This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the intersection of Apollonius circles derived from each pursuer-evader pair. The capture strategy is formulated as a zero-sum game where the pursuers cooperatively minimize the area of this set, while the evader seeks to maximize it, effectively playing a game of spatial containment. By deriving the analytical gradients of the safe-reachable set's area with respect to agent positions, we obtain closed-form, instantaneous optimal control laws for the heading of each agent. These strategies are computationally efficient, allowing for real-time implementation. Simulations demonstrate that the gradient-based controls effectively steer the pursuers to systematically shrink the evader’s safe region, leading to guaranteed capture. This area-minimization approach provides a clear geometric objective for cooperative capture.

Certified defenses promise provable robustness guarantees. We study the malicious exploitation of probabilistic certification frameworks to better understand the limits of guarantee provisions. Now, the objective is to not only mislead a classifier, but also to manipulate the certification process to generate a robustness guarantee for an adversarial input—certificate spoofing. A recent study in ICLR demonstrated that crafting large perturbations can shift inputs far into regions capable of generating a certificate for an incorrect class. Our study investigates if perturbations are needed to cause a misclassification and yet coax a certified model into issuing a deceptive, large robustness radius for a target class can still be made small and imperceptible. We explore the idea of region-focused adversarial examples to craft imperceptible perturbations, spoof certificates and achieve certification radii larger than the source class—ghost certificates. Extensive evaluations with the ImageNet demonstrate the ability to effectively bypass state-of-the-art certified defenses such as Densepure. Our work underscores the need to better understand the limits of robustness certification methods.

Real-time sea state estimation is vital for applications like shipbuilding and maritime safety. Traditional methods rely on accurate wave-vessel transfer functions to estimate wave spectra from onboard sensors. In contrast, our approach jointly estimates sea state and vessel parameters without needing prior transfer function knowledge, which may be unavailable or variable. We model the wave-vessel system using pseudo mass-spring-dampers and develop a dynamic model for the system. This method allows for recursive modeling of wave excitation as a time-varying input, relaxing prior works’ assumption of a constant input. We derive statistically consistent process noise covariance and implement a square root cubature Kalman filter for sensor data fusion. Further, we derive the Posterior Cramer-Rao lower bound to evaluate estimator performance. Extensive Monte Carlo simulations and data from a high-fidelity validated simulator confirm that the estimated wave spectrum matches methods assuming complete transfer function knowledge.

Computational complexity of Bayesian learning is impeding its adoption in practical, large-scale tasks, despite demonstrations of significant merits such as improved robustness and resilience to unseen or out-of-distribution inputs over their non-Bayesian counterparts. Although, Deep ensemble methods (Seligmann et al. 2024; Lakshminarayanan, Pritzel, and Blundell 2017) have proven to be highly effective for Bayesian deep learning, their practical application is hindered by substantial computational cost. In this study, we introduce an innovative framework to mitigate the computational burden of ensemble Bayesian deep learning. We explore a more feasible alternative, inspired by the recent success of low-rank adapters, we introduce Bayesian Low-Rank LeArning (Bella). We show, i) Bella achieves a dramatic reduction in the number of trainable parameters required to approximate a Bayesian posterior; and ii) it not only maintains, but in some instances, surpasses the performance–in accuracy and out-of-distribution generalisation–of conventional Bayesian learning methods and non-Bayesian baselines. Our extensive empirical evaluation in large-scale tasks such as ImageNet, CAMELYON17, DomainNet, VQA with CLIP, LLaVA demonstrate the effectiveness and versatility of Bella in building highly scalable and practical Bayesian deep models for real-world applications.

Out-of-distribution (OOD) detection is essential for reliably deploying machine learning models in the wild. Yet, most methods treat large pre-trained models as monolithic encoders and rely solely on their final-layer representations for detection. We challenge this wisdom. We reveal the intermediate layers of pre-trained models, shaped by residual connections that subtly transform input projections, can encode surprisingly rich and diverse signals for detecting distributional shifts. Importantly, to exploit latent representation diversity across layers, we introduce an entropy-based criterion to automatically identify layers offering the most complementary information in a training-free setting, without access to OOD data. We show that selectively incorporating these intermediate representations can increase the accuracy of OOD detection by up to $10\%$ in far-OOD and over $7\%$ in near-OOD benchmarks compared to state-of-the-art training-free methods across various model architectures and training objectives. Our findings reveal a new avenue for OOD detection research and uncover the impact of various training objectives and model architectures on confidence-based OOD detection methods.

We consider the problem of tracking multiple, unknown, and time-varying numbers of objects using a distributed network of heterogeneous sensors . In an effort to derive a formulation for practical settings, we consider limited and unknown sensor field-of-views (FoVs), sensors with limited local computational resources and communication channel capacity . The resulting distributed multi-object tracking algorithm involves solving an NP-hard multidimensional assignment problem either optimally for small-size problems or sub-optimally for general practical problems. For general problems, we propose an efficient distributed multi-object tracking algorithm that performs track-to-track fusion using a clustering-based analysis of the state space transformed into a density space to mitigate the complexity of the assignment problem. The proposed algorithm can more efficiently group local track estimates for fusion than existing approaches. To ensure we achieve globally consistent identities for tracks across a network of nodes as objects move between FoVs, we develop a graph-based algorithm to achieve label consensus and minimise track segmentation. Numerical experiments with synthetic and real-world trajectory datasets demonstrate that our proposed method is significantly more computationally efficient than state-of-the-art solutions, achieving similar tracking accuracy and bandwidth requirements but with improved label consistency.

