Unmanned aerial vehicles (UAVs) are increasingly employed to perform high-risk tasks that require minimal human intervention. However, they face escalating cybersecurity threats, particularly from GNSS spoofing attacks. While previous studies have extensively investigated the impacts of GNSS spoofing on UAVs, few have focused on its effects on specific tasks. Moreover, the influence of UAV motion states on the assessment of cybersecurity risks is often overlooked. To address these gaps, we first provide a detailed evaluation of how motion states affect the effectiveness of network attacks. We demonstrate that nonlinear motion states not only enhance the effectiveness of position spoofing in GNSS spoofing attacks but also reduce the probability of detecting speed-related attacks. Building upon this, we propose a state-triggered backdoor attack method (SSD) to deceive GNSS systems and assess its risk to trajectory planning tasks. Extensive validation of SSD’s effectiveness and stealthiness is conducted. Experimental results show that, with appropriately tuned hyperparameters, SSD significantly increases positioning errors and the risk of task failure, while maintaining high stealthy rates across three state-of-the-art detectors.

Existing Transformer-based models for point cloud analysis suffer from quadratic complexity, leading to compromised point cloud resolution and information loss. In contrast, the newly proposed Mamba model, based on state space models (SSM), outperforms Transformer in multiple areas with only linear complexity. However, the straightforward adoption of Mamba does not achieve satisfactory performance on point cloud tasks. In this work, we present Mamba3D, a state space model tailored for point cloud learning to enhance local feature extraction, achieving superior performance, high efficiency, and scalability potential. Specifically, we propose a simple yet effective Local Norm Pooling (LNP) block to extract local geometric features. Additionally, to obtain better global features, we introduce a bidirectional SSM (bi-SSM) with both a token forward SSM and a novel backward SSM that operates on the feature channel. Extensive experimental results show that Mamba3D surpasses Transformer-based counterparts and concurrent works in multiple tasks, with or without pre-training. Notably, Mamba3D achieves multiple SoTA, including an overall accuracy of 92.6% (train from scratch) on the ScanObjectNN and 95.1% (with single-modal pre-training) on the ModelNet40 classification task, with only linear complexity. Our code and weights are available at https://github.com/xhanxu/Mamba3D.

Acute intracerebral hemorrhage is a life-threatening condition that demands immediate medical intervention. Intraparenchymal hemorrhage (IPH) and intraventricular hemorrhage (IVH) are critical subtypes of this condition. Clinically, when such hemorrhages are suspected, immediate CT scanning is essential to assess the extent of the bleeding and to facilitate the formulation of a targeted treatment plan. While current research in deep learning has largely focused on qualitative analyses, such as identifying subtypes of cerebral hemorrhages, there remains a significant gap in quantitative analysis crucial for enhancing clinical treatments. Addressing this gap, our paper introduces a dataset comprising 222 CT annotations, sourced from the RSNA 2019 Brain CT Hemorrhage Challenge and meticulously annotated at the voxel level for precise IPH and IVH segmentation. This dataset was utilized to train and evaluate seven advanced medical image segmentation algorithms, with the goal of refining the accuracy of segmentation for these hemorrhages. Our findings demonstrate that this dataset not only furthers the development of sophisticated segmentation algorithms but also substantially aids scientific research and clinical practice by improving the diagnosis and management of these severe hemorrhages. Our dataset and codes are available at https://github.com/songchangwei/3DCT-SD-IVH-ICH.