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Dynamic Event-Triggered Composite Learning Robot Control With Exponential Tracking

IEEE Transactions on Industrial Electronics 2025年

作者： Wang, Qian Shi, Tian Wen, Changyun Pan, Yongping Sun Yat-sen University School of Intelligent Systems Engineering Shenzhen 518107 China Sun Yat-sen University School of Computer Science and Engineering Guangzhou 510006 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Peng Cheng Laboratory Shenzhen 518057 China

Composite learning can guarantee the exponential stability of adaptive robot control under a condition termed interval excitation (IE) that is strictly weaker than the classical condition of persistent excitation. However, existing composite learning robot control (CLRC) must be updated in real-time even if tracking and estimation errors have already converged, which wastes computational resources. This article proposes a dynamic event-triggered CLRC (ET-CLRC) strategy, in which a dynamic ET condition with adaptive capability is designed to flexibly adjust the update frequency of CLRC for effectively utilizing available computational resources. The proposed ET-CLRC is distinguished from existing ET adaptive robot control schemes in two aspects: 1) The designed event is comprised of tracking errors and internal variables without involving the real-time updated information of control and adaptation laws, so the control and adaptation laws are updated only when the change rate of the tracking error is relatively high;2) the practical exponential convergence of tracking and parameter estimation errors under the IE condition are guaranteed without the Zeno behavior. Simulations and experiments on an industrial robot named Franka Emika Panda with seven degrees of freedom have validated that the proposed ET-CLRC per-forms similarly to the real-time updated CLRC while significantly alleviating the computational burden. © 1982-2012 IEEE.

关键词： Adaptive control event-triggered control exponential stability parameter convergence robot control

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Enhancing Sample Utilization in Noise-robust Deep Metric Learning with Subgroup-based Positive-pair Selection

arXiv

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arXiv 2025年

作者： Yu, Zhipeng Xu, Qianqian Jiang, Yangbangyan Sun, Yingfei Huang, Qingming The School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Beijing100049 China The Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China The School of Computer Science and Technology University of Chinese Academy of Sciences Beijing101408 China

The existence of noisy labels in real-world data negatively impacts the performance of deep learning models. Although much research effort has been devoted to improving the robustness towards noisy labels in classification tasks, the problem of noisy labels in deep metric learning (DML) remains under-explored. Existing noisy label learning methods designed for DML mainly discard suspicious noisy samples, resulting in a waste of the training data. To address this issue, we propose a noise-robust DML framework with SubGroup-based Positive-pair Selection (SGPS), which constructs reliable positive pairs for noisy samples to enhance the sample utilization. Specifically, SGPS first effectively identifies clean and noisy samples by a probability-based clean sample selectionstrategy. To further utilize the remaining noisy samples, we discover their potential similar samples based on the subgroup information given by a subgroup generation module and then aggregate them into informative positive prototypes for each noisy sample via a positive prototype generation module. Afterward, a new contrastive loss is tailored for the noisy samples with their selected positive pairs. SGPS can be easily integrated into the training process of existing pair-wise DML tasks, like image retrieval and face recognition. Extensive experiments on multiple synthetic and real-world large-scale label noise datasets demonstrate the effectiveness of our proposed method. Without any bells and whistles, our SGPS framework outperforms the state-of-the-art noisy label DML methods. Code is available at https://***/smuelpeng/SGPS-NoiseFreeDML. © 2025, CC BY.

关键词： Contrastive Learning

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Adaptive Backdoor Attacks with Reasonable Constraints on Graph Neural Networks

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IEEE Transactions on Dependable and Secure computing 2025年

作者： Dong, Xuewen Li, Jiachen Li, Shujun You, Zhichao Qu, Qiang Kholodov, Yaroslav Shen, Yulong The School of Computer Science and Technology Xidian University The Engineering Research Center of Blockchain Technology Application and Evaluation Ministry of Education China The Shaanxi Key Laboratory of Blockchain and Secure Computing Xi’an710071 China The School of Computing Kent Interdisciplinary Research Centre in Cyber Security University of Kent CanterburyCT2 7NF United Kingdom Shenzhen Institute of Advanced Technology Chinese Academy of Sciences China The Intelligent Transportation Systems Lab Innopolis University Innopolis Russia The School of Computer Science and Technology Xidian University China

