The high heterogeneity of Internet of Things (IoT) devices causes severe imbalance in network traffic data, and the cost of collecting and labeling sufficient intrusion samples is high or impossible, resulting in data scarcity in IoT security. Therefore, this article proposes a domain adaptive IoT intrusion detection algorithm based on causal embedding autoencoder and a graph attention network (AEC–GAT) feature extraction and joint domain adversary, which leverages abundant data resources from traditional network intrusion detection to improve the detection accuracy in IoT environments. First, a feature extraction method combining an AEC–GAT is designed. The AEC uses causal inference to uncover deep semantic links between domains, while GAT captures device interaction patterns to enhance semantic relevance and structure awareness in the features. Second, to address the pronounced class imbalance in IoT datasets, focal loss is introduced to replace the traditional cross-entropy (CE) loss. This formulation dynamically adjusts the sample weight through the scaling factor to guide the algorithm to focus on the minority samples that are difficult to classify. Meanwhile, a class adaptive independent domain discriminator method is proposed, which incorporates a class-level alignment mechanism within a joint adversarial training method. This method dynamically adjusts both the training intensity and the loss weight of each class specific domain discriminator. The experimental results show that the algorithm in this article significantly improves the detection performance of IoT intrusion detection by migrating traditional network intrusion detection domain knowledge, and has superior performance in various indicators compared to existing algorithms.

Natural Language Video Localization (NLVL) has recently attracted much attention because of its practical significance. However, the existing methods still face the following challenges: 1) When the models learn intra-modal semantic association, the temporal causal interaction information and contextual semantic discriminative information are ignored, resulting in the lack of intra-modal semantic context connection; 2) When learning fusion representations, existing cross-modal interaction modules lack hierarchical attention function to extract inter-modal similarity information and intra-modal self-correlation information, resulting in insufficient cross-modal information interaction; and 3) When the loss function is optimized, the existing models ignore the correlation of causal inference between the start and end boundaries, resulting in inaccurate start and end boundary calibrations. To conquer the above challenges, we proposed a novel NLVL model, called Discriminative Parallel and Hierarchical Attention Network (DPHANet). Specifically, we emphasized the importance of temporal causal interaction information and contextual semantic discriminative information and correspondingly proposed a Discriminative Parallel Attention Encoder (DPAE) module to infer and encode the above critical information. Besides, to overcome the shortcomings of the existing cross-modal interaction modules, we designed a Video-Query Hierarchical Attention (VQHA) module, which can perform cross-modal interaction and intra-modal self-correlation modeling in a hierarchical manner. Furthermore, a novel deviation loss function was proposed to capture the correlation of causal inference between the start and end boundaries and force the model to focus on the continuity and temporal causality in the video. Finally, extensive experiments on three benchmark datasets demonstrated the superiority of our proposed DPHANet model, which has achieved about 1.5% and 3.5% average performance improvement and about 2.5% and 7.5% maximum performance improvement on the Charades-STA and TACoS datasets respectively.

Deep learning has been used in many computer-vision-based industrial Internet of Things applications. However, deep neural networks are vulnerable to adversarial examples that have been crafted specifically to fool a system while being imperceptible to humans. In this article, we propose a consensus defense (Cons-Def) method to defend against adversarial attacks. Cons-Def implements classification and detection based on the consensus of the classifications of the augmented examples, which are generated based on an individually implemented intensity exchange on the red, green, and blue components of the input image. We train a CNN using augmented examples together with their original examples. For the test image to be assigned to a specific class, the class occurrence of the classifications on its augmented images should be the maximum and reach a defined threshold. Otherwise, it is detected as an adversarial example. The comparison experiments are implemented on MNIST, CIFAR-10, and ImageNet. The average defense success rate (DSR) against white-box attacks on the test sets of the three datasets is 80.3%. The average DSR against black-box attacks on CIFAR-10 is 91.4%. The average classification accuracies of Cons-Def on benign examples of the three datasets are 98.0%, 78.3%, and 66.1%. The experimental results show that Cons-Def shows a high classification performance on benign examples and is robust against white-box and black-box adversarial attacks.

Despite the successful applications of probabilistic collaborative representation classification (PCRC) in pattern classification, it still suffers from two challenges when being applied on hyperspectral images (HSIs) classification: 1) ineffective feature extraction in HSIs under noisy situation; and 2) lack of prior information for HSIs classification. To tackle the first problem existed in PCRC, we impose the sparse representation to PCRC, i.e., to replace the 2-norm with 1-norm for effective feature extraction under noisy condition. In order to utilize the prior information in HSIs, we first introduce the Euclidean distance (ED) between the training samples and the testing samples for the PCRC to improve the performance of PCRC. Then, we bring the coordinate information (CI) of the HSIs into the proposed model, which finally leads to the proposed locality regularized robust PCRC (LRR-PCRC). Experimental results show the proposed LRR-PCRC outperformed PCRC and other state-of-the-art pattern recognition and machine learning algorithms.