Deep learning system components are vulnerable to backdoor attacks. Detectors are no exception. Detectors, in contrast to classifiers, possess unique characteristics, architecturally and in task execution; often operating in challenging conditions, for instance, detecting traffic signs in autonomous cars. But, our knowledge dominates attacks against classifiers and tests in the "digital domain".To address this critical gap, we conducted an extensive empirical study targeting multiple detector architectures and two challenging detection tasks in real-world settings: traffic signs and vehicles. Using diverse, methodically collected videos captured from driving cars and flying drones, incorporating physical object trigger deployments in authentic scenes, we investigated the viability of physical object-triggered backdoor attacks in application settings.Our findings revealed 7 key insights. Importantly, the prevalent "digital" data poisoning method for injecting backdoors into models does not lead to effective attacks against detectors in the real world, although proven effective in classification tasks. We construct a new, cost-efficient attack method, dubbed Morphing, incorporating the unique nature of detection tasks; ours is remarkably successful in injecting physical object-triggered backdoors, even capable of poisoning triggers with clean label annotations or invisible triggers without diminishing the success of physical object triggered backdoors. We discovered that the defenses curated are ill-equipped to safeguard detectors against such attacks. To underscore the severity of the threat and foster further research, we, for the first time, release an extensive video test set of real-world backdoor attacks. Our study not only establishes the credibility and seriousness of this threat but also serves as a clarion call to the research community to advance backdoor defenses in the context of object detection. Our dataset—DriveByFlyBy—release, demo videos and code is at https://BackdoorDetectors.github.io.

Fuzzing is an industry-standard software testing technique that uncovers bugs in a target program by executing it with mutated inputs. Over the lifecycle of a fuzzing campaign, the fuzzer accumulates inputs inducing new and interesting target behaviors, drawing from these inputs for further mutation and generation of new inputs. This rapidly results in a large pool of inputs to select from, making it challenging to quickly determine the "most promising" input for mutation. Reinforcement learning (RL) provides a natural solution to this seed scheduling problem---a fuzzer can dynamically adapt its selection strategy by learning from past results. However, existing RL approaches are (a) computationally expensive (reducing fuzzer throughput), and/or (b) require hyperparameter tuning (reducing generality across targets and input types). To this end, we propose T-Scheduler, a seed scheduler built upon multi-armed bandit theory to automatically adapt to the target. Notably, our formulation does not require the user to select or tune hyperparameters and is therefore easily generalizable across different targets. We evaluate T-Scheduler over 35 CPU-yr fuzzing effort, comparing it to 11 state-of-the-art schedulers. Our results show that T-Scheduler improves on these 11 schedulers on both bug-finding and coverage-expansion abilities.

We study the unique, less-well understood problem of generating sparse adversarial samples simply by observing the score-based replies to model queries. Sparse attacks aim to discover a minimum number—the $l_0$ bounded—perturbations to model inputs to craft adversarial examples and misguide model decisions. But, in contrast to query-based dense attack counterparts against black-box models, constructing sparse adversarial perturbations, even when models serve confidence score information to queries in a score-based setting, is non-trivial. Because, such an attack leads to: i) an NP-hard problem; and ii) a non-differentiable search space. We develop the BRUSLEATTACK—a new, faster (more query-efficient) algorithm formulation for the problem. We conduct extensive attack evaluations including an attack demonstration against a Machine Learning as a Service (MLaaS) offering exemplified by __Google Cloud Vision__ and robustness testing of adversarial training regimes and a recent defense against black-box attacks. The proposed attack scales to achieve state-of-the-art attack success rates and query efficiency on standard computer vision tasks such as ImageNet across different model architectures. Our artifacts and DIY attack samples are available on GitHub. Importantly, our work facilitates faster evaluation of model vulnerabilities and raises our vigilance on the safety, security and reliability of deployed systems.

We present a new algorithm to train a robust malware detector. Malware is a prolific problem and malware detectors are a front-line defense. Modern detectors rely on machine learning algorithms. Now, the adversarial objective is to devise alterations to the malware code to decrease the chance of being detected whilst preserving the functionality and realism of the malware. Adversarial learning is effective in improving robustness but generating functional and realistic adversarial malware samples is non-trivial. Because: i) in contrast to tasks capable of using gradient-based feedback, adversarial learning in a domain without a differentiable mapping function from the problem space (malware code inputs) to the feature space is hard; and ii) it is difficult to ensure the adversarial malware is realistic and functional. This presents a challenge for developing scalable adversarial machine learning algorithms for large datasets at a production or commercial scale to realize robust malware detectors. We propose an alternative; perform adversarial learning in the feature space in contrast to the problem space. We prove the projection of perturbed, yet valid malware, in the problem space into feature space will always be a subset of adversarials generated in the feature space. Hence, by generating a robust network against feature-space adversarial examples, we inherently achieve robustness against problem-space adversarial examples. We formulate a Bayesian adversarial learning objective that captures the distribution of models for improved robustness. To explain the robustness of the Bayesian adversarial learning algorithm, we prove that our learning method bounds the difference between the adversarial risk and empirical risk and improves robustness. We show that Bayesian neural networks (BNNs) achieve state-of-the-art results; especially in the False Positive Rate (FPR) regime. Adversarially trained BNNs achieve state-of-the-art robustness. Notably, adversarially trained BNNs are robust against stronger attacks with larger attack budgets by a margin of up to 15% on a recent production-scale malware dataset of more than 20 million samples. Importantly, our efforts create a benchmark for future defenses in the malware domain.

