A blockchain based privacy-preserving federated learning scheme for Internet of Vehicles

The application of artificial intelligence technology in Internet of Vehicles(lov)has attracted great research interests with the goal of enabling smart transportation and traffic management.Meanwhile,concerns have been raised over the security and privacy of the tons of traffic and vehicle data.In this regard,Federated Learning(FL)with privacy protection features is considered a highly promising solution.However,in the FL process,the server side may take advantage of its dominant role in model aggregation to steal sensitive information of users,while the client side may also upload malicious data to compromise the training of the global model.Most existing privacy-preserving FL schemes in IoV fail to deal with threats from both of these two sides at the same time.In this paper,we propose a Blockchain based Privacy-preserving Federated Learning scheme named BPFL,which uses blockchain as the underlying distributed framework of FL.We improve the Multi-Krum technology and combine it with the homomorphic encryption to achieve ciphertext-level model aggregation and model filtering,which can enable the verifiability of the local models while achieving privacy-preservation.Additionally,we develop a reputation-based incentive mechanism to encourage users in IoV to actively participate in the federated learning and to practice honesty.The security analysis and performance evaluations are conducted to show that the proposed scheme can meet the security requirements and improve the performance of the FL model.

A Comprehensive Survey for Privacy-Preserving Biometrics: Recent Approaches, Challenges, and Future Directions

The rapid growth of smart technologies and services has intensified the challenges surrounding identity authenti-cation techniques.Biometric credentials are increasingly being used for verification due to their advantages over traditional methods,making it crucial to safeguard the privacy of people’s biometric data in various scenarios.This paper offers an in-depth exploration for privacy-preserving techniques and potential threats to biometric systems.It proposes a noble and thorough taxonomy survey for privacy-preserving techniques,as well as a systematic framework for categorizing the field’s existing literature.We review the state-of-the-art methods and address their advantages and limitations in the context of various biometric modalities,such as face,fingerprint,and eye detection.The survey encompasses various categories of privacy-preserving mechanisms and examines the trade-offs between security,privacy,and recognition performance,as well as the issues and future research directions.It aims to provide researchers,professionals,and decision-makers with a thorough understanding of the existing privacy-preserving solutions in biometric recognition systems and serves as the foundation of the development of more secure and privacy-preserving biometric technologies.

Entropy of deterministic trajectory via trajectories ensemble

We present a formulation of the single-trajectory entropy using the trajectories ensemble. The single-trajectory entropy is affected by its surrounding trajectories via the distribution function. The single-trajectory entropies are studied in two typical potentials, i.e., harmonic potential and double-well potential, and in viscous environment by interacting trajectory method. The results of the trajectory methods are in agreement well with the numerical methods(Monte Carlo simulation and difference equation). The single-trajectory entropies increasing(decreasing) could be caused by absorption(emission) heat from(to) the thermal environment. Also, some interesting trajectories, which correspond to the rare evens in the processes, are demonstrated.

Privacy-Preserving Multi-Keyword Fuzzy Adjacency Search Strategy for Encrypted Graph in Cloud Environment

In a cloud environment,outsourced graph data is widely used in companies,enterprises,medical institutions,and so on.Data owners and users can save costs and improve efficiency by storing large amounts of graph data on cloud servers.Servers on cloud platforms usually have some subjective or objective attacks,which make the outsourced graph data in an insecure state.The issue of privacy data protection has become an important obstacle to data sharing and usage.How to query outsourcing graph data safely and effectively has become the focus of research.Adjacency query is a basic and frequently used operation in graph,and it will effectively promote the query range and query ability if multi-keyword fuzzy search can be supported at the same time.This work proposes to protect the privacy information of outsourcing graph data by encryption,mainly studies the problem of multi-keyword fuzzy adjacency query,and puts forward a solution.In our scheme,we use the Bloom filter and encryption mechanism to build a secure index and query token,and adjacency queries are implemented through indexes and query tokens on the cloud server.Our proposed scheme is proved by formal analysis,and the performance and effectiveness of the scheme are illustrated by experimental analysis.The research results of this work will provide solid theoretical and technical support for the further popularization and application of encrypted graph data processing technology.

