 3. Observed that the trajectories orbit in the 2.4.1 Equilibrium points
phase space is the novel strange attractor, the proposed
system will be analyzed thoroughly such as dissipa- The equilibrium points of the proposed chaotic system
tive, stability, bifurcation, Lyapunov, multiple attrac- are obtained by solving:
tors, special features, etc. However, investigating the 8
< x_ ¼ y þ GðyÞ ¼ 0
parameters (A, B, C, D, and k) leads to proven y_ ¼ z ¼ 0 ð3Þ
multistability and analysis of various dynamic behav- :
z_ ¼ kz  y  GðxÞ ¼ 0
iors. Finally, the proposed system will be designed on
the FPAA to confirm the numerical results. The equilibrium of the chaotic system can be
calculated by equating derivatives of the state vari-
2.3 Dissipative of the proposed system ables to zero (i.e., x_ ¼ y_ ¼ z_ ¼ 0) as described in
Eq. (4).
The existence of attractors in the proposed system
could be obtained by analyzing the volume contraction
or expansion rate in the state space. The volume
contraction rate of a continuous-time dynamical

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4955

Fig. 2 Plot of modified signum function G(y) a the relation of coefficients A and B b the compatibility between the modified signum
functions and approximating functions with varying A and B

Fig. 3 The 2D strange attractor of the proposed system (1) with two nonlinear functions by given A = 0.6, B = 0.2, C = 1, D = 2.5,
k = 0.6, and initial condition (x0, y0, z0) = (0.1, 0.1, 0.1) a x–y plane b x–z plane c y–z plane


Cx 2.4.2 Eigenvalue and stabilities
GðyÞGðxÞ¼ ½AyBtanhðmyÞ
2
ððtanhðmðxþ1=2DÞÞtanhðmðx1=2DÞÞÞþ1Þ The calculated eigenvalues can determine the stability
¼0 of the dynamic system by assuming the system is in the
equilibrium state [26, 30]. The stability properties of
ð4Þ
the system are investigated from the equilibrium
where A = 0.6, B = 0.2, C = 1, D = 2.5 and m = 100. points [26]. The Jacobian matrix of the proposed
Given G(y) - G(x) = 0, (mx ? m/2D) = a, and chaotic system is expressed in Eq. (6).
(mx - m/2D) = b, [26] the rest equilibrium points 0 1
0 1 þ ðvðyÞÞ 0
can be calculated by
JE ðx; y; zÞ ¼ @ 0 0 1 A
0 ¼ ðtanhðaÞ  tanhðbÞÞ þ 1 ð5Þ ðuðxÞÞ 1 k ðx;y;zÞ

Given G(x) = G(y) = 0, thus the parameters (a, ð6Þ

b) [[ 1 and (a, b) \\ 1 then the first non-zero fixed
where vðyÞ ¼ oGðyÞ 2
oy ¼ A þ mB sec h ðmyÞ,
point is yE1,2 = ± 0.33. Given the parameters (a,
b) = ± 3, the remaining non-zero fixed points can be
found at xE1,2 = ± 0.638297871. Therefore, the pro-
posed system has three equilibrium points (E0, E1, and
E2) are origin equilibrium points E0(0, 0, 0) and the
rests equilibrium points are E1(0.638297871, 0.33, 0)
and E2(- 0.638297871, -0.33, 0).

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4956 K. Karawanich et al.

