This paper introduces a systematic approach to identifying a physically feasible set of robot dynamics parameters. The framework consists of four steps: 1) Identification of robot dynamics parameters using least squares combined with a linear friction model. 2) Construction of a weighting matrix based on the least squares identification error, and performing weighted least squares identification combined with the linear friction model. 3) Introduction of a nonlinear friction model to fit joint friction. 4) Optimization of the remaining robot dynamics parameters to adhere to physical feasibility constraints. Various combinations of identification methods with linear or nonlinear friction models are analyzed experimentally, using a 6-DoF industrial robot and a 7-DoF collaborative robot, respectively, to demonstrate the effectiveness of the proposed recognition framework. Experimental results affirm that the proposed method provides accurate estimates of the robot joint torques while maintaining the physical feasibility of the dynamics.

Mitigating adversarial deep learning attacks remains challenging, partly because of the ease and low cost in carrying out such attacks. Therefore, in this paper, we focus on the understanding of universal adversarial example attack on image classification models. Specifically, we seek to understand the difference(s) between adversarial examples in two adversarial datasets (DAmageNet and PGD dataset) and clean examples in ImageNet learned by the classification model, and whether we can use such findings to resist adversarial example attacks. We also seek to determine if we can retrain a discriminator to discriminate whether the input image is an adversarial example, using adversarial training. We then design a number of experiments (e.g., class activation map (CAM) analysis, feature map analysis, feature maps/filters changing, adversarial training, and binary classification model) to help us determine whether the universal adversarial dataset can be successfully used to attack the classification model. This, in turn, contributes to a better understanding of adversarial defenses over pretrained classification model from an interpretation perspective. To the best of our knowledge, this work is one of the earliest works to systematically investigate the interpretation of universal adversarial example attack on image classification models, both visually and quantitatively.

The need for medical image encryption is increasingly pronounced, for example, to safeguard the privacy of the patients' medical imaging data. In this article, a novel deep learning-based key generation network (DeepKeyGen) is proposed as a stream cipher generator to generate the private key, which can then be used for encrypting and decrypting of medical images. In DeepKeyGen, the generative adversarial network (GAN) is adopted as the learning network to generate the private key. Furthermore, the transformation domain (that represents the "style" of the private key to be generated) is designed to guide the learning network to realize the private key generation process. The goal of DeepKeyGen is to learn the mapping relationship of how to transfer the initial image to the private key. We evaluate DeepKeyGen using three data sets, namely, the Montgomery County chest X-ray data set, the Ultrasonic Brachial Plexus data set, and the BraTS18 data set. The evaluation findings and security analysis show that the proposed key generation network can achieve a high-level security in generating the private key.