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Security and Safety 2022年第1期1卷 145-165页

作者： Zhong Li Xianke Wu Changjun Jiang College of Information Science and Technology Donghua UniversityShanghai 201620China Key Laboratory of the Ministry of Education for Embedded System and Service Computing Department of Computer ScienceTongji UniversityShanghai 201804China Shanghai Network Financial Security Collaborative Innovation Center Tongji UniversityShanghai 201804China

Nowadays,large numbers of smart sensors(e.g.,road-side cameras)which com-municate with nearby base stations could launch distributed denial of services(DDoS)attack storms in intelligent transportation *** attacks disable the services provided by base *** in this paper,considering the uneven communication traffic ows and privacy preserving,we give a hidden Markov model-based prediction model by utilizing the multi-step characteristic of DDoS with a federated learning framework to predict whether DDoS attacks will happen on base stations in the ***,in the federated learning,we need to consider the problem of poisoning attacks due to malicious *** poisoning attacks will lead to the intelligent transportation systems paralysis without security *** poisoning attacks mainly apply to the classi cation model with labeled *** this paper,we propose a reinforcement learning-based poisoningmethod speci cally for poisoning the prediction model with unlabeled ***,previous related defense strategies rely on validation datasets with labeled data in the ***,it is unrealistic since the local training datasets are not uploaded to the server due to privacy preserving,and our datasets are also ***,we give a validation dataset-free defense strategy based on Dempster-Shafer(D-S)evidence theory avoiding anomaly aggregation to obtain a robust global model for precise DDoS *** our experiments,we simulate 3000 points in combination with DARPA2000 dataset to carry out *** results indicate that our poisoning method can successfully poison the global prediction model with unlabeled data in a short ***,we compare our proposed defense algorithm with three popularly used defense *** results show that our defense method has a high accuracy rate of excluding poisoners and can obtain a high attack prediction probability.

关键词： Poisoning attacks Defenses Multi-step DDoS prediction Unlabeled data Intel-ligent transportation systems

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Provably Convergent Federated Trilevel Learning

arXiv

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arXiv 2023年

作者： Jiao, Yang Yang, Kai Wu, Tiancheng Jian, Chengtao Huang, Jianwei Department of Computer Science and Technology Tongji University China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University China Shanghai Research Institute for Intelligent Autonomous Systems China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

Trilevel learning, also called trilevel optimization (TLO), has been recognized as a powerful modelling tool for hierarchical decision process and widely applied in many machine learning applications, such as robust neural architecture search, hyperparameter optimization, and domain adaptation. Tackling TLO problems has presented a great challenge due to their nested decision-making structure. In addition, existing works on TLO face the following key challenges: 1) they all focus on the non-distributed setting, which may lead to privacy breach;2) they do not offer any non-asymptotic convergence analysis which characterizes how fast an algorithm converges. To address the aforementioned challenges, this paper proposes an asynchronous federated trilevel optimization method to solve TLO problems. The proposed method utilizes µ-cuts to construct a hyper-polyhedral approximation for the TLO problem and solve it in an asynchronous manner. We demonstrate that the proposed µ-cuts are applicable to not only convex functions but also a wide range of non-convex functions that meet the µ-weakly convex assumption. Furthermore, we theoretically analyze the non-asymptotic convergence rate for the proposed method by showing its iteration complexity to obtain ϵ-stationary point is upper bounded by (Formula Presented). Extensive experiments on real-world datasets have been conducted to elucidate the superiority of the proposed method, e.g., it has a faster convergence rate with a maximum acceleration of approximately 80%. Copyright © 2023, The Authors. All rights reserved.

关键词： Decision making

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Prescribed-time synchronization for multiweighted complex networks: A switching control scheme

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systems and Control Letters 2025年 203卷

作者： Xu, Linlong Liu, Xiwei Department of Computer Science and Technology Tongji University Shanghai201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai201804 China

This letter deals with an interesting intersection phenomenon of prescribed-time stability (PTSta) for dynamical systems, and develops a novel switching control scheme to investigate prescribed-time synchronization (PTSyn) for multiweighted and directly coupled complex networks. Different from most previous works that scholars only pay attention to designing the regulation function to ensure PTSta, we aim to select various parameters and uncover the mathematical mechanism of intersecting system state curves. We rigorously prove that, if the settling time is larger than 1, then no matter what the initial value is, the intersection exists only once before the settling time;otherwise, there is no intersection. Moreover, an energy consumption evaluation function is also put forward for PTSta, whose exact value is also calculated via exponential integrals. Then, this intersection theory is applied on the PTSyn of multiweighted complex networks, which is beneficial to construct the switching control scheme or choose the optimal parameters to reduce the energy cost. The rearranging variables’ order technique is utilized to conduct the multiweighted complex networks and obtain the synchronization criterion. Finally, four simulations are presented to verify theoretical results. © 2025 Elsevier B.V.