oGðxÞ According to the Shilnikov theorem [32], given

uðxÞ ¼ ¼ 0:5  C
ox  k1 = q and k2,3 = p ? ix where qp \ 0 and x = 0.
2  m  m
x m sec h2 my þ  tanh mx  The eigenvalues of the proposed chaotic system
6 2D 2D
 comply with the Shilnikov theorem because the
6
6 m m 
6 þm sec h2 ðmx  Þ  tanh mx þ characteristic equation consists of one real eigenvalue
6 2D 2D
4  and a pair of complex conjugate eigenvalues, given
m  m i
þ tanh mx þ  tanh mx  |q| [|p|. Moreover, unstable saddle focus is evident
2D 2D from the eigenvalues of the proposed chaotic system at
The parameters are A = 0.6, B = 0.2, C = 1, the equilibrium point, at E0 and E1,2 [30].
D = 2.5, and k = 0.6 with m = 100.
The Jacobian matrix of the proposed system is 2.5 Complexity quantitative by Lyapunov
evaluated at three equilibrium points (E0, E1, E2) by exponent and Kaplan–Yorke dimension
solving the Jacobian matrix in Eq. (6). Firstly, the
equilibrium point at E0(0,0,0) for the proposed chaotic The complexity of the proposed system is the critical
system can be expressed as determinant of the performance for chaotic behavior;
0 1 the Kaplan–Yorke dimension can identify it. Firstly,
0 1 þ ð19:4Þ 0 the Lyapunov exponents (LEs) in this work are
JE0 ð0;0;0Þ ¼ @ 0 0 1 A ð7Þ calculated using Wolf’s algorithm [15, 33]. The
ð0:5Þ 1 0:6 simulation of the proposed system has defined the
For the rest equilibrium points E1,2 % (±0.64, parameters as: A = 0.6, B = 0.2, C = 1, D = 2.5, and
±0.33,0) can be express as k = 0.2 (these parameter values are those that can
0 1 achieve the highest DKY of the six-scroll attractor in
0 1 þ ð0:6Þ 0 Fig. 11f(i)) with the initial conditions (x0, y0,
JE1;2 ð0:64;0:33;0Þ ¼ @ 0 0 1 A z0) = (0.1, 0.1, 0.01). This work has proposed a
ð0:5Þ 1 0:6 three-dimensional chaotic system incorporating two
ð8Þ different nonlinear functions that can generate a multi-
scroll chaotic attractor. The three Lyapunov exponents
In Eqs. (7–8), the characteristic equation
(LE1, LE2, and LE3) in the time series are shown in
F(k) = det(JE-kI) associate to the above Jacobian
Fig. 4 using a time span Dt = 0.001. The LEs of the
matrix JE0 and JE1,2 can be derived by using the linear
proposed system are one positive, and the sum of LEs
algebra theorem [31] as follow:
is negative, confirming that the system has chaotic
FðkÞE0 ¼ detðJE0  kI Þ ¼ k3 þ 0:6k2 þ k þ 10:2 behavior.
The multi-scroll characteristic of the proposed
ð9Þ
system can be specified complexity values in analyt-
  ical. The complexity is determined by the Kaplan–
FðkÞE1;2 ¼ det JE1;2  kI ¼ k3 þ 0:6k2 þ k  0:2
Yorke dimension (DKY) [30] based on LEs as the
ð10Þ formula in Eq. (13).
The eigenvalues for the equilibrium point E0 are
1 X
j
calculated as Eq. (11) DKY ¼ j þ   LEi ð13Þ
LEjþ1  i¼1
k1 ¼ 2:219; k2 ¼ 0:810 þ 1:984i; k3
¼ 0:810  1:984i: ð11Þ The Kaplan–Yorke dimensions (DKY) of the pro-
posed chaotic system can be expressed as
The eigenvalues for the equilibrium point E1,2 are
LE1 þ LE2 0:241701  0:04
calculated as Eq. (12) DKY ¼ 2 þ ¼2þ
jLE3 j j0:448254j
k1 ¼ 0:176; k2 ¼ 0:368 þ 0:993i; k3 ¼ 2:45
¼ 0:368  0:993i: ð12Þ
ð14Þ

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4957

Fig. 4 The LEs of the

proposed chaotic system
(six-scroll attractor)

The Kaplan–Yorke dimensions of the proposed A = 1.5, A = 1, A = 0.6, A = 0.2) and two initial
chaotic system are obtained at 2.45. To verify the conditions (x0, y0, z0) = (± 0.1, 0.1, 0.1) as Fig. 5, to
complexity of the chaotic system based on attractors observe the occurrence of various dynamic behaviors.
and waveforms. The bifurcation in Fig. 5a reveals the superimposed
(regular chaotic attractor area) within the green border
when A = 1.5. Likewise, Fig. 5b–d reveals the super-
3 Numerical study of the proposed system imposed asymmetry and symmetry boundary when
parameter A is adjusted and two different initial
The various dynamics behaviors of the proposed conditions. One of the highlights of this work is the
system (1) are investigated by using Lyapunov and variety of dynamics. Thus, Fig. 5c is most remarkable
bifurcation diagrams. The presence of multistability because within one scenario of bifurcation can be
[34, 35] is proved by coexisting symmetrical solutions. found superimposed, symmetry, and asymmetry
Numerical results are presented by nonlinear graphics boundaries. The values of these parameters set
analysis tools, viz., phase portraits, Poincare, 0–1 test (A = 0.6, B = 0.2, C = 1, D = 2.5 of Fig. 5c) are
chart, and basin of attraction. chosen to analyze for other dynamic behaviors.

3.1 Bifurcation analysis 3.1.1 Examination for variation of parameters

A and B
The proposed system is a highly complex chaotic
system consisting of multiple types of attractors To monitor the influence of five parameters for the
(including four-scroll and six-scroll attractors). The proposed system, let’s start with the parameters of the
system has five parameters (i.e., A, B, C, D, and k) that modified signum function (G(y)) (Figure 6). The
influence dynamics behaviors; the bifurcation diagram bifurcation diagram is plotted by given B = 0.2,
is chosen for parameter examination. The plot of C = 1, D = 2.5, and k = 0.6, including defining the
bifurcation is presented on the local maxima of state initial condition according to below of the figure. In a
variable x (xmax) versus the parameter control. The system exhibiting multiple attractors, the long evolu-
proposed system has diverse dynamics characteristics tion of the system’s motion depends crucially on the
that are exciting in phase space. value of the initial condition. The display of various
The first step, the analysis bifurcation of the attractors resulting from different initial conditions is a
proposed system, is concentrated on dynamic behavior great demonstration. In Fig. 6a, parameter A is
when changing the values of system parameters with revealed in the 0.1 B A B 2 range. Figure 6b–c shows
different initial conditions. The bifurcation of param- a pair symmetry of single-band attractors and an
eter k in the range 0.1 B k B 1.2 is chosen to monitor irregular dual asymmetry of falcon-like scroll (four-
together with different values of parameter A (i.e., scroll) attractors at A = 0.2 and A = 0.64,

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4958 K. Karawanich et al.