Exponential growth in embedded systems is driving the research imperative to develop fuzzers to automate firmware testing to uncover software bugs and security vulnerabilities. But, employing fuzzing techniques in this context present a uniquely challenging proposition; a key problem is the need to deal with the diverse and large number of peripheral communications in an automated testing framework. Recent fuzzing approaches: i) employ re-hosting methods by executing code in an emulator because fuzzing on resource limited embedded systems is slow and unscalable; and ii) integrate models of hardware behaviour to overcome the challenges faced by the massive input-space to be explored created by peripheral devices and to generate inputs that are effective in aiding a fuzzer to make progress.

We consider the problem of real-time estimation of sea state and wave-induced motions on a moving vessel using onboard inertial sensors without knowing vessel’s dynamic parameters (i.e., draught and breadth). This is crucial for vessel operational planning and performance, preventing structure failure, emissions reduction and fuel economy. This work proposes a new estimation approach by reformulating the conventional problem of sea state and vessel motion estimation (unknown input into a known dynamic system) as an input-state-parameter estimation problem of mass-spring-damper systems. We exploit the strong correlations between a vessel’s vertical displacement and its rotation to develop a new estimation algorithm–Parameter-Sharing Extended-Augmented Kalman Filter (PS-EAKF)–for the problem to estimate the unidentified vessel parameters together with vessel motion (heave and pitch) and sea state. Experimental data from a scale-model vessel in regular head seas demonstrate the effectiveness and robustness of the proposed approach.

Emulation-based fuzzers enable testing binaries without source code and facilitate testing embedded applications where automated execution on the target hardware architecture is difficult and slow. The instrumentation techniques added to extract feedback and guide input mutations towards generating effective test cases is at the core of modern fuzzers. But, modern emulation-based fuzzers have evolved by re-purposing general-purpose emulators; consequently, developing and integrating fuzzing techniques, such as instrumentation methods, is difficult and often added in an ad-hoc manner, specific to an instruction set architecture (ISA). This limits state-of-the-art fuzzing techniques to a few ISAs such as x86/x86-64 or ARM/AArch64; a significant problem for firmware fuzzing of diverse ISAs.

Building hardware security primitives with on-device memory fingerprints is a compelling proposition given the ubiquity of memory in electronic devices, especially for low-end Internet of Things devices for which cryptographic modules are often unavailable. However, the use of fingerprints in security functions is challenged by the small, but unpredictable variations in fingerprint reproductions from the same device due to measurement noise. Our study formulates a novel and pragmatic approach to achieve highly reliable fingerprints from device memories. We investigate the transformation of raw fingerprints into a noise-tolerant space where the generation of fingerprints is intrinsically highly reliable. We derive formal performance bounds to support practitioners to easily adopt our methods for applications. Subsequently, we demonstrate the expressive power of our formalization by using it to investigate the practicability of extracting noise-tolerant fingerprints from commodity devices. Together with extensive simulations, we have employed 119 chips from five different manufacturers for extensive experimental validations. Our results, including an end-to-end implementation demonstration with a low-cost wearable Bluetooth inertial sensor capable of on-demand and runtime key generation, show that key generators with failure rates less than$10^{-6}$can be efficiently obtained with noise-tolerant fingerprints with a single fingerprint snapshot to support ease-of-enrollment.

Emerging ultra-low-power tiny scale computing devices run on harvested energy, are intermittently powered, have limited computational capability, and perform sensing and actuation functions under the control of a dedicated firmware operating without the supervisory control of an operating system. Wirelessly updating or patching firmware of such devices is inevitable. We consider the challenging problem of simultaneous and secure firmware updates or patching for a typical class of such devicesComputational Radio Frequency Identification (CRFID) devices. We propose Wisecr, the first secure and simultaneous wireless code dissemination mechanism to multiple devices that prevents malicious code injection attacks and intellectual property (IP) theft, whilst enabling remote attestation of code installation. Importantly, Wisecr is engineered to comply with existing ISO compliant communication protocol standards employed by CRFID devices and systems. We comprehensively evaluate Wisecr's overhead, demonstrate its implementation over standards compliant protocols, analyze its security, implement an end-to-end realization with popular CRFID devices and open-source the complete software package on GitHub.

We present a new algorithm to learn a deep neural network model robust against adversarial attacks. Previous algorithms demonstrate an adversarially trained Bayesian Neural Network (BNN) provides improved robustness. We recognize the learning approach for approximating the multi-modal posterior distribution of an adversarially trained Bayesian model can lead to mode collapse; consequently, the model’s achievements in robustness and performance are sub-optimal. Instead, we first propose preventing mode collapse to better approximate the multi-modal posterior distribution. Second, based on the intuition that a robust model should ignore perturbations and only consider the informative content of the input, we conceptualize and formulate an information gain objective to measure and force the information learned from both benign and adversarial training instances to be similar. Importantly. we prove and demonstrate that minimizing the information gain objective allows the adversarial risk to approach the conventional empirical risk. We believe our efforts provide a step towards a basis for a principled method of adversarially training BNNs. Our extensive experimental results demonstrate significantly improved robustness up to 20% compared with adversarial training and Adv-BNN under PGD attacks with 0.035 distortion on both CIFAR-10 and STL-10 dataset.

Graph Neural Networks (GNNs) have achieved tremendous success in many graph mining tasks benefitting from the message passing strategy that fuses the local structure and node features for better graph representation learning. Despite the success of GNNs, and similar to other types of deep neural networks, GNNs are found to be vulnerable to unnoticeable perturbations on both graph structure and node features. Many adversarial attacks have been proposed to disclose the fragility of GNNs under different perturbation strategies to create adversarial examples. However, vulnerability of GNNs to successful backdoor attacks was only shown recently.