关键词： Integral equations

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DL-SLOT: Dynamic Lidar SLAM and Object Tracking Based On Graph Optimization

arXiv

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arXiv 2022年

作者： Tian, Xuebo Zhao, Junqiao Ye, Chen Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China

Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact ego-pose assumption of object tracking, respectively. However, these assumptions are difficult to hold in highly dynamic road scenarios where SLAM and object tracking become correlated and mutually beneficial. In this paper, DL-SLOT, a dynamic Lidar SLAM and object tracking method is proposed. This method integrates the state estimations of both the ego vehicle and the static and dynamic objects in the environment into a unified optimization framework, to realize SLAM and object tracking (SLOT) simultaneously. Firstly, we implement object detection to remove all the points that belong to potential dynamic objects. Then, LiDAR odometry is conducted using the filtered point cloud. At the same time, detected objects are associated with the history object trajectories based on the time-series information in a sliding window. The states of the static and dynamic objects and ego vehicle in the sliding window are integrated into a unified local optimization framework. We perform SLAM and object tracking simultaneously in this framework, which significantly improves the robustness and accuracy of SLAM in highly dynamic road scenarios and the accuracy of objects' states estimation. Experiments on public datasets have shown that our method achieves better accuracy than A-LOAM. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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DL-SLOT: Dynamic LiDAR SLAM and object tracking based on collaborative graph optimization

arXiv

引用

arXiv 2022年

作者： Tian, Xuebo Zhu, Zhongyang Zhao, Junqiao Tian, Gengxuan Ye, Chen Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China

Ego-pose estimation and dynamic object tracking are two critical problems for autonomous driving systems. The solutions to these problems are generally based on their respective assumptions, i.e., the static world assumption for simultaneous localization and mapping (SLAM) and the accurate ego-pose assumption for object tracking. However, these assumptions are challenging to hold in dynamic road scenarios, where SLAM and object tracking become closely correlated. Therefore, we propose DL-SLOT, a dynamic LiDAR SLAM and object tracking method, to simultaneously address these two coupled problems. This method integrates the state estimations of both the autonomous vehicle and the stationary and dynamic objects in the environment into a unified optimization framework. First, we used object detection to identify all points belonging to potentially dynamic objects. Subsequently, a LiDAR odometry was conducted using the filtered point cloud. Simultaneously, we proposed a sliding window-based object association method that accurately associates objects according to the historical trajectories of tracked objects. The ego-states and those of the stationary and dynamic objects are integrated into the sliding window-based collaborative graph optimization. The stationary objects are subsequently restored from the potentially dynamic object set. Finally, a global pose-graph is implemented to eliminate the accumulated error. Experiments on KITTI datasets demonstrate that our method achieves better accuracy than SLAM and object tracking baseline methods. This confirms that solving SLAM and object tracking simultaneously is mutually advantageous, dramatically improving the robustness and accuracy of SLAM and object tracking in dynamic road scenarios. Copyright © 2022, The Authors. All rights reserved.

关键词： Optical radar

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Sequential end-to-end network for efficient person search

arXiv

引用

arXiv 2021年

作者： Li, Zhengjia Miao, Duoqian Department of Computer Science and Technology Tongji University Shanghai201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai201804 China

Person search aims at jointly solving Person Detection and Person Re-identification (re-ID). Existing works have designed end-to-end networks based on Faster R-CNN. However, due to the parallel structure of Faster R-CNN, the extracted features come from the low-quality proposals generated by the Region Proposal Network, rather than the detected high-quality bounding boxes. Person search is a fine-grained task and such inferior features will significantly reduce re-ID performance. To address this issue, we propose a Sequential End-to-end Network (SeqNet) to extract superior features. In SeqNet, detection and re-ID are considered as a progressive process and tackled with two sub-networks sequentially. In addition, we design a robust Context Bipartite Graph Matching (CBGM) algorithm to effectively employ context information as an important complementary cue for person matching. Extensive experiments on two widely used person search benchmarks, CUHK-SYSU and PRW, have shown that our method achieves state-of-the-art results. Also, our model runs at 11.5 fps on a single GPU and can be integrated into the existing end-to-end framework easily. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

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The influence of limited visual sensing on the Reynolds flocking algorithm 3

The influence of limited visual sensing on the Reynolds floc...