Fig. 5 Bifurcation analysis of parameter k in range 0.1 B k B 1.2 for four discrete of parameter A by fixed B = 0.2, C = 1, D = 2.5
with initial condition (0.1, 0.1, 0.1) for red color and (- 0.1, 0.1, 0.1) for blue color a A = 1.5 b A = 1 c A = 0.6 d A = 0.2

Fig. 6 The graphical of

some results from the
influence of parameter A,
a the bifurcation on the local
maxima x b phase portraits
for A = 0.2 c phase portraits
for A = 0.64 d phase
portraits for A = 1.18
e phase portraits for
A = 1.84

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4959

Fig. 7 The graphical of

some results from the
influence of parameter B,
a the bifurcation on the local
maxima x b phase portraits
for B = 0.01 c phase
portraits for B = 0.13
d phase portraits for
B = 0.24 e phase portraits
for B = 0.35

respectively. Figure 6d–e shows superimposed big- control parameter C is in the range of 0.5 B C B 2,
size four-scroll attractors and an irregular dual asym- given A = 0.6, B = 0.2, D = 2.5, and k = 0.6. Fig-
metry of four-scroll attractors at A = 1.18 and ure 8b–c shows a pair symmetry of a single-band
A = 1.84, respectively. These results are just some scroll and a symmetry of limit cycle coexisting with a
attractors on phase portraits obtained from the influ- falcon-like scroll attractor at C = 0.54 and C = 1.12,
ence of parameter A. respectively. Figure 8d–e shows the superimposed
The rich dynamic behaviors of the proposed system approach to the six-scroll attractor and an irregular
can be noticed by varying the parameter B as well. dual asymmetry of four-scroll attractors at C = 1.55
Figure 7a shows the bifurcation diagram of the control and C = 1.82, respectively. Figure 9a shows the
parameter B in the range of 0 B B B 0.4, given bifurcation for varying the parameter D in the
A = 0.6, C = 1, D = 2.5, k = 0.6, and the initial 0.1 B D B 4 range, given A = 0.6, B = 0.2, C = 1,
condition see through below of Fig. 7. Figure 7b–c and k = 0.6. Figure 9b–c shows the asymmetry of a
shows a pair symmetry of mono attractors and mono attractor coexisting with a double-scroll attrac-
superimposed of approach to six-scroll attractors at tor and the asymmetry of three-scroll attractors
B = 0.01 and B = 0.13, respectively. Figure 7d–e coexisting with four-scroll attractors at D = 0.2 and
shows the asymmetry of the limit cycle coexisting D = 1.45, respectively. Figure 9d–e shows a pair of
with a single-band attractor and a pair asymmetry of symmetry of double-scroll attractors and a pair of
single-band attractors at B = 0.24 and B = 0.35, symmetry of single-band attractors at D = 2.8 and
respectively. D = 3.5, respectively.
The whole mention of parameters influence (A, B,
3.1.2 Examination for variation of parameters C C, and D) is just some dynamic behaviors that occur on
and D phase portraits, it is evident that the proposed system
can be generated rich types of attractors and has
The bifurcation diagrams for the parameters of the multistability behavior. Which consist of single-band
modified rectangular function (G(x)) are revealed in scroll, double-scroll attractor, three-scroll attractor,
Figs. 8 and 9, which can be observed as the initial four-scroll attractor, and six-scroll attractor, including
condition according to the below figure. The meta- irregular attractor, approach to variety attractor until
morphosis of dynamics on the bifurcation diagram of dual attractor of case superimposed, symmetry, and
parameter C is similar to parameter A. Figure 8a asymmetry that occur from the different initial con-
reveals the fragmentation of state variable x when dition. One of the challenges of chaotic major

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4960 K. Karawanich et al.

Fig. 8 The graphical of

some results from the
influence of parameter A,
a the bifurcation on the local
maxima x b phase portraits
for A = 0.2 c phase portraits
for A = 0.64 d phase
portraits for A = 1.18
e phase portraits for
A = 1.84

Fig. 9 The graphical of

some results from the
influence of parameter A,
a the bifurcation on the local
maxima x b phase portraits
for A = 0.2 c phase portraits
for A = 0.64 d phase
portraits for A = 1.18
e phase portraits for
A = 1.84

researchers is attempting to thoroughly explore the spectrum is shown in Fig. 10. The overview of phase
complex behavior of systems to implement the portraits corresponding to time series when the control
designed system for various applications. parameter k is varied is shown in Fig. 11a–f. The main
proposed attractor in this work (falcon-like scroll
3.1.3 Route to chaos respect with parameter k attractor) is used to confirm the experimental setup
presented in Fig. 11d (similar to Fig. 3) because the
The route to the chaos of the proposed system is characteristics of trajectories on phase space have an
determined by varying the parameter k. The bifurca- evident structural attractor suitable for observation
tion diagram corresponding with the Lyapunov and comparison.