A physical unclonable function (PUF) generates hardware intrinsic volatile secrets by exploiting uncontrollable manufacturing randomness. Although PUFs provide the potential for lightweight and secure authentication for increasing numbers of low-end Internet of Things devices, practical and secure mechanisms remain elusive. We aim to explore simulatable PUFs (SimPUFs) that are physically unclonable but efficiently modeled mathematically through privileged one-time PUF access to address the above problem. Given a challenge, a securely stored SimPUF in possession of a trusted server computes the corresponding response and its bit-specific reliability. Consequently, naturally noisy PUF responses generated by a resource limited prover can be immediately processed by a one-way function (OWF) and transmitted to the server, because the resourceful server can exploit the SimPUF to perform a trial-and-error search over likely error patterns to recover the noisy response to authenticate the prover. Security of trial-and-error reverse (TREVERSE) authentication under the random oracle model is guaranteed by the hardness of inverting the OWF. We formally evaluate the TREVERSE authentication capability with two SimPUFs experimentally derived from popular silicon PUFs.

Trojan attacks on deep neural networks (DNNs) exploit abackdoorembedded in a DNN model that can hijack any input with an attacker’s chosen signature trigger. Emerging defence mechanisms are mainly designed and validated on vision domain tasks (e.g., image classification) on 2D Convolutional Neural Network (CNN) model architectures; a defence mechanism that is general across vision, text, and audio domain tasks is demanded. This work designs and evaluates a run-time Trojan detection method exploitingSTRongIntentionalPerturbation of inputs that is a multi-domain input-agnostic Trojan detection defence acrossVision,Text andAudio domains—thus termed as STRIP-ViTA. Specifically, STRIP-ViTA is demonstratively independent of not only task domain but also model architectures. Most importantly, unlike other detection mechanisms, it requires neither machine learning expertise nor expensive computational resource, which are the reason behind DNN model outsourcing scenario—one main attack surface of Trojan attack. We have extensively evaluated the performance of STRIP-ViTA over: i) CIFAR10 and GTSRB datasets using 2D CNNs for vision tasks; ii) IMDB and consumer complaint datasets using both LSTM and 1D CNNs for text tasks; and iii) speech command dataset using both 1D CNNs and 2D CNNs for audio tasks. Experimental results based on more than 30 tested Trojaned models (including publicly Trojaned model) corroborate that STRIP-ViTA performs well across all nine architectures and five datasets. Overall, STRIP-ViTA can effectively detect trigger inputs with small false acceptance rate (FAR) with an acceptable preset false rejection rate (FRR). In particular, for vision tasks, we can always achieve a 0 percent FRR and FAR given strong attack success rate always preferred by the attacker. By setting FRR to be 3 percent, average FAR of 1.1 and 3.55 percent are achieved for text and audio tasks, respectively. Moreover, we have evaluated STRIP-ViTA against a number of advanced backdoor attacks and compare its effectiveness with other recent state-of-the-arts.

Deep neural networks (DNNs), regardless of their impressive performance, are vulnerable to attacks from adversarial inputs and, more recently, Trojans to misguide or hijack the decision of the model. We expose the existence of an intriguing class of spatially bounded, physically realizable, adversarial examples— Universal NaTuralistic adversarial paTches—we call TnTs, by exploring the super set of the spatially bounded adversarial example space and the natural input space within generative adversarial networks. Now, an adversary can arm themselves with a patch that is naturalistic, less malicious-looking, physically realizable, highly effective—achieving high attack success rates, and universal. A TnT is universal because any input image captured with a TnT in the scene will: i) misguide a network (untargeted attack); or ii) force the network to make a malicious decision (targeted attack). Interestingly, now, an adversarial patch attacker has the potential to exert a greater level of control—the ability to choose a location independent, natural-looking patch as a trigger in contrast to being constrained to noisy perturbations—an ability is thus far shown to be only possible with Trojan attack methods needing to interfere with the model building processes to embed a backdoor at the risk discovery; but, still realize a patch deployable in the physical world. Through extensive experiments on the large-scale visual classification task,ImageNetwith evaluations across its entire validation set of 50,000 images, we demonstrate the realistic threat from TnTs and the robustness of the attack. We show a generalization of the attack to create patches achieving higher attack success rates than existing state-of-the-art methods. Our results show the generalizability of the attack to different visual classification tasks (CIFAR-10,GTSRB,PubFig) and multiple state-of-the-art deep neural networks such as WideResnet50, Inception-V3 and VGG-16.

The rapid spread of COVID-19 has made manual contact tracing difficult. Thus, various public health authorities have experimented with automatic contact tracing using mobile applications (or "apps"). These apps, however, have raised security and privacy concerns. In this paper, we propose an automated security and privacy assessment tool - COVIDGUARDIAN - which combines identification and analysis of Personal Identification Information (PII), static program analysis and data flow analysis, to determine security and privacy weaknesses. Furthermore, in light of our findings, we undertake a user study to investigate concerns regarding contact tracing apps. We hope that COVIDGUARDIAN, and the issues raised through responsible disclosure to vendors, can contribute to the safe deployment of mobile contact tracing. As part of this, we offer concrete guidelines, and highlight gaps between user requirements and app performance.