VPFL:A verifiable privacy-preserving federated learning scheme for edge computing systems

Federated learning for edge computing is a promising solution in the data booming era,which leverages the computation ability of each edge device to train local models and only shares the model gradients to the central server.However,the frequently transmitted local gradients could also leak the participants’private data.To protect the privacy of local training data,lots of cryptographic-based Privacy-Preserving Federated Learning(PPFL)schemes have been proposed.However,due to the constrained resource nature of mobile devices and complex cryptographic operations,traditional PPFL schemes fail to provide efficient data confidentiality and lightweight integrity verification simultaneously.To tackle this problem,we propose a Verifiable Privacypreserving Federated Learning scheme(VPFL)for edge computing systems to prevent local gradients from leaking over the transmission stage.Firstly,we combine the Distributed Selective Stochastic Gradient Descent(DSSGD)method with Paillier homomorphic cryptosystem to achieve the distributed encryption functionality,so as to reduce the computation cost of the complex cryptosystem.Secondly,we further present an online/offline signature method to realize the lightweight gradients integrity verification,where the offline part can be securely outsourced to the edge server.Comprehensive security analysis demonstrates the proposed VPFL can achieve data confidentiality,authentication,and integrity.At last,we evaluate both communication overhead and computation cost of the proposed VPFL scheme,the experimental results have shown VPFL has low computation costs and communication overheads while maintaining high training accuracy.

Blockchain-Enabled Secure and Privacy-Preserving Data Aggregation for Fog-Based ITS

As an essential component of intelligent transportation systems(ITS),electric vehicles(EVs)can store massive amounts of electric power in their batteries and send power back to a charging station(CS)at peak hours to balance the power supply and generate profits.However,when the system collects the corresponding power data,several severe security and privacy issues are encountered.The identity and private injection data may be maliciously intercepted by network attackers and be tampered with to damage the services of ITS and smart grids.Existing approaches requiring high computational overhead render them unsuitable for the resource-constrained Internet of Things(IoT)environment.To address above problems,this paper proposes a blockchain-enabled secure and privacy-preserving data aggregation scheme for fog-based ITS.First,a fog computing and blockchain co-aware aggregation framework of power injection data is designed,which provides strong support for ITS to achieve secure and efficient power injection.Second,Paillier homomorphic encryption,the batch aggregation signature mechanism and a Bloom filter are effectively integrated with efficient aggregation of power injection data with security and privacy guarantees.In addition,the fine-grained homomorphic aggregation is designed for power injection data generated by all EVs,which provides solid data support for accurate power dispatching and supply management in ITS.Experiments show that the total computational cost is significantly reduced in the proposed scheme while providing security and privacy guarantees.The proposed scheme is more suitable for ITS with latency-sensitive applications and is also adapted to deploying devices with limited resources.

Privacy-Preserving Deep Learning on Big Data in Cloud

In the analysis of big data,deep learn-ing is a crucial technique.Big data analysis tasks are typically carried out on the cloud since it offers strong computer capabilities and storage areas.Nev-ertheless,there is a contradiction between the open nature of the cloud and the demand that data own-ers maintain their privacy.To use cloud resources for privacy-preserving data training,a viable method must be found.A privacy-preserving deep learning model(PPDLM)is suggested in this research to ad-dress this preserving issue.To preserve data privacy,we first encrypted the data using homomorphic en-cryption(HE)approach.Moreover,the deep learn-ing algorithm’s activation function—the sigmoid func-tion—uses the least-squares method to process non-addition and non-multiplication operations that are not allowed by homomorphic.Finally,experimental re-sults show that PPDLM has a significant effect on the protection of data privacy information.Compared with Non-Privacy Preserving Deep Learning Model(NPPDLM),PPDLM has higher computational effi-ciency.

