Current state-of-the-art adversarial example detectors exhibit several fatal limitations, hindering their deployment in safety-critical real-world applications. These limitations include a lack of sufficient universality, vulnerability to adaptive attacks, high test-stage time consumption, and a lack of plug-and-play capability. To bridge the gap, this paper proposes a novel state-of-the-art adversarial example detector named Adversarial Detection on Purification (ADoP). Specifically, ADoP first incorporates a novel adversarial purification named Gaussian-augmented GAN-based Adversarial Purification (GA-GAP), which exhibits sufficient advantages. Then, ADoP effectively overcomes current limitations by fully exploiting the advantages of GA-GAP. Extensive experiments on ImageNet demonstrate ADoP’s effectiveness in universal detection, adaptive attack avoidance, reduced test-stage time, and plug-and-play capability.

Current state-of-the-art plug-and-play countermeasures for mitigating adversarial examples (i.e., purification and detection) exhibit several fatal limitations, impeding their deployment in safety-critical real-world applications. These limitations include susceptibility to adaptive attacks, adverse impact on benign samples, high time consumption for conducting a complete defense cycle, etc. To bridge the gap, developing more advanced plug-and-play countermeasures is urgently needed to safeguard these applications. Specifically, this paper first proposes a novel method named Gaussian-augmented GAN-based Adversarial Purification (GA-GAP). Unlike previous methods, GA-GAP enhances the density of the training data in low-robustness regions by using random Gaussian noise. Moreover, GA-GAP incorporates a pre-trained deep learning classifier into the training architecture and integrates its classification loss into the training loss function. Then, following the development of GA-GAP, this paper innovatively proposes a dual-function defense framework named Adversarial Detection on Purification (ADoP) to mitigate adversarial examples further. In ADoP, purification and detection complement each other, achieving the effect of$\mathbf {1+1\gt 2}$, which can more efficiently avoid adaptive attacks. Extensive experiments on ImageNet demonstrate that ADoP outperforms other countermeasures in multiple aspects. These aspects include superior generalization capability in purifying and detecting various adversarial examples, less adverse impact on benign samples, and practical time consumption for conducting a complete defense cycle.

This work investigates the control technique for a quadrotor unmanned aerial vehicle with a slung load. By taking the advantage of the cascade property, a new hierarchical control scheme is designed that divides the control problem into three parts. For the attitude motion control of the quadrotor, the non-singularity terminal sliding mode based control law is proposed. For the translation motion control of the quadrotor, the super-twisting based control law is designed. Additional, for the swing attenuation of the slung load, a nonlinear anti-swing control design is provided. A Lyapunov stability analysis is presented to show the stability of the closed loop system, together with the fast convergence of the quadrotor's translational and attitude tracking, and exponential convergence of the slung load's swing motion. The real time experiments verifies the well performance of the proposed controller.

A new weighted pseudo-random test generator called wPRPG is proposed for low-power launch-on-capture (LOC) transition delay fault testing. The low-power weighted PRPG is implemented by assigning different weights on the test enable signals and applying a gating technique. The new low-power PRPG can achieve much higher transition delay fault coverage in LOC delay testing than the conventional test-per-scan PRPG.