The simplicity of deployment and perpetual operation of energy harvesting devices provides a compelling proposition for a new class of edge devices for the Internet of Things. In particular, Computational Radio Frequency Identification (CRFID) devices are an emerging class of battery free, computational, sensing enhanced devices that harvest all of their energy for operation. Despite wireless connectivity and powering, secure wireless firmware updates remains an open challenge for CRFID devices due to: intermittent powering, limited computational capabilities, and the absence of a supervisory operating system. We present,for the first time, asecurewireless code dissemination (SecuCode) mechanism for CRFIDs by entangling adevice intrinsic hardware security primitive—Static Random Access Memory Physical Unclonable Function (SRAM PUF)—to a firmware update protocol. The design of SecuCode: i) overcomes the resource-constrained and intermittently powered nature of the CRFID devices; ii) is fully compatible with existing communication protocols employed by CRFID devices—in particular, ISO-18000-6C protocol; and ii) is built upon a standard and industry compliant firmware compilation and update method realized by extending a recent framework for firmware updates provided by Texas Instruments. We build an end-to-end SecuCode implementation and conduct extensive experiments to demonstrate standards compliance, evaluate performance and security.

We consider the challenging problem of online planning for a team of agents to autonomously search and track a time-varying number of mobile objects under the practical constraint of detection range limited onboard sensors. A standard POMDP with a value function that either encourages discovery or accurate tracking of mobile objects is inadequate to simultaneously meet the conflicting goals of searching for undiscovered mobile objects whilst keeping track of discovered objects. The planning problem is further complicated by misdetections or false detections of objects caused by range limited sensors and noise inherent to sensor measurements. We formulate a novel multi-objective POMDP based on information theoretic criteria, and an online multi-object tracking filter for the problem. Since controlling multi-agent is a well known combinatorial optimization problem, assigning control actions to agents necessitates a greedy algorithm. We prove that our proposed multi-objective value function is a monotone submodular set function; consequently, the greedy algorithm can achieve a (1-1/e) approximation for maximizing the submodular multi-objective function.

We propose Februus; a new idea to neutralize highly potent and insidious Trojan attacks on Deep Neural Network (DNN) systems at run-time. In Trojan attacks, an adversary activates a backdoor crafted in a deep neural network model using a secret trigger, a Trojan, applied to any input to alter the model’s decision to a target prediction—a target determined by and only known to the attacker. Februus sanitizes the incoming input by surgically removing the potential trigger artifacts and restoring the input for the classification task. Februus enables effective Trojan mitigation by sanitizing inputs with no loss of performance for sanitized inputs, Trojaned or benign. Our extensive evaluations on multiple infected models based on four popular datasets across three contrasting vision applications and trigger types demonstrate the high efficacy of Februus. We dramatically reduced attack success rates from 100% to near 0% for all cases (achieving 0% on multiple cases) and evaluated the generalizability of Februus to defend against complex adaptive attacks; notably, we realized the first defense against the advanced partial Trojan attack. To the best of our knowledge, Februus is the first backdoor defense method for operation at run-time capable of sanitizing Trojaned inputs without requiring anomaly detection methods, model retraining or costly labeled data.

We consider the problem of estimating unknown input forces on structural systems using only noisy acceleration measurement data. This is an important task for condition monitoring, for example, to predict fatigue damage in a structure's body or to reduce transmission of vibrations in marine vessels. In this paper, we propose a new idea to estimate an input force with a sinusoidal form by formulating a force identification problem without a direct feed-through system. Consequently, the minimum variance unbiased (MVU) filter can be implemented coupled with a fast Fourier transform algorithm to estimate unknown input forces accurately in real-time. Moreover, when the input force is completely unknown, the ensemble sampling method combined with an augmented Kalman filter can be formulated to significantly reduce computation time. Experimental results confirm the effectiveness of our proposed methods and show that the formulations investigated outperform other state-of-the-art methods in term of computational cost whilst not compromising estimation performance.

Tracking and locating radio-tagged wildlife is a labor-intensive and time-consuming task necessary in wildlife conservation. In this article, we focus on the problem of achieving embedded autonomy for a resource-limited aerial robot for the task capable of avoiding undesirable disturbances to wildlife. We employ a lightweight sensor system capable of simultaneous (noisy) measurements of radio signal strength information from multiple tags for estimating object locations. We formulate a new lightweight task-based trajectory planning method-LAVAPilot-with a greedy evaluation strategy and a void functional formulation to achieve situational awareness to maintain a safe distance from objects of interest. Conceptually, we embed our intuition of moving closer to reduce the uncertainty of measurements into LAVAPilot instead of employing a computationally intensive information gain based planning strategy. We employ LAVAPilot and the sensor to build a lightweight aerial robot platform with fully embedded autonomy for jointly tracking and planning to track and locate multiple VHF radio collar tags used by conservation biologists. Using extensive Monte Carlo simulation-based experiments, implementations on a single board compute module, and field experiments using an aerial robot platform with multiple VHF radio collar tags, we evaluate our joint planning and tracking algorithms. Further, we compare our method with other information-based planning methods with and without situational awareness to demonstrate the effectiveness of our robot executing LAVAPilot. Our experiments demonstrate that LAVAPilot significantly reduces (by 98.5%) the computational cost of planning to enable real-time planning decisions whilst achieving similar localization accuracy of objects compared to information gain based planning methods, albeit taking a slightly longer time to complete a mission. To support research in the field, and conservation biology, we also open source the complete project. In particular, to the best of our knowledge, this is the first demonstration of a fully autonomous aerial robot system where trajectory planning and tracking to survey and locate multiple radio-tagged objects are achieved onboard.

Since the new privacy feature in iOS enabling users to acknowledge which app is reading or writing to his or her clipboard through prompting notifications was updated, a plethora of top apps have been reported to frequently access the clipboard without user consent. However, the lack of monitoring and control of Android application's access to the clipboard data leave Android users blind to their potential to leak private information from Android clipboards, raising severe security and privacy concerns. In this preliminary work, we envisage and investigate an approach to (i) dynamically detect clipboard access behaviour, and (ii) determine privacy leaks via static data flow analysis, in which we enhance the results of taint analysis with call graph concatenation to enable leakage source backtracking. Our preliminary results indicate that the proposed method can expose clipboard data leakage as substantiated by our discovery of a popular app, i.e., Sogou Input, directly monitoring and transferring user data in a clipboard to backend servers.