Recent studies show that graph neural networks (GNNs) are vulnerable to backdoor attacks. Existing backdoor attacks against GNNs use fixed-pattern triggers and lack reasonable trigger constraints, overlooking individual graph characteristics and rendering insufficient evasiveness. To tackle the above issues, we propose ABARC, the first Adaptive Backdoor Attack with Reasonable Constraints, applying to both graph-level and node-level tasks in GNNs. For graph-level tasks, we propose a subgraph backdoor attack independent of the graph’s topology. It dynamically selects trigger nodes for each target graph and modifies node features with constraints based on graph similarity, feature range, and feature type. For node-level tasks, our attack begins with an analysis of node features, followed by selecting and modifying trigger features, which are then constrained by node similarity, feature range, and feature type. Furthermore, an adaptive edge-pruning mechanism is designed to reduce the impact of neighbors on target nodes, ensuring a high attack success rate (ASR). Experimental results show that even with reasonable constraints for attack evasiveness, our attack achieves a high ASR while incurring a marginal clean accuracy drop (CAD). When combined with the state-of-the-art defense randomized smoothing (RS) method, our attack maintains an ASR over 94%, surpassing existing attacks by more than 7%. © 2004-2012 IEEE. All rights reserved.

关键词： Graph neural networks

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Efficient Hybrid Multi-Population Genetic Algorithm for Multi-UAV Task Assignment in Consumer Electronics Applications

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IEEE Transactions on Consumer Electronics 2025年

作者： Bai, Xiaoshan Jiang, Haoyu Li, Chao Ullah, Inam Dabel, Maryam M. Al Bashir, Ali Kashif Wu, Zongze Sam, Shuzhi Shenzhen University College of Mechatronics and Control Engineering National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Shenzhen University Shenzhen City Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan University of Hafr Al Batin Department of Computer Science and Engineering College of Computer Science and Engineering Saudi Arabia Manchester Metropolitan University Manchester United Kingdom Shenzhen518060 China National University of Singapore Department of Electrical and Computer Engineering Singapore117576 Singapore

In recent years, as people’s living standards have improved and consumption concepts have been transformed, the demand for purchasing consumer electronics online has continued to grow, further stimulating the development of the logistics industry. Consequently, how to deliver consumer electronics to households at minimal cost has become a crucial factor that limits the development of the consumer technology industry. To tackle this problem, this paper studies the task assignment problem for multiple initially dispersed UAVs to deliver products to target locations while minimizing their total operation time. Each UAV can continuously provide delivery services to multiple target locations within its limited loading capacity and operation time. To solve this problem, we propose several hybrid multipopulation genetic algorithms. First, a novel crossover operator for the genetic algorithms is designed, through which a single parent chromosome can generate offspring individually. Second, two mutation mechanisms are performed to increase gene diversity. Third, multiple local search strategies are employed to enhance the populations’ fitness during each iteration of evolution. An improved 2-opt local search strategy is applied to optimize individual chromosomes when their similarity with the current best chromosome falls below a prescribed threshold. Alternatively, local search strategies are utilized for 1-opt, 2h-opt and interchange processes. Combining local search strategies, genetic operators, and the multi-population mechanism leads to several hybrid multi-population genetic algorithms. Numerical simulations and experimental tests demonstrate that the hybrid multi-population genetic algorithm, integrated with the improved 2-opt and 1-opt local search strategies, exhibits superior performance among the designed hybrid genetic algorithms, the minimum marginal cost algorithm (MMA), and the existing popular Co-evolutionary Multi-population Genetic Algorithm (CMGA). In exp

关键词： Genetic algorithms

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OpenLS-DGF: An Adaptive Open-Source Dataset Generation Framework for Machine Learning Tasks in Logic Synthesis

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IEEE Transactions on computer-Aided Design of Integrated Circuits and systems 2025年