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4961

1 different initial conditions (Note that these are just

0.5 LE1 some of the results examples to demonstrate). Fig-
Lyapunov spectrum

0 ure 13 shows the bifurcation of parameter C in the

-0.5 LE2 range 0.5 B C B 1 with different initial conditions
-1 (x0, y0, z0) = (± 0.1, 0.1, 0.01) in the blue, and red
-1.5 LE3 colors, respectively. Bifurcation can be observed in
-2 coexisting parallel branches in the 0.5 B C B 0.885
1 range. The coexisting symmetric attractors on phase
0.8
0.6 portraits from varying parameter C is illustrated in
0.4 Fig. 14. A pair symmetry of single-band attractors,
0.2
stable cycle, approach to double-scroll attractors, and
xmax

0
-0.2 double-scroll attractors are plotted in Fig. 14a–d,
-0.4
-0.6
respectively. Two colors of attractors from Fig. 14e
-0.8 (x0, y0, z0) = (0.1, 0.1, 0.1) and g correspond with the colors of the basin of
-1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 attraction in Fig. 15a and b, respectively. The beige
k color zone of basins is related to divergent dynamics.
Fig. 10 Route to the chaos of parameter k in range 0.1 B k
B 0.8 (Given A = 0.6, B = 0.2, C = 1, D = 2.5) Lyapunov 3.2.2 Asymmetry behavior
spectrum (Upper panel) and Bifurcation diagram (Lower panel)
At this stage, the presence of multiple coexisting
To confirm the highly complex chaotic behavior of asymmetry attractors is presented. The asymmetry
the proposed system, gaining further insight into other behavior study is helpful to in-depth about the chaotic
field results of the system is essential. Figure 12a, b system proposed to prove adjunct complex dynamic
depicts the 3D trajectory on a cross-section Poincaré behaviors. To investigate the coexisting asymmetric
coupled with the proposed system’s Poincaré map attractors of the system. Figure 16, the bifurcation of
[36]. Figure 12c shows the Brownian motion for parameter k is plotted in the range 0.4 B k B 0.8 with
specified chaotic behavior on the p, s plot of the 0–1 different initial conditions (x0, y0, z0) = (± 0.25,
test chart [37]. ± 0.2, 0.01) in the green, and black colors, respec-
tively. Figure 17a–d demonstrates asymmetric behav-
3.2 Multistability analysis iors for coexisting double-scroll attractors with
stable cycle, coexisting approach four-scroll attractors
The multistability of multiple coexisting attractors for with double-scroll attractors, coexisting shuriken four-
the same values of parameters is an essential property scroll attractors with irregular four-scroll attractors,
found in nonlinear dynamical systems from various coexisting big-size four-scroll attractors with irregular
fields of science and engineering [34, 35]. The analysis four-scroll attractors, respectively. The basin of
of the proposed system reveals the multistability results attraction has confirmed the dynamic behavior of
from the presence of parallel bifurcation branches. This initial conditions on x0-y0 planes. Figure 17c and d is
also reflects the unpredictability in the system’s behav- plotted by the attractor’s colors corresponding with the
ior, contributing to enriching its complexity. The colors of the basin of attraction in Fig. 18a and b,
proposed system is highly sensitive to initial conditions respectively. The beige color zone of basins is related
and can generate many attractors. The following results to unbounded dynamics.
show the occurrence of multiple coexisting attractors for From the results in Sects. 3.2.1 and 3.2.2, the
the symmetric and asymmetric dynamics. proposed system can be produced multiple coexisting
attractors, both symmetry and asymmetry, by chang-
3.2.1 Symmetry behavior ing the initial conditions but fixing other parameters.
Multiple attractors represent an additional source of
The sample of symmetry of the proposed system can randomness, and obvious potential applications
be found from the influence of parameter C with include chaos-based secure communication and ran-
dom signal generation [38].

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4962 K. Karawanich et al.

0.7
0.02 a(i) a(ii)
0.6

0 0.5
0.4

y
-0.02
x 0.3
-0.04 0.2
0.1
-0.06
k=0.78 0
-0.08 -0.1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0 50 100 150
x time
0.1 0.6
b(i) b(ii)
0.05 0.5

0 0.4

-0.05 0.3
y x
-0.1 0.2

-0.15 0.1

-0.2 k=0.67 0
-0.25 -0.1
-0.1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0 50 100 150
x time
0.3 0.6
c(i) c(ii)
0.2 0.4

0.1 0.2

y 0 x 0

-0.1 -0.2

-0.2 -0.4
k=0.638
-0.3 -0.6
-0.8 -0.4 0 0.4 0.8 0 20 40 60 80 100 120 140 160 180 200
x time
0.8
d(ii)
0.2 d(i)
0.6

0.1 0.4

0.2
y 0 x
0
-0.1 -0.2

-0.4
-0.2 k=0.6
-0.6
-0.8 -0.4 0 0.4 0.8 0 50 100 150 200 250 300
x time

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 Image cryptography communication using FPAA-based multi-scroll chaotic system 4963

0.4 0.8
e(i) e(ii)
0.3 0.6
0.2 0.4
0.1
0.2
y 0 x
0
-0.1
-0.2
-0.2
-0.3 k=0.4 -0.4

-0.4 -0.6
-0.8 -0.4 0 0.4 0.8 0 50 100 150 200 250 300
x time
0.8
0.4 f(i)
f(ii)
0.6
0.4
0.2
0.2
y 0 x 0
-0.2
-0.2
-0.4