Rapid spread of the COVID-19 pandemic is making traditional manual contact tracing challenging; in response, digital contact tracing mobile apps have been developed by the software industry and promoted by governments and health authorities worldwide. However, deploying contact tracing apps across a population at scale have raised many privacy concerns. In this paper, we propose a venue-access-based contact tracing solution, VenueTrace, which preserves user privacy by designs by: (i) enabling the contact tracing of venue-to-user, instead of user-to-user; (ii) avoiding information exchanges between users; and (iii) ensuring no private data is exposed to back-end servers, while enabling proximity contact tracing.

A recent trojan attack on deep neural network (DNN) models is one insidious variant of data poisoning attacks. Trojan attacks exploit an effective backdoor created in a DNN model by leveraging the difficulty in interpretability of the learned model to misclassify any inputs signed with the attacker's chosen trojan trigger. Since the trojan trigger is a secret guarded and exploited by the attacker, detecting such trojan inputs is a challenge, especially at run-time when models are in active operation. This work builds STRong Intentional Perturbation (STRIP) based run-time trojan attack detection system and focuses on vision system. We intentionally perturb the incoming input, for instance by superimposing various image patterns, and observe the randomness of predicted classes for perturbed inputs from a given deployed model---malicious or benign. A low entropy in predicted classes violates the input-dependence property of a benign model and implies the presence of a malicious input---a characteristic of a trojaned input. The high efficacy of our method is validated through case studies on three popular and contrasting datasets: MNIST, CIFAR10 and GTSRB. We achieve an overall false acceptance rate (FAR) of less than 1%, given a preset false rejection rate (FRR) of 1%, for different types of triggers. Using CIFAR10 and GTSRB, we have empirically achieved result of 0% for both FRR and FAR. We have also evaluated STRIP robustness against a number of trojan attack variants and adaptive attacks.

Older people have expressed a clear desire for unobtrusive wearable monitoring devices. Emerging batteryless sensor technologies such as sensor enabled RFID (Radio Frequency Identification) create new opportunities for building unobtrusive wearables for older people. This study aims to: i) uncover user perceptions and acceptability of a batteryless wearable sensor concept for hospitalized older people; and ii) present the construction of a new textile integrated wearable sensor incorporating user feedback. We recruited 40 older people (age: 81.0 ± 7.0 years) to wear our initial sensor prototype and used two modified versions of validated questionnaires to evaluate user perceptions and acceptability. Our results showed: i) allowing older people to experience the system created the opportunity for them to develop confidence and trust in the sensing technology, even when they were initially anxious and skeptical: and ii) the first design prototype should ideally be modified to reduce its visibility. To this end, we built a new wearable sensor design.

Batteryless or so called passive wearables are providing new and innovative methods for human activity recognition (HAR), especially in healthcare applications for older people. Passive sensors are low cost, lightweight, unobtrusive and desirably disposable; attractive attributes for healthcare applications in hospitals and nursing homes. Despite the compelling propositions for sensing applications, the data streams from these sensors are characterised by high sparsity---the time intervals between sensor readings are irregular while the number of readings per unit time are often limited. In this paper, we rigorously explore the problem of learning activity recognition models from temporally sparse data. We describe how to learn directly from sparse data using a deep learning paradigm in an end-to-end manner. We demonstrate significant classification performance improvements on real-world passive sensor datasets from older people over the state-of-the-art deep learning human activity recognition models. Further, we provide insights into the model's behaviour through complementary experiments on a benchmark dataset and visualisation of the learned activity feature spaces.

Falls have serious consequences and are prevalent in acute hospitals and nursing homes caring for older people. Most falls occur in bedrooms and near the bed. Technological interventions to mitigate the risk of falling aim to automatically monitor bed-exit events and subsequently alert healthcare personnel to provide timely supervisions. We observe that frequency-domain information related to patient activities exist predominantly in very low frequencies. Therefore, we recognise the potential to employ a low resolution acceleration sensing modality in contrast to powering and sensing with a conventional MEMS (Micro Electro Mechanical System) accelerometer. Consequently, we investigate a batteryless sensing modality with low cost wirelessly powered Radio Frequency Identification (RFID) technology with the potential for convenient integration into clothing, such as hospital gowns. We design and build a passive accelerometer-based RFID sensor embodiment-ID-Sensor-for our study. The sensor design allows deriving ultra low resolution acceleration data from the rate of change of unique RFID tag identifiers in accordance with the movement of a patient's upper body. We investigate two convolutional neural network architectures for learning from raw RFID-only data streams and compare performance with a traditional shallow classifier with engineered features. We evaluate performance with 23 hospitalized older patients. We demonstrate, for the first time and to the best of knowledge, that: i) the low resolution acceleration data embedded in the RF powered ID-Sensor data stream can provide a practicable method for activity recognition; and ii) highly discriminative features can be efficiently learned from the raw RFID-only data stream using a fully convolutional network architecture.