Aortic stent has been widely used in restoring vascular stenosis and assisting patients with cardiovascular disease. The effective visualization of aortic stent is considered to be critical to ensure the effectiveness and functions of the aortic stent in clinical practice. Volume rendering with ray casting has been used as an effective approach to enable the effective visualization of aortic stent. The volume rendering relies on the transfer function that converts the medical images into optical attributes including color and transparency. This article proposes a new transfer function, namely, the multi-dimensional transfer function, to provide additional transparency value of a voxel. The proposed approach using the additional transparency value effectively assists the distinguishing of tissues that have the same CT value. The transparency values are simultaneously determined by gray threshold and gray change threshold, which can recognize the unnecessary structures such as bones transparent. A series of experimental results demonstrate that the situation of aorta stent of a patient can be directly observed, and the angle of view can be switched arbitrarily. The proposed method provides a new way for the operation of a virtual endoscopy to reach the place of blood vessels that a traditional endoscopy fails to reach.

Blood pressure diseases have increasingly been identified as among the main factors threatening human health. How to accurately and conveniently measure blood pressure is the key to the implementation of effective prevention and control measures for blood pressure diseases. Traditional blood pressure measurement methods exhibit many inherent disadvantages, for example, the time needed for each measurement is difficult to determine, continuous measurement causes discomfort, and the measurement process is relatively cumbersome. Wearable devices that enable continuous measurement of blood pressure provide new opportunities and hopes. Although machine learning methods for blood pressure prediction have been studied, the accuracy of the results does not satisfy the needs of practical applications. This paper proposes an efficient blood pressure prediction method based on the support vector machine regression (SVR) algorithm to solve the key gap between the need for continuous measurement for prophylaxis and the lack of an effective method for continuous measurement. The results of the algorithm were compared with those obtained from two classical machine learning algorithms, i.e., linear regression (LinearR), back propagation neural network (BP), with respect to six evaluation indexes (accuracy, pass rate, mean absolute percentage error (MAPE), mean absolute error (MAE), R-squared coefficient of determination ( R 2 ) and Spearman’s rank correlation coefficient). The experimental results showed that the SVR model can accurately and effectively predict blood pressure. The multi-feature joint training and predicting techniques in machine learning can potentially complement and greatly improve the accuracy of traditional blood pressure measurement, resulting in better disease classification and more accurate clinical judgements.

Dimensionality reduction is of high importance in hyperspectral data processing, which can effectively reduce the data redundancy and computation time for improved classification accuracy. Band selection and feature extraction methods are two widely used dimensionality reduction techniques. By integrating the advantages of the band selection and feature extraction, the authors propose a new method for reducing the dimension of hyperspectral image data. First, a new and fast band selection algorithm is proposed for hyperspectral images based on an improved determinantal point process (DPP). To reduce the amount of calculation, the dual‐DPP is used for fast sampling representative pixels, followed by k‐nearest neighbour‐based local processing to explore more spatial information. These representative pixel points are used to construct multiple adjacency matrices to describe the correlation between bands based on mutual information. To further improve the classification accuracy, two‐dimensional singular spectrum analysis is used for feature extraction from the selected bands. Experiments show that the proposed method can select a low‐redundancy and representative band subset, where both data dimension and computation time can be reduced. Furthermore, it also shows that the proposed dimensionality reduction algorithm outperforms a number of state‐of‐the‐art methods in terms of classification accuracy.

Industrial wireless sensor network (IWSN) is an emerging class of a generalized WSN having constraints of energy consumption, coverage, connectivity, and security. However, security and privacy is one of the major challenges in IWSN as the nodes are connected to Internet and usually located in an unattended environment with minimum human interventions. In IWSN, there is a fundamental requirement for a user to access the real-time information directly from the designated sensor nodes. This task demands to have a user authentication protocol. To satisfy this requirement, this paper proposes a lightweight and privacy-preserving mutual user authentication protocol in which only the user with a trusted device has the right to access the IWSN. Therefore, in the proposed scheme, we considered the physical layer security of the sensor nodes. We show that the proposed scheme ensures security even if a sensor node is captured by an adversary. The proposed protocol uses the lightweight cryptographic primitives, such as one way cryptographic hash function, physically unclonable function, and bitwise exclusive operations. Security and performance analysis shows that the proposed scheme is secure, and is efficient for the resource-constrained sensing devices in IWSN.