-0.4 k=0.2 -0.6

-0.8
-0.8 -0.4 0 0.4 0.8 0 50 100 150 200 250 300
x time
b Fig. 11 continued

b Fig. 11 Route to the chaos of phase portraits (left) correspond-

the system that can control the amplitude of some state
ing time-series waveform (right) of the proposed system by variables is called partial amplitude control. Second, if
varying k a stable cycle, b double-scroll attractor, c approach changing the control parameter affects the entire
falcon-like scroll attractor, d falcon-like scroll attractor (four- system’s time series, it is called total amplitude
scroll attractor), e approach to six-scroll attractor, and f six-
scroll attractor
control, depending on each chaotic system. To prevent
the amplitude from exceeding the limit of the chaotic
circuit, amplitude control of the chaotic system is
required. Moreover, the amplitude control through the
3.3 The abilities to rescale (amplitude control) several parameters or coefficients in the system must
and offset boosting of the proposed system not disturb the chaotic generator’s condition. For the
proposed system, the state variable y is chosen for
The amplitude control and offset boosting techniques offset boosting by changing z into z ? c, where c
are necessary for some applications of chaotic systems denotes an offset variable. For the total amplitude
to implement a chaotic circuit with commercial control of the proposed system, we arranged the
devices. In practical signal processing of the chaotic, following new state variables: x = wxS, y = wyS, and
the offset boosting [26, 39] can be transformed from a z = wzS, where w denotes an amplitude-controlled
bipolar signal to a unipolar signal. For some chaotic variable. The proposed system can be rewritten as:
systems, the offset variable can be used instead of the 8
state variable in any dimension by substituting (x, y, < x_S ¼ yS þ GðyS Þ;
z) ? (x, y, z) ? c which c is the offset variable. The y_ ¼ ðzS þ cÞ; ð15:aÞ
: S
mentioned property is especially suitable for applica- z_S ¼ kðzS þ cÞ  yS  GðxS Þ;
tion in chaotic secure communication. The amplitude The nonlinear functions are altered follow as:
control [27, 40] can be divided into two types. Firstly,

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4964 K. Karawanich et al.

Fig. 12 The main attractor proposed, given A = 0.6, B = 0.2, C = 1, D = 2.5, k = 0.6 and the initial condition (x0, y0, z0) = (0.1, 0.1,
0.1) a 3D shuriken four-scroll attractor b Poincaré map c 0–1 test chart

4 FPAA-Based implementation of the proposed

system

Digital circuits are usually used when implementing

high-accuracy, high-complexity signal processing
algorithms. This method is typically used for low-
frequency signals and low power consumption. On the
contrary, the analog circuit is suitable for high-
frequency signals and low power dissipation. But the
analog’s disadvantage is the circuits’ low accuracy
and non-programmability. Thus, the FPAA technol-
ogy provides a basic instrument for developing
Fig. 13 The bifurcation diagram shows the local maxima of the
dynamically reconfigurable analog circuits. Using
coordinate x versus C for the coexistence of symmetric
behaviors by fixed: A = 0.6, B = 0.2, D = 2.5, k = 0.6 FPAA, it is possible to reprogram the entire circuit
dynamics, keeping the structure fixed but changing
only the parameters [41].
GðxS Þ ¼ CxS RectðDxS Þ The device in this work used the AN231E04 FPAA
CxS produced by Anadigm. The board info, viz., Anadigm
  ððtanhðmðxS þ 1=2DÞÞ ð15:bÞ
2 QuadApex board v2.0 and ABK version 6.0.5 [42].
 tanhðmðxS  1=2DÞÞÞ þ 1Þ The software development tool is AnadigmDesigner2.
The experimental setup and FPAA board with four
GðyS Þ ¼ AyS  BsgnðyS Þ  AyS  B tanhðmyS Þ AN231E04 were used to construct a circuit imple-
ð15:cÞ mentation of the chaotic proposed system shown in
Fig. 20a. This work will bring the chaotic result on
According to Eq. (15), the offset boosting can be FPAA to apply image cryptography using the CM
controlled by parameter c and amplitude control can method, including circuits and microcontrollers, to
be controlled by parameter w shown in Fig. 19. As the achieve the decryption procedure. The experimental
result, chaotic output state z can be shifted from a setup for image cryptography is shown in Fig. 20b.
bipolar signal to unipolar signal, and it is possible to The procedure for designing the FPAA is shown in
simultaneously modify the amplitude of all state Fig. 21. The analog signals of FPAA in this work are
variables for the proposed system. Especially, the limited to the range - 3 V to ? 3 V. Therefore, it is
ability to scaling or amplitude control will be applied necessary to test the system with the numerical
in circuit implementation in this work, which is used simulation (MATLAB) before designing the system
for FPAA device. on the FPAA. The software of the FPAA device is

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4965

Fig. 14 The phase portraits 2D plane y–z of the coexistence of a pair symmetric attractor for varying parameter C, with different initial
conditions (± 0.1, 0.1, 0.01) for blue and red colors. a C = 0.6, b C = 0.7, c C = 0.79, d C = 0.87