作者： Ni, Liwei Wang, Rui Liu, Miao Meng, Xingyu Lin, Xiaoze Liu, Junfeng Luo, Guojie Chu, Zhufei Qian, Weikang Yang, Xiaoyan Xie, Biwei Li, Xingquan Li, Huawei Chinese Academy of Sciences State Key Lab of Processors Institute of Computing Technology Beijing100190 China Pengcheng Laboratory Shenzhen518055 China University of Chinese Academy of Sciences Beijing101408 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing100049 China Peking University School of Computer Science Center for Energy-Efficient Computing and Applications Beijing100871 China Ninbo University Faculty of Electrical Engineering and Computer Science Ninbo315211 China Shanghai Jiao Tong University University of Michigan-Shanghai Jiao Tong University Joint Institute MoE Key Laboratory of Artificial Intelligence Shanghai200240 China Hangzhou Dianzi University School of Electronics and Information Engineering Hangzhou311121 China

This paper introduces OpenLS-DGF, an adaptive logic synthesis dataset generation framework, to enhance machine learning (ML) applications within the logic synthesis process. Previous dataset generation flows were tailored for specific tasks or lacked integrated ML capabilities. While OpenLS-DGF supports various machine learning tasks by encapsulating the three fundamental steps of logic synthesis: Boolean representation, logic optimization, and technology mapping. It preserves the original information in both Verilog and ML-friendly GraphML formats. The Verilog files offer semi-customizable capabilities, enabling researchers to insert additional steps and incrementally refine the generated dataset. Furthermore, OpenLS-DGF includes an adaptive circuit engine that facilitates the final dataset management and downstream tasks. The generated OpenLS-D-v1 dataset comprises 46 combinational designs from established benchmarks, totaling over 966,000 Boolean circuits. OpenLS-D-v1 supports integrating new data features, making it more versatile for new tasks. This paper demonstrates the versatility of OpenLS-D-v1 through four distinct downstream tasks: circuit classification, circuit ranking, quality of results (QoR) prediction, and probability prediction. Each task is chosen to represent essential steps of logic synthesis, and the experimental results show the generated dataset from OpenLSDGF achieves prominent diversity and applicability. The source code and datasets are available at https://***/Logic-Factory/ACE/blob/master/OpenLS-DGF. © 1982-2012 IEEE.

关键词： Information management

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PrivBox: Privacy-Preserving Deep Packet Inspection with Dual Double-masking Obfuscated Rule Generation

引用

IEEE Transactions on Dependable and Secure computing 2025年

作者： Wu, Pengfei Ning, Jianting Huang, Xinyi Chen, Rongmao Zhang, Kai Liang, Kaitai Wuhan University School of Cyber Science and Engineering Wuhan China Singapore Management University School of Computing and Information Systems Singapore City University of Macau Faculty of Data Science Macau China Fujian Normal University College of Computer and Cyber Security Fuzhou China Jinan University College of Cyber Security Guangzhou China National University of Defense Technology College of Computer Changsha China Shanghai University of Electric Power College of Computer Science and Technology Shanghai China Delft University of Technology Faculty of Electrical Engineering Mathematics and Computer Science Netherlands

Many network middleboxes have been deployed to perform deep packet inspection (DPI) over packet payloads. However, such middleboxes cannot accomplish their tasks when the traffic is encrypted. BlindBox (SIGCOMM 2015) provided the first solution for performing DPI over encrypted traffic. To improve its efficiency, a later proposal PrivDPI (CCS 2019) introduced a practical technique to generate encrypted rules. However, a recent proposal P2DPI (ASIACCS 2021) showed that the rule generator in PrivDPI can comprise the user's privacy. In this paper, we present a new attack on P2DPI and show that the privacy of its endpoints can still be compromised by the rule generator. We comprehensively analyze the vulnerability of prior studies and present PrivBox, a new DPI system that achieves the same privacy guarantee as BlindBox while maintaining practical efficiency. This is based on a new technique called dual double-masking obfuscated rule generation. For a ruleset of 3,000, PrivBox achieves connection establishment time on the endpoint side comparable to PrivDPI and supports up to 4,672 token encryptions per second, which is sufficient for a number of real-world applications. Overall, our experiment demonstrates that PrivBox is practical and well-suited for short, frequently established sessions, especially when token repeating is common. ©2004-2012 IEEE.

关键词： Differential privacy

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Gemini+: Enhancing Real-Time Video Analytics with Dual-Image FPGAs

引用

IEEE Transactions on computer-Aided Design of Integrated Circuits and systems 2025年

作者： Wu, Jingrou Hu, Chuang Zhang, Jin Wang, Dan Jiang, Jing University of Technology Sydney Australian Artificial Intelligence Institute SydneyNSW2007 Australia Southern University of Science and Technology Research Institute of Trustworthy Autonomous Systems The Department of Computer Science and Engineering Shenzhen518055 China Wuhan University School of Computer Science Wuhan430072 China Southern University of Science and Technology Department of Computer Science and Engineering The Research Institute of Trustworthy Autonomous Systems Shenzhen518055 China Peng Cheng Laboratory Shenzhen518055 China Hong Kong Polytechnic University Department of Computing Hong Kong Hong Kong

Real-time video analytics demand intensive computing resources, often exceeding device capabilities. Heterogeneous computing resources like CPU and GPU, usually work collaboratively to ensure real-time performance. GPU manage data-intensive computing, while CPU handle instruction-intensive tasks. However, analytics accuracy can degrade because of the imbalance between CPU-GPU workloads and resources, and static resources in most systems limit adaptability to dynamic workloads. In addition to CPU-GPU resource control, accuracy is highly dependent on video analytics configuration including resolution, frame rate, and model selection. In this paper, we propose Gemini+, a hardware-accelerated video analytics pipeline empowered by dual-image FPGAs. It enables flexible CPU-GPU resource adaptation by providing near-instantaneous switching between two pre-configured images. We investigate CPU-GPU resource control and video analytics configuration adaptation in a dual-image FPGA-based video analytics pipeline. We study and formulate two problems of practical importance, a single-camera and multi-camera dual computing resource control problem, i.e., SC-DCRC and MC-DCRC. We analyze the problem complexity and develop optimal and sub-optimal algorithms. We evaluate our algorithms through simulation and build a prototype for verification. The results show that Gemini+ can improve analytic accuracy by 25% compared to fixed CPU-GPU resource systems and 88% compared to GPU-dominant systems. © 2025 IEEE.

关键词： Graphics processing unit

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Provably Secure and Efficient One-to-Many Authentication and Key Agreement Protocol for Resource-Asymmetric Smart Environments

引用

IEEE Internet of Things Journal 2025年

作者： Li, Long Hsu, Chingfang Cui, Jianqun Au, Man Ho Harn, Lein Li, Quanrun Central China Normal University Computer School Wuhan430079 China Central China Normal University Hubei Provincial Key Laboratory of Artificial Intelligence and Smart Learning Wuhan430079 China Department of Computing Hong Kong Polytechnic University 25809 Hong Kong University of Missouri-Kansas City Department of Computer Science Electrical Engineering MO64110 United States Zhejiang Sci-Tech University School of Cyber Science and Engineering Hangzhou310020 China

The smart environment is a crucial application of the Internet of Things(IoT). Due to its growing security and efficiency needs, recent years have seen the proposal of numerous authentication and key agreement (AKA) protocols. Unfortunately, most of existing AKA protocols only support one-to-one AKA and rely on the elliptic curve cryptosystem, resulting in huge overhead. In addition, these protocols fail to consider the resource-asymmetric characteristics of this scenario. That is, the resources on the gateway side are abundant, while the resources on user sides and device sides are limited. In order to achieve efficient and secure one-to-many AKA establishment in this scenario, where one-to-many means that users can realize key agreements with multiple smart devices at the same time. For the first time, this paper uses the one-to-many computing structure of the Chinese Remainder Theorem (CRT) to design an efficient one-to-many AKA establishment, which is perfectly adapted to resource-asymmetric allocation in smart environments. Compared with existing solutions, this solution has the following advantages. Firstly, our protocol is suitable for resource-asymmetric environments, where the gateway acts as an intermediate node and uses rich resources to integrate multiple AKA requests. Secondly, the solution supports users to negotiate session keys with multiple smart devices at the same time. Thirdly, we prove the protocol’s security under the Real-or-Random (ROR) model. In addition, we perform formal security verification of the protocol using the Automated Validation of Internet Security Protocols and Applications(AVISPA) tool. Finally, the security and efficiency of this solution are superior to similar solutions. Specifically, our solution can meet 18 security and functionality requirements. Compared with the latest similar scheme, assuming that the number of smart devices is 10, our scheme reduces the computational cost by 75.75%. At the same time, in terms of comm