A physical unclonable function (PUF), like a fingerprint, exploits manufacturing randomness to endow each physical item with a unique identifier. One primary PUF application is the secure derivation of volatile cryptographic keys using a fuzzy extractor (FE) comprising: 1) a secure sketch and 2) an entropy extractor. Although the entropy extractor can be lightweight, the overhead of the secure sketch responsible for correcting naturally noisy PUF responses is usually high. We observe that, in general, response unreliability with respect to an enrolled reference measurement increases with increasing differences between the in-the-field PUF operating condition and the operating condition used in evaluating the enrolled reference response. For the first time, we exploit such an inadvertent but important observation. In contrast to the conventional single reference response enrollment, we propose enrolling multiple reference responses (MRRs) subject to the same challenge but under multiple distinct operating conditions. The critical observation here is that one of the reference operating conditions is likely to be closer to the operating condition of the field deployed PUF, thus resulting in minimizing the expected unreliability when compared to the single reference under the nominal condition. As a consequence, MRR greatly reduces the demand for the expected number of erroneous bits requiring correction and, subsequently, achieves a significant reduction in the error correction overhead. The significant implementation efficiency gains from the proposed MRR method are demonstrated from software implementations of FEs on batteryless resource constraint computational radio frequency identification devices, where realistic PUF data are collected from intrinsic static random access memory PUFs.

Exploiting intrinsic structures in sparse signals underpins the recent progress in compressive sensing (CS). The key for exploiting such structures is to achieve two desirable properties: generality (i.e., the ability to fit a wide range of signals with diverse structures) and adaptability (i.e., being adaptive to a specific signal). Most existing approaches, however, often only achieve one of these two properties. In this study, we propose a novel adaptive Markov random field sparsity prior for CS, which not only is able to capture a broad range of sparsity structures, but also can adapt to each sparse signal through refining the parameters of the sparsity prior with respect to the compressed measurements. To maximize the adaptability, we also propose a new sparse signal estimation where the sparse signals, support, noise and signal parameter estimation are unified into a variational optimization problem, which can be effectively solved with an alternative minimization scheme. Extensive experiments on three real-world datasets demonstrate the effectiveness of the proposed method in recovery accuracy, noise tolerance, and runtime.

Methods for accurate indoor spatial tracking remains a challenge. Low cost and power efficient Bluetooth Low Energy (BLE) beacon technology's ability to run maintenance-free for many years on a single coin cell battery provides an attractive methodology to realize accurate and low cost indoor spatial tracking. However an easy to deploy and accurate methodology still remains a problem of ongoing research interest.

Automatic recognition of human activities from time-series sensor data (referred to as HAR) is a growing area of research in ubiquitous computing. Most recent research in the field adopts supervised deep learning paradigms to automate extraction of intrinsic features from raw signal inputs and addresses HAR as a multi-class classification problem where detecting a single activity class within the duration of a sensory data segment suffices. However, due to the innate diversity of human activities and their corresponding duration, no data segment is guaranteed to contain sensor recordings of a single activity type. In this paper, we express HAR more naturally as a set prediction problem where the predictions are sets of ongoing activity elements with unfixed and unknown cardinality. For the first time, we address this problem by presenting a novel HAR approach that learns to output activity sets using deep neural networks. Moreover, motivated by the limited availability of annotated HAR datasets as well as the unfortunate immaturity of existing unsupervised systems, we complement our supervised set learning scheme with a prior unsupervised feature learning process that adopts convolutional auto-encoders to exploit unlabeled data. The empirical experiments on two widely adopted HAR datasets demonstrate the substantial improvement of our proposed methodology over the baseline models.

There remains an increasing interest in accurate indoor tracking; one such example is the study of human behaviors, especially to understand cognitive decline in older people. However, a solution that is capable of accurate tracking, easy to field deploy and freely available to the research community remains. Further, research studies often focus on localization or high accuracy as opposed to developing a field deployable solution. We demonstrate bTracked, a field deployable tracking system for mobile BLE device bearers using BLE beacon signals. In particular, we exploit, not only range estimations but also pose of the BLE device bearer for tracking. Together with a particle filter and the concept of generic sensor models for generalized indoor environments, we present an online and real-time tracking application of persons. We present a web-based Application for deployment and visualization of spatial tracking information across multiple remote deployment sites.

We consider the problem of tracking and localizing radio-tagged targets, a labor-intensive and time-consuming task necessary for wildlife conservation fieldwork. We design a lightweight sensor system for measurement of radio signal strength information from multiple radio tags. The sensor system is designed to suit low-cost, versatile, easy to operate multi-rotor UAVs. In this demo paper, we demonstrate our Unmanned Aerial Vehicle (UAV) sensor system for tracking and locating multiple VHF radio tags.

Existing strong controlled physical unclonable function (PUF) designs are built to resist modeling attacks and they deal with noisy PUF responses by exploiting error correction logic. These designs are burdened by the costs of the error correction logic and information shown to leak through the associated helper data for assisting error corrections; leaving the design vulnerable to fault attacks or reliability-based attacks. We present a hybrid PUF-finite state machine (PUF-FSM) construction to realize a controlled strong PUF. The PUF-FSM design removes the need for error correction logic and related computation, storage of the helper data and loading it on-chip by only employing error-free responses judiciously determined on demand in the absence of the underlying PUF-an Arbiter PUF-with a large challenge response pair space. The PUF-FSM demonstrates improved security, especially to reliability-based attacks and is able to support a range of applications from authentication to more advanced cryptographic applications built upon shared keys. We experimentally validate the practicability of the PUF-FSM.