AnadigmDesigner2, which can be a modification and is adopted for amplification, by defining Q = 2. The
building block including parameters setting by using ODE of the proposed system is rewritten as Eq. (16).
Configurable Analog Modules (CAMs) [43]. Then, the 8
< x_ ¼ Q  ðy þ GðyÞÞ;
system will be set corresponding with numerical
y_ ¼ Q  z; ð16Þ
simulation and be rescaled according to the limited :
z_ ¼ Q  ðkz  y  GðxÞÞ;
operation voltage of FPAA. When the experimental
results are compared with the simulation results, Figure 22 shows the blocks that design inside the
FPAA modeling needs to be modified until the results AnadigmDesigner2 environment of the proposed
are satisfactory. system. Because the resource of CAMs on FPAA is
Since, the proposed system has a small amplitude of limited, it needs two AN231E04 chips to implement.
the chaotic signal, less than ± 1 V. There is no need to Each CAMs replaced the name device with M1–M12
reduce the signal amplitude. On the contrary, signal and the parameters setting of each CAMs in the first
amplification is required to limit noise problems. In and second AN231E04 are shown Fig. 23a, b. The
order to outdo this problem, the rescale parameter (Q) parameters of the implementation FPAA are defined

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4966 K. Karawanich et al.

Fig. 15 Cross sections of the basin of attraction by computed for z0 = 0.01, corresponding with coexisting symmetric attractors in
Fig. 14a and d. a x0–y0 plane for C = 0.6 b x0–y0 plane for C = 0.87

constructed from the M6 block and input 2 of the M4

block. The summing (M5) plays an important role: by
varying Gk, to change the dynamic behavior for
demonstrates route to chaos.
The FPAA parameters in Fig. 23 show the four-
scroll attractors of the proposed system in Fig. 24,
which is in good agreement with the numerical results
in Fig. 3. The experimental results are shown in X–
Y mode on the oscilloscope.
Further experiments of FPAA implementation have
been investigated by using the route to chaos. By fixed
parameter GA = 1.2, GB = 0.4, GC = 1, GD = 0.155
(as Fig. 23). The several multiple attractors on phase
Fig. 16 The bifurcation diagram showing local maxima of the
coordinate x versus k for coexistence of asymmetric behaviors,
portraits corresponding with time series are shown in
by fixed: A = 0.6, B = 0.2, C = 1, D = 2.5 Fig. 25. by varying parameter Gk. Figure 25a appears
the stable cycle at Gk = 2. When decrease parameter
corresponding with the proposed system, viz., k (Gk), Gk, the metamorphosis for multiple attractors can be
A (GA), B (GB), C (GC), and D (GD), which is rescaled observed. Figure 25b–c demonstrates a double-scroll
by Q = 2. These values slightly differ from the attractor and approach to a four-scroll attractor at
numerical simulation ones. This is due to the fact that Gk = 1.7 and Gk = 1.631, respectively. Figure 25d–f
a tolerance error close to 5% may appear in some demonstrates a falcon-like scroll attractor with Gk-
blocks. = 1.2, approach to a six-scroll attractor with Gk-
The function of each block is described as follows: = 0.768 until a six-scroll attractor with Gk = 0.41.
where M1–M3 are integrator blocks, the output of The route to chaos of FPAA implementation is in good
integrator blocks are the three state variables x, y, and agreement with the numerical result in Fig. 11.
z. Meanwhile, M4, M5, and M10 are summing blocks. The experimental setup based on the FPAA device
M8 and M11 are inverting blocks. M6, M7, and M9 are provides the adjusting parameter conveniently and the
comparator blocks, and M12 is a multiplier block. The possibility of exploring the set of multi-scroll attrac-
modified rectangular function (G(x)) is constructed tors very simply. This section’s proposed system is
from M7–M12 blocks and input 2 of the M5 block, just a 3D chaotic system with two nonlinear functions.
while the modified signum function (G(y)) is Still, it can be generated for single-scroll, double-

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4967

Fig. 17 The phase portraits 2D plane x–y of the coexistence of two asymmetric attractors for varying parameter k, with different initial
conditions (± 0.25, ± 0.2, 0.01) green and black a k = 0.71, b k = 0.65, c k = 0.52, d k = 0.43

Fig. 18 Cross sections of the basin of attraction by computed for z0 = 0.01, corresponding with coexisting asymmetric attractors in
Fig. 17c and d. a x0–y0 plane for k = 0.52 b x0–y0 plane for k = 0.43

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4968 K. Karawanich et al.

Fig. 19 The falcon-like attractors on x–z plane of the proposed system with different amplitude rescaling and offset boosting by
defined A = 0.6, B = 0.2, C = 1, D = 2.5, k = 0.6 with the initial condition (0.1, 0.1, 0.01)