引用

3rd IEEE International Conference on Robotic Computing (IRC)

作者： Soria, Enrica Schiano, Fabrizio Floreano, Dario Department of Computer Science and Technology the Key Laboratory of Embedded System Service Computing Shanghai China

ISBN: (纸本)9781538692455

The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which consists in the analysis of the effects of limited sensing on the behavior of the swarm. In nature, the central sensor modality often used for achieving flocking is vision. In this work, we study how the reduction in the field of view and the orientation of the visual sensors affect the performance of the Reynolds flocking algorithm used to control the swarm. To quantify the impact of limited visual sensing, we introduce different metrics such as (i) order, (ii) safety, (iii) union and (iv) connectivity. As Nature suggests, our results confirm that lateral vision is essential for coordinating the movements of the individuals. Moreover, the analysis we provide will simplify the tuning of the Reynolds flocking algorithm which is crucial for real-world deployment and, especially for aerial swarms, it depends on the envisioned application. We achieve the results presented in this paper through extensive Monte-Carlo simulations and integrate them with the use of genetic algorithm optimization.

关键词： Robot sensing systems Visualization Animals Nickel Azimuth

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Intelligent Warehouse Management system

Intelligent Warehouse Management System

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IEEE International Conference on Design & Test of Integrated Micro & Nano-systems (DTS)

作者： Mohamed Dhouioui Tarek Frikha Computer Embedded System Laboratory National School of Engineers of Sfax Sfax Tunisia

ISBN: (数字)9781728154299

ISBN: (纸本)9781728154305

This paper presents the design and implementation of an intelligent warehouse management system. The main emphasis in our solution consists of three software components: An Xamarin IOT application which acts as the exchange interface with the end users, a web application that communicates with a database and ensures the persistence and communication between the different components of the system, and a robot that moves products in the warehouse according to storage and shipping requests. Our solution is designed to allow the various actors to have real-time information on the different workflows within the warehouse and all the movements of stock. Hence the need for a system that controls all zones and locations and ensures communication between the various actors and software components while optimizing data exchange and load consumption for IOT equipment.

关键词： Databases RFID tags Cameras Robot vision systems Software

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Rank-Based Filter Pruning for Real-Time Deep Uav Trackers

SSRN

引用

SSRN 2022年

作者： Wang, Xucheng Zeng, Dan Zhao, Qijun Li, Shuiwang Guangxi Key Laboratory of Embedded Technology and Intelligent System Guilin University of Technology Guilin541001 China Research Institute of Trustworthy Autonomous Systems Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518000 China Sichuan University Chengdu610000 China

UAV tracking is an emerging task and has wide potential applications in such as agriculture, navigation, entertainment and public security. However, the limitations of computing resources, battery capacity, and maximum load of UAV hinder the deployment of DL-based tracking algorithms on UAV. In contrast to deep learning trackers, discriminative correlation filters (DCF)-based trackers stand out in the UAV tracking community because of their high efficiency. However, their precision is usually much lower than trackers based on deep learning. Model compression is a promising way to narrow the gap (i.e., effciency, precision) between DCF- and deep learning- based trackers, which has not caught much attention in UAV tracking community. In this paper, We propose the P-SiamFC++ tracker, which is the first to use rank-based filter pruning to compress the SiamFC++ model, achieving a remarkable balance between efficiency and precision. Our method is general and may encourage further studies on UAV tracking with model compression in the future. Extensive experiments on four UAV benchmarks, including UAV123@10fps, DTB70, UAVDT and Vistrone2018, show that P-SiamFC++ tracker significantly outperforms state-of-the-art UAV tracking methods. © 2022, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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A Method for Detecting Abnormal Data of Network Nodes Based on Convolutional Neural Network

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Journal of computers (Taiwan) 2022年第3期33卷 49-58页

作者： Shen, Xianhao Zhu, Changhong Zang, Yihao Niu, Shaohua Guangxi Key Laboratory of Embedded Technology and Intelligent System Guilin University of Technology Guilin541004 China School of Computer Science and Engineering Guilin University of Aerospace Technology Guilin541004 China School of Mechanical and Electrical Engineering Beijing Institute of Technology Beijing100081 China

Abnormal data detection is an important step to ensure the accuracy and reliability of node data in wireless sensor networks. In this paper, a data classification method based on convolutional neural network is proposed to solve the problem of data anomaly detection in wireless sensor networks. First, Normal data and abnormal data generated after injection fault are normalized and mapped to gray image as input data of the convolutional neural network. Then, based on the classical convolution neural network, three new convolutional neural network models are designed by designing the parameters of the convolutional layer and the fully connected layer. This model solves the problem that the performance of traditional detection algorithm is easily affected by relevant threshold through self-learning data characteristics of convolution layer. The experimental results show that this method has better detection performance and higher reliability. © 2022 computer Society of the Republic of China. All rights reserved.

关键词： Anomaly detection

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