OTFS-Based Efficient Handover Authentication Scheme with Privacy-Preserving for High Mobility Scenarios

Handover authentication in high mobility scenarios is characterized by frequent and shortterm parallel execution.Moreover,the penetration loss and Doppler frequency shift caused by high speed also lead to the deterioration of network link quality.Therefore,high mobility scenarios require handover schemes with less handover overhead.However,some existing schemes that meet this requirement cannot provide strong security guarantees,while some schemes that can provide strong security guarantees have large handover overheads.To solve this dilemma,we propose a privacy-preserving handover authentication scheme that can provide strong security guarantees with less computational cost.Based on Orthogonal Time Frequency Space(OTFS)link and Key Encapsulation Mechanism(KEM),we establish the shared key between protocol entities in the initial authentication phase,thereby reducing the overhead in the handover phase.Our proposed scheme can achieve mutual authentication and key agreement among the user equipment,relay node,and authentication server.We demonstrate that our proposed scheme can achieve user anonymity,unlinkability,perfect forward secrecy,and resistance to various attacks through security analysis including the Tamarin.The performance evaluation results show that our scheme has a small computational cost compared with other schemes and can also provide a strong guarantee of security properties.

A New Privacy-Preserving Data Publishing Algorithm Utilizing Connectivity-Based Outlier Factor and Mondrian Techniques

Developing a privacy-preserving data publishing algorithm that stops individuals from disclosing their identities while not ignoring data utility remains an important goal to achieve.Because finding the trade-off between data privacy and data utility is an NP-hard problem and also a current research area.When existing approaches are investigated,one of the most significant difficulties discovered is the presence of outlier data in the datasets.Outlier data has a negative impact on data utility.Furthermore,k-anonymity algorithms,which are commonly used in the literature,do not provide adequate protection against outlier data.In this study,a new data anonymization algorithm is devised and tested for boosting data utility by incorporating an outlier data detection mechanism into the Mondrian algorithm.The connectivity-based outlier factor(COF)algorithm is used to detect outliers.Mondrian is selected because of its capacity to anonymize multidimensional data while meeting the needs of real-world data.COF,on the other hand,is used to discover outliers in high-dimensional datasets with complicated structures.The proposed algorithm generates more equivalence classes than the Mondrian algorithm and provides greater data utility than previous algorithms based on k-anonymization.In addition,it outperforms other algorithms in the discernibility metric(DM),normalized average equivalence class size(Cavg),global certainty penalty(GCP),query error rate,classification accuracy(CA),and F-measure metrics.Moreover,the increase in the values of theGCPand error ratemetrics demonstrates that the proposed algorithm facilitates obtaining higher data utility by grouping closer data points when compared to other algorithms.

Outsourced Privacy-Preserving kNN Classifier Model Based on Multi-Key Homomorphic Encryption

Outsourcing the k-Nearest Neighbor(kNN)classifier to the cloud is useful,yet it will lead to serious privacy leakage due to sensitive outsourced data and models.In this paper,we design,implement and evaluate a new system employing an outsourced privacy-preserving kNN Classifier Model based on Multi-Key Homomorphic Encryption(kNNCM-MKHE).We firstly propose a security protocol based on Multi-key Brakerski-Gentry-Vaikuntanathan(BGV)for collaborative evaluation of the kNN classifier provided by multiple model owners.Analyze the operations of kNN and extract basic operations,such as addition,multiplication,and comparison.It supports the computation of encrypted data with different public keys.At the same time,we further design a new scheme that outsources evaluation works to a third-party evaluator who should not have access to the models and data.In the evaluation process,each model owner encrypts the model and uploads the encrypted models to the evaluator.After receiving encrypted the kNN classifier and the user’s inputs,the evaluator calculated the aggregated results.The evaluator will perform a secure computing protocol to aggregate the number of each class label.Then,it sends the class labels with their associated counts to the user.Each model owner and user encrypt the result together.No information will be disclosed to the evaluator.The experimental results show that our new system can securely allow multiple model owners to delegate the evaluation of kNN classifier.

Multi Attribute Case Based Privacy-preserving for Healthcare Transactional Data Using Cryptography

Medical data mining has become an essential task in healthcare sector to secure the personal and medical data of patients using privacy policy.In this background,several authentication and accessibility issues emerge with an inten-tion to protect the sensitive details of the patients over getting published in open domain.To solve this problem,Multi Attribute Case based Privacy Preservation(MACPP)technique is proposed in this study to enhