Abstract The non-transferability of a designated confirmer signature scheme allows a signer to control the verification ability of a signature, hence protecting the signer’s privacy. However, a designated confirmer signature is insufficient when the secret keys are damaged and incapable of collaborative signature generation. In this paper, we circumvent these limitations by introducing the notion of designated confirmer threshold signature. First, we present a formal security model, then give a generic construction, which utilizes threshold signature schemes, encryption schemes and $$\Sigma$$ Σ -protocols. Instantiating this generic construction, we have two specific schemes, based on threshold Schnorr and threshold ECDSA, respectively. We further design two efficient $$\Sigma$$ Σ -protocols for efficient proofs. We also implement these schemes, and the experiment results show that our schemes are practical with rich functionalities. Finally, we demonstrate interesting applications for blockchains, such as verifiable asset auctions in blockchain and traditional electronic bidding.

The work in this paper delves into the challenge of whole elongated body's obstacle avoidance during path following for a class of bionic snake robots. Currently, most studies focus solely on preventing the robot's head from colliding with obstacles through designed controllers. However, due to the unique elongated structure and biomimetic locomotion modes of snake robots, it is unavoidable that the rest of the robot's body could still collide with obstacles. To resolve this problem, we propose a novel real-time optimization obstacle avoidance strategy for a class of terrestrial snake robots with multi-link elongated body using model predictive control (MPC). Moreover, by leveraging the elongated body characteristics of the robot, an improved path guidance strategy is also developed. The effectiveness of the proposed strategies is verified and validated through extensive simulations and experiments on a custom-built nine-link elongated snake robot. The results demonstrate that all links of the robot can well avoid obstacles while continuing to track the given path.

This article studies the tracking control of a quadrotor unmanned aerial vehicle (UAV) under time-varying external disturbances. An event-triggered sliding mode control (SMC) strategy is proposed by introducing a new triggering condition form of desired trajectory, quadrotor position, and velocity. In the sense of Lyapunov theory, the stability of the entire closed-loop control system is analyzed, and it is proved that the tracking error is adjusted to an adjustable set around zero. We show that the Zeno phenomenon can be avoided; that is, a positive minimum inter-event time is assured. One of the salient features of the proposed strategy is that it can reduce the update frequency of the control efforts, thereby ensuring desirable tracking performance under limited communication bandwidth. Comparative simulation and experimental results are provided to show the efficacy of our framework.

Abstract Gaussian sampling over the integers is one of the fundamental building blocks of lattice-based cryptography. Among the extensively used trapdoor sampling algorithms, it is ineluctable until now. Under the influence of numerous side-channel attacks, it is still challenging to construct a Gaussian sampler that is generic, efficient, and resistant to timing attacks. In this paper, our contribution is three-fold. First, we propose a secure, efficient exponential Bernoulli sampling algorithm. It can be applied to Gaussian samplers based on rejection samplings. We apply it to FALCON, a candidate of round 3 of the NIST post-quantum cryptography standardization project, and reduce its signature generation time by 13–14%. Second, we develop an isochronous Gaussian sampler based on rejection sampling. Our Algorithm can securely sample from Gaussian distributions with different standard deviations and arbitrary centers. We apply it to PALISADE (S&P 2018), an open-source lattice-based cryptography library. During the online phase of trapdoor sampling, the running time of the G-lattice sampling algorithm is reduced by 44.12% while resisting timing attacks. Third, we improve the efficiency of the COSAC sampler (PQC 2020). The new COSAC sampler is 1.46x–1.63x faster than the original and has the lowest expected number of trials among all Gaussian samplers based on rejection samplings. But it needs a more efficient algorithm sampling from the normal distribution to improve its performance.

Currently, most table tennis robots concentrate on the canonical position control problem while ignoring the actual velocity control requirements. In this paper, we consider these requirements and propose a new table tennis robot framework. First, a tailor-made mechanical structure is designed such that the robot can reach large workspaces. Thereafter, in the table tennis trajectory prediction process, a clustering algorithm is introduced to screen the heterogeneous predicted hitting points and filter the invalid ones, thereby significantly improving the prediction accuracy. By using quintic polynomial trajectory planning, smooth and stable high-speed control of the robot hitting motion can be obtained. Finally, a position-based strategy and a velocity-based strategy are devised for returning the table tennis. Extensive experiments demonstrate that the accuracy of the ball's trajectory prediction algorithm is more than 92%. The success rate of returning the ball exceeds 95% at the ball velocity of 3-7 m/s, and the velocity-based strategy performs better compared with the position-based approach at the ball velocity of 7-9 m/s.

In this paper, we investigate the consensus problem of multiple unmanned aerial vehicles (UAVs) in the presence of environmental constraints under a general communication topology containing a directed spanning tree. First, based on a position transformation function, we propose a novel dynamic reference position and yaw angle for each UAV to cope with both the asymmetric topology and the constraints. Then, the backstepping-like design methodology is presented to derive a local tracking controller for each UAV such that its position and yaw angle can converge to the reference ones. The proposed protocol is distributed in the sense that, the input update of each UAV dynamically relies only on local state information from its neighborhood set and the constraints, and it does not require any additional centralized information. It is demonstrated that under the proposed protocol, all UAVs reach consensus without violation of the environmental constraints. Finally, simulation and experimental results are provided to demonstrate the performance of the protocol.

Domain adaptation methods are used to address a problem, in which train scenario (source domain) and test scenario (target domain) are different. The existing methods mainly perform adaptation via reducing domain discrepancy from the view of a probability distribution. However, the idea of probability distribution matching always leads to a complex optimization process. Thereby these methods are difficult to apply in some scenario like online application or fast perception in dynamic environments. In this paper, we propose a new and simple domain adaptation method that utilizes confidence- samples to facilitate the classifier training on the target domain. Here, the confidence-samples are a subset of the target samples, and they have very credibly predicted labels. In order to detect the samples, a Category Similarity Collaborative Representation (CSCR) is first developed, by which the raw labels of all target samples are predicted using the smallest projection error according to the law of category. After this, the confidence score of the raw predicted labels is evaluated by the energy context information of CSCR. Finally, the target samples with a high confidence score are selected. Because of the linearity of CSCR, our method avoids complex optimization for matching the probability distribution. Empirical studies on a standard dataset demonstrate the advantages of our method.