scroll, four-scroll, and six-scroll attractors, including methods but have yet to have a presentation for image
high-value Kaplan–Yorke chaotic systems. Moreover, encryption [45, 46]. Some of them have yet to be
the parameter adjustment thoroughly of the system actual experiments [47]. However, more efficient
leads to proven multiple attractors, both symmetric encryption algorithms with highly complex system
and asymmetric. With this feature, using FPAA for requirements have been presented [48–52]. They have
experimental setup allows for handy investigation and no results on the image cryptography communications
is helpful for in-depth education, allowing us to or experimental results. This study demonstrates the
comprehensively explore the entire range of simulation and experimental results of various sce-
parameters. narios of image encryption by varying the parameters
of the chaotic communication system with a low-
complexity cryptography communication method.
5 Image cryptography communication
5.1 Implementation of proposed cryptosystems
This section presents an image cryptography applica-
tion using a chaotic proposed system based on The block diagram for the approach proposed is shown
principles of the CM method. The CM method is in Fig. 26. CM uses the structure of cryptography. The
suitable for a chaotic communication system [44]. The commercially available electronic components and
encryption and decryption processes are implemented microcontrollers are implemented for encryption and
on an FPAA device that can conveniently reconfig- decryption, such as MCU, FPAA, LM358, and LF347
ure parameters. The communication circuit prototype (LM358 and LF347 are used in Amp.). The DC supply
is designed on a PCB based on a commercially voltage is ? 5 V, except for LF347, which is used
available, low-cost device designed in conjunction ± 12 V. The variable I(t) is the information signal,
with a microcontroller (ESP32). The proposed chaotic CD(t) is a chaotic decrypted signal, S(t) is a secret
system has a highly complexity chaotic signal with a signal, CE(t) is a chaotic encrypted signal, R(t) is a
multi-scroll attractor, which increases security as it is recovered signal, and I(t) is a reconstructed signal.
more difficult to attack or copy the encryption. For the cryptography approach proposed by CM,
Furthermore, the bit error rate can be improved by the chaotic equation proposed in (1) is rewritten
the designed circuit. Many researchers have used CM according to Fig. 26.

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4969

Fig. 20 The chaotic circuit implementation based on AN231E04 FPAA a experimental Setup for chaos signal b experimental setup for
image cryptography

Modifying system in
FPAA

Testing system by
Mathematical definition Design system in FPAA Experimental
Numerical simulations
of The proposed system by AnadigmDesigner measurements
(MATLAB)

Y Examine the results N

Conclude the results
agree with simulation

Fig. 21 FPAA-based design and implementation procedure

The equation of the transmitter is formulated as: 8 dx

>
>
r
8 > dt ¼ yr þ ðAyr  Bsgnðyr ÞÞ;
>
dxt >
>
>
> ¼ yt þ ðAðyt Þ  Bsgnðyt ÞÞ; >
> dy
>
> dt < r ¼ zt ;
>
> dt
< dyt dzr ð18Þ
¼ zt ; ð17Þ >
> ¼ ðkzt Þ  ðyr Þ  ðCxr  RectðDxr ÞÞ;
dt >
>
>
> dz >
> dt
>
> t
¼ ðkzt Þ  ðyt Þ  ðCxt  RectðDxt ÞÞ; >
> RðtÞ ¼ SðtÞ  CDðtÞ;
>
> :
: dt I0ðtÞ ¼ RðtÞ:
SðtÞ ¼ IðtÞ þ CEðtÞ
The equation of the receiver is formulated as:

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4970 K. Karawanich et al.

n8

M1 n7
Output x M6

M2 M4
M7 M8
Output y

M3 M9 M10

M5 M11 M12

Output z

n3
n4

Fig. 22 FPAA implementation schemes of the proposed system with two different nonlinear functions

M1 M7

M2
M9

Gain = C (GC)
M5 Gain 3 = k (Gk)
M8

M4 Gain 1 = B (GB)
Gain 2 = A (GA) M10 Gain 1, 2 = D (GD)

M3 M12

M11

M6

(a) (b)

Fig. 23 CAM (Configurable Analog Modules) parameters setting for the proposed system a first AN231E04 b second AN231E04

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4971

Fig. 24 The four-scroll attractor results by FPAA implementation using GA = 1.2, GB = 0.4, GC = 1, GD = 0.155, and Gk = 1.2
a output x–y plane (falcon-like) b output x–z plane c output y–z plane

The CAMs of FPAA are defined according to R(t), and I(t). In the decrypted correct image, the
Fig. 23. The Clock frequencies of CAMs are reas- transmitter and receiver are defined as Gk correspond-
signed from 250 kHz to 1000 kHz for ClockA and ing at Gk = 0.3. In the cipher image, the parameter Gk
4–16 MHz for ClockB to the cryptography procedure. varies in the receiver since Gk = 0.55, Gk = 0.68,
For synchronization, the transmitter and the receiver Gk = 0.73, and Gk = 0.95, respectively. At the correct
use the z key as the Sync. signal (zr = zt). The decryption image, it is evidence that the received
parameters of a transmitter are GA = 1.2, GB = 0.4, information I(t) can be decrypted and reconstructed
GC = 1, GD = 0.155, and Gk = 0.3. The parameteri- identically with the transmitted information I0 (t). From
zation of the receiver is defined as corresponding with Fig. 29, the bit error rate (BER) of decrypted images
the transmitter, except for Gk (case cipher image). are verified with 0 (Gk = 0.3), 443,403 9 10–6 (Gk =
0.55), 486,338 9 10–6 (Gk = 0.68), 490,919 9 10–6
5.2 Image cryptography results (Gk = 0.73), 492,225 9 10–6 (Gk = 0.95) for a mis-
match parameter in receiver. As the results, the best
For image cryptography, the transmitter and the cipher image should have BER larger than
receiver circuits are designed to be implemented 490,000 9 10–6.
together with FPAA, as shown in Fig. 27. The In the second case, an unsynchronized key for the
Barbara and Girl RGB images [53] are used for Girl RGB image tested the transmitter and receiver.
image cryptography, which the pixel of the image is The receiver cannot be decrypted from the original
814 9 542 pixels for 10,588,512 bits. The informa- image, as shown in Fig. 30. In this case, and it can be
tion signal I(t) is a bit stream with an amplitude of found in several methods, whether different model
? 0.7 V defined and a bit rate of 9600 bit/s. The chaotic systems in transmitter and receiver, incorrect
amplitude of the chaotic signal (CD(t) and CE(t)) is state-key synchronization, etc. The BER is verified
defined as 3Vp-p. The frequencies of the signals in the with 498,289 9 10–6 for a mismatch synchronization.
procedure are 4.81 kHz for the information signal
(I(t)) and 27.70 kHz for the chaos signal (CD(t) and
CE(t)), as shown in Fig. 28. The overall processing 6 Conclusion
time of image cryptography communication approx-
imately 24 min. This research aims to present an image cryptography
The image cryptography results are shown in two communication system based on a 3D chaotic system
cases. The first case is a parameter mismatch between with two different nonlinear functions that can be
the transmitter and receiver. The second case is a generated to multi-scroll chaotic attractors. The
mismatch in the synchronization of the system. reconfigurable chaotic and cryptography communica-
Figure 29. The results show the first case by using tion systems are realized by field programmable
Barbara RGB image for a decrypted image together analog array (FPAA) and low-cost microcontrollers
with the analog signal on the oscilloscope, viz., I(t), and commercially available devices. The proposed
chaotic system can generate up to six-scroll attractors