关键词： Authentication Protocol

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HEART: Achieving Timely Multi-Model Training for Vehicle-Edge-Cloud-Integrated Hierarchical Federated Learning

arXiv

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arXiv 2025年

作者： Yang, Xiaohong Liwang, Minghui Wang, Xianbin Cheng, Zhipeng Hosseinalipour, Seyyedali Dai, Huaiyu Jiao, Zhenzhen School of Informatics Xiamen University Fujian China Department of Control Science and Engineering The National Key Laboratory of Autonomous Intelligent Unmanned Systems Japan Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Tongji University Shanghai China Department of Electrical and Computer Engineering Western University ON Canada School of Future Science and Engineering Soochow University Suzhou China Department of Electrical Engineering University at Buffalo-SUNY BuffaloNY United States Department of Electrical and Computer Engineering NC State University RaleighNC United States iF-Labs Beijing Teleinfo Technology Company Ltd. CAICT Beijing China

The rapid growth of AI-enabled Internet of Vehicles (IoV) calls for efficient machine learning (ML) solutions that can handle high vehicular mobility and decentralized data. This has motivated the emergence of Hierarchical Federated Learning over vehicle-edge-cloud architectures (VEC-HFL). Nevertheless, one aspect which is underexplored in the literature on VEC-HFL is that vehicles often need to execute multiple ML tasks simultaneously, where this multi-model training environment introduces crucial challenges. First, improper aggregation rules can lead to model obsolescence and prolonged training times. Second, vehicular mobility may result in inefficient data utilization by preventing the vehicles from returning their models to the network edge. Third, achieving a balanced resource allocation across diverse tasks becomes of paramount importance as it majorly affects the effectiveness of collaborative training. We take one of the first steps towards addressing these challenges via proposing a framework for multi-model training in dynamic VEC-HFL with the goal of minimizing global training latency while ensuring balanced training across various tasks—a problem that turns out to be NP-hard. To facilitate timely model training, we introduce a hybrid synchronous-asynchronous aggregation rule. Building on this, we present a novel method called Hybrid Evolutionary And gReedy allocaTion (HEART). The framework operates in two stages: first, it achieves balanced task scheduling through a hybrid heuristic approach that combines improved Particle Swarm Optimization (PSO) and Genetic Algorithms (GA);second, it employs a low-complexity greedy algorithm to determine the training priority of assigned tasks on vehicles. Experiments on real-world datasets demonstrate the superiority of HEART over existing methods. © 2025, CC BY-NC-ND.

关键词： Federated learning

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UAV-Aided Covert Federated Learning Networks

引用

IEEE Network 2025年

作者： Wang, Chao Guo, Shaoyong Xiong, Zehui Xing, Chengwen Zhao, Nan Niyato, Dusit Karagiannidis, George Dalian University of Technology School of Information and Communication Engineering Dalian116024 China Beijing University of Posts and Telecommunications State Key Laboratory of Networking and Switching Technology Beijing100876 China Singapore University of Technology and Design Information Systems Technology and Design Pillar 487372 Singapore Beijing Institute of Technology School of Information and Electronics Beijing100081 China Nanyang Technological University College of Computing and Data Science 639798 Singapore Aristotle University of Thessaloniki Department of Electrical and Computer Engineering Greece

With the increasing emphasis on data privacy, federated learning (FL) networks show great potential through distributed training without directly sharing the raw data. However, the coverage of FL terrestrial servers is usually limited. Therefore, we propose leveraging the unmanned aerial vehicle (UAV) as a mobile flying server to further improve the wireless coverage and training efficiency of FL. Nevertheless, frequent exchanges of model parameters in UAV-assisted FL can result in serious security risks. In order to achieve this, we propose a covert FL scheme assisted by the UAV, which can protect the transmission key features of local models from being detected by wardens. Furthermore, we discuss the FL network and covert communications, as well as the exceptional features of UAV-assisted covert FL. Finally, we present two case studies, one of which focuses on minimising the network latency, while the other concentrates on reducing the energy consumption of covert FL. The simulation results demonstrate the efficacy of the proposed schemes in addressing future challenges. © 1986-2012 IEEE.

关键词： Data privacy

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