Emerging non-volatile reduction-oxidation (redox)-based resistive switching memories (ReRAMs) exhibit a unique set of characteristics that make them promising candidates for the next generation of low-cost, low-power, tiny, and secure physical unclonable functions (PUFs). Their underlying stochastic ionic conduction behavior, intrinsic nonlinear current-voltage characteristics, and their well-known nano-fabrication process variability might normally be considered disadvantageous ReRAM features. However, using a combination of a novel architecture and special peripheral circuitry, this paper exploits these non-idealities in a physical one-way function, nonlinear resistive PUF, potentially applicable to a variety of cyber-physical security applications. We experimentally verify the performance of valency change mechanism (VCM)-based ReRAM in nano-fabricated crossbar arrays across multiple dies and runs. In addition to supporting a massive pool of challenge-response pairs (CRPs), using a combination of experiment and simulation our proposed PUF exhibits a reliability of 98.67%, a uniqueness of 49.85%, a diffuseness of 49.86%, a uniformity of 47.28%, and a bit-aliasing of 47.48%.

Getting out of bed and ambulating without supervision is identified as one of the major causes of patient falls in hospitals and nursing homes. Therefore, increased supervision is proposed as a key strategy toward falls prevention. An emerging generation of batteryless, lightweight, and wearable sensors are creating new possibilities for ambulatory monitoring, where the unobtrusive nature of such sensors makes them particularly adapted for monitoring older people. In this study, we investigate the use of a batteryless radio-frequency identification (RFID) tag response to analyze bed-egress movements. We propose a bed-egress movement detection framework that includes a novel sequence learning classifier with a set of features derived from bed-egress motion analysis. We analyzed data from 14 healthy older people (66-86 years old) who wore a wearable embodiment of a batteryless accelerometer integrated RFID sensor platform loosely attached over their clothes at sternum level, and undertook a series of activities including bed-egress in two clinical room settings. The promising results indicate the efficacy of our batteryless bed-egress monitoring framework.

Recent emergence of small, lightweight, batteryless (passive), and therefore maintenance free, wearable computing platforms such as sensor enabled RFID (Radio Frequency Identi cation) tags provide new opportunities for low cost and unobtrusive activity monitoring. Unfortunately, data streams from pa

Hospitals and residential homes have a significant need for monitoring and recognising wandering-o (e.g. elopement) older people with cognitive impairments because of the serious consequences arising from wandering-o such as disappearances and serious injuries, for example, from collisions with v

The ability to track and trace individual items, especially through large-scale and distributed networks, is the key to realizing many important business applications such as supply chain management, asset tracking, and counterfeit detection. Unfortunately, enabling traceability across independent organizations still poses significant challenges in dealing with large volume of data and sovereignty of the participants. This paper describes PeerTrack, a scalable platform for efficiently and effectively tracking and tracing objects in large-scale traceability networks. With a novel data model, a DHT-based indexer, and a distributed query processor, PeerTrack provides an environment where traceability applications can share data across independent organizations in a peer-to-peer fashion. This paper presents the motivation, system design, implementation, and a proof-of-concept system of the PeerTrack platform.

With recent advances in technologies such as radio-frequency identification (RFID) and new standards such as the electronic product code (EPC), large-scale traceability is emerging as a key differentiator in a wide range of enterprise applications (e.g., counterfeit prevention, product recalls, and pilferage reduction). Such traceability applications often need to access data collected by individual enterprises in a distributed environment. Traditional centralized approaches (e.g., data ware-housing) are not feasible for these applications due to their unique characteristics such as large volume of data and sovereignty of the participants. In this paper, we describe an approach that enables applications to share traceability data across independent enterprises in a pure Peer-to-Peer (P2P) fashion. Data are stored in local repositories of participants and indexed in the network based on structured P2P overlays. In particular, we present a generic approach for efficiently indexing and locating individual objects in large, distributed traceable networks, most notably, in the emerging environment of the Internet of Things. The results from extensive experiments show that our approach scales well in both data volume and network size.

With recent advances in technologies such as radio-frequency identification and new standards such as the electronic product code, large-scale traceability is emerging as a key differentiator in a wide range of enterprise applications (e.g. counterfeit prevention, product recalls and pilferage reduction). Such traceability applications often need to access data collected by individual enterprises in a distributed environment. Traditional centralized approaches (e.g. data warehousing) are not feasible for these applications due to their unique characteristics such as large volume of data and sovereignty of the participants. In this paper, we describe an approach that enables applications to share traceability data across independent enterprises in a pure peer-to-peer (P2P) fashion. Data are stored in local repositories of participants and indexed in the network based on structured P2P overlays. In particular, we present a generic approach for efficiently indexing and locating individual objects in large, distributed traceable networks, most notably, in the emerging environment of the internet of things. The results from extensive experiments show that our approach scales well in both data volume and network size. A real-world returnable assets management system is also developed using the proposed techniques to demonstrate its feasibility.

Developments in Micro-Electro-Mechanical Systems (MEMS), wireless communication systems and ad-hoc networking have created new dimensions to improve asset management not only during the operational phase but throughout an asset's lifecycle based on using improved quality of information obtained with respect to two key aspects of an asset: its location and condition. In this paper, we present our experience as well as lessons learnt from building a prototype condition monitoring platform to demonstrate and to evaluate the use of COTS wireless sensor networks to develop a prototype condition monitoring platform with the aim of improving asset management by providing accurate and real-time information.

The ability to track individual objects is essential to many aspects of our modern life such as product recalls and anti-counterfeiting. As a non-line-of-sight technology, radio-frequency identification (RFID) provides an effective way to record movements of objects and has recently emerged as an enabling technology for traceability applications. Unfortunately, realizing RFID traceability networks in large-scale, distributed environments brings many fundamental research and development issues. In particular, applications will generate an unprecedented amount of transactions and data that requires novel approaches not only in RFID data processing and management, but infrastructure and architecture design. In this paper, we describe our approach for realizing a scalable RFID traceability network, which can efficiently and effectively support traceability applications. With a novel data model, traceability applications can share data across independent organizations in a peer-to-peer fashion.