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4972 K. Karawanich et al.

Fig. 25 The route to chaos

by FPAA implementation, a(i) a(ii)
phase portrait (left figure)
displayed on x–y plane
corresponding their time
series (right figure) a single-
band attractor b double-
scroll attractor c approach to
Output x - y Gk=0.78 Output x
four-scroll attractor
d falcon-like scroll attractor
e approach to six-scroll
attractor f six-scroll attractor b(i) b(ii)

Output x - y Gk=0.78 Output x

c(i) c(ii)

Output x - y Gk=0.78 Output x

d(i) d(ii)

Output x - y
Gk=0.78 Output x

e(i) e(ii)

Output x - y Gk=0.78 Output x

f(i) f(ii)

Gk=0.78
Output x - y Output x

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4973

Fig. 26 Block diagram of proposed cryptosystem based on FPAA with transmitter and receiver

I(t) I´(t)
Regulator MCU Trans. picture MCU Receiv. picture
CE(t) CD(t) Regulator

Power Power
Supply Supply
S(t)
Syn. signal

Transmitter Comparator Receiver

Summing Subtractor

Fig. 27 The microcontroller-based transmitter and receiver prototypes

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4974 K. Karawanich et al.

Fig. 28 The experimental

result of different signals in
cryptography Information signal I(t)
communication system
Chaos encrypt signal CE(t)

Secret signal S(t)

Reconstructed signal I´(t)

Fig. 29 The results of decryption for the proposed cryptosystem by varying of parameter Gk in the receiver from correct decrypted to
high level cipher image

Fig. 30 The decryption

results of the proposed
cryptosystem with match
and mismatch
synchronizations

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Image cryptography communication using FPAA-based multi-scroll chaotic system 4975

by adjusting only one coefficient. The several dynam- 11. Elwakil, A.S., Ozoguz, S., Kennedy, M.P.: A four-wing
ical properties of the proposed system are investigated. butterfly attractor from a fully autonomous system. Int.
J. Bifurc. Chaos Appl. Sci. Eng. 13(10), 3093–3098 (2003)
The multi-scroll attractor achieves relatively high 12. Dadras, S., Momeni, H.R.: A novel three-dimensional
complexity by DKY = 2.45. The numerical and exper- autonomous chaotic system generating two, three and four-
imental results of the multi-scroll chaotic system are scroll attractors. Phys. Lett. A 373(40), 3637–3642 (2009)
compared with good agreement. The successful image 13. Chunxia, L., Jie, Y., Xiangchun, X.A., Limin, Q., Yongqing,
F.: Research on the multi-scroll chaos generation based on
can be reconstructed without error if the transmitter jerk mode. Procedia Eng. 29, 957–961 (2012)
and receiver parameters are matched. The mismatched 14. Ding, P., Feng, X.: Generation of multi-scroll chaotic
parameters give the cipher image if and only if BER is attractors from a jerk circuit with a special form of a sine
more significant than 490,000 9 10–6. function. Electronics 9, 842 (2020)
15. Wolf, A., Swift, J.B., Swinney, H.L., Vastano, J.A.:
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Author contributions PP contributed to the study of the 16. Argyris, J., Faust, G., Haase, M.: An exploration of chaos.
conception and design. PP and KK performed material Springer-Verlag, Berlin Heidelberg (2015)
preparation, data collection, and analysis. JC and KK 17. Le, X., Sen, Z., Yicheng, Z., Boquan, L.: Dynamics of a new
performed experimental. FK and MM provided the literature composite four-scroll chaotic system. Chin. J. Phys. 56,
reviews. PP wrote the first draft of the manuscript, and all 2381–2394 (2018)
authors commented on previous versions. All authors read and 18. Janakiraman, S., Thenmozhi, K., Rayappan, J.B.B.,
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