The scale and complexity of software systems are constantly increasing, imposing new challenges for software fault location and daily maintenance. In this paper, the Security Feature measurement algorithm of Frequent dynamic execution Paths in Software, SFFPS, is proposed to provide a basis for improving the security and reliability of software. First, the dynamic execution of a complex software system is mapped onto a complex network model and sequence model. This, combined with the invocation and dependency relationships between function nodes, fault cumulative effect, and spread effect, can be analyzed. The function node security features of the software complex network are defined and measured according to the degree distribution and global step attenuation factor. Finally, frequent software execution paths are mined and weighted, and security metrics of the frequent paths are obtained and sorted. The experimental results show that SFFPS has good time performance and scalability, and the security features of the important paths in the software can be effectively measured. This study provides a guide for the research of defect propagation, software reliability, and software integration testing.

Frequent pattern mining can well extract insight from transaction patterns, and it is a desired capability for fully understanding the customer's purchase behavior. However, most of the algorithms are focus on the transverse relationship and the longitudinal analysis is missed. To address this defect, FP-ICA, a Frequent Pattern mining algorithm for Item-oriented and Customer-oriented Analysis is proposed. A pattern with its items occur in the same transaction is item-oriented, and a pattern with its items occur cross several transactions of a customer is customer-oriented. FP-ICA transforms the transactions to a bitmap which contains a header for recording customer information, and the frequent patterns are obtained by logic And-operation. Different mining rules are used for item-oriented and customer-oriented discovery. Experiments are conducted to demonstrate the fast speed achievement and good scalability of FP-ICA.

Telesurgery enables an expert surgeon to assist a remote surgeon during a surgical intervention, which benefits patient care in resource-poor settings. In reality, videos of surgical procedures are compressed and transmitted over large distances in real time and, therefore, are subject to a wide variety of distortions. These distortions degrade the quality of videos and potentially affect the performance of the surgeons. Very little work has been carried out on human perception of video quality in the context of telesurgery. In this paper, we investigate the impact of video compression on the perceived quality of surgical videos. We designed and performed a psychophysical experiment where surgeons rated the quality of surgical videos distorted with two different compression schemes at various compression ratios. Experimental results demonstrate that the impact of video content and compression strategy on the perceived quality is statistically significant.

In this paper, we review the five rules published in EPSRC Principles of Robotics with a specific focus on future robotics research topics. It is demonstrated through a pictorial representation of the five rules that these rules are questionably not sufficient, overlapping and not explicitly reflecting the true challenges of robotics ethics in relation to the future of robotics research.

In a complex environment, simultaneous object recognition and tracking has been one of the challenging topics in computer vision and robotics. Current approaches are usually fragile due to spurious feature matching and local convergence for pose determination. Once a failure happens, these approaches lack a mechanism to recover automatically. In this paper, data-driven unfalsified control is proposed for solving this problem in visual servoing. It recognizes a target through matching image features with a 3-D model and then tracks them through dynamic visual servoing. The features can be falsified or unfalsified by a supervisory mechanism according to their tracking performance. Supervisory visual servoing is repeated until a consensus between the model and the selected features is reached, so that model recognition and object tracking are accomplished. Experiments show the effectiveness and robustness of the proposed algorithm to deal with matching and tracking failures caused by various disturbances, such as fast motion, occlusions, and illumination variation.

Unmanned navigation of vehicles and mobile robots can be greatly simplified by providing environmental intelligence with dispersed wireless sensors. The wireless sensors can work as active landmarks for vehicle localization and routing. However, wireless sensors are often resource scarce and require a resource-saving design. In this paper, a multiple Bloom-filter scheme is proposed to compress a global routing table for a wireless sensor. It is used as a lookup table for routing a vehicle to any destination but requires significantly less memory space and search effort. An error-expectation-based design for a multiple Bloom filter is proposed as an improvement to the conventional false-positive-rate-based design. The new design is shown to provide an equal relative error expectation for all branched paths, which ensures a better network load balance and uses less memory space. The scheme is implemented in a project for wheelchair navigation using wireless camera motes.

Environment Intelligence is becoming ubiquitous. Wireless sensor networks supported environment intelligence is providing an opportunity to service robot navigation to reduce the complexity of conventional centralized and on-board map-building, localization, path-planning and motion control, whilst superior performance can be expected. In terms of robot path planning in a dynamic environment, distributed environment intelligence can take into account both global and local perceptions for path generation and adaptation, which results in better predictability and more prompt reaction. This paper proposes a snake based and distributed path planning algorithm for robot navigation in an intelligent environment with distributed wireless visual sensors. Via communication links between sensors, segments of a path, as an elastic band from start position to goal position, interact each other to react to repulsive forces from obstacles whilst maintain compliance. However, the compliance has to be subject to the robot kinematic constraints and the elastic band may change to rigid or even to a broken state. A state machine is then presented to manage the state switch and control over the network. Simulations and experiments showed that the proposed distributed snake scheme can adapt to dynamic changes in the environment and satisfy the kinematic curvature constraints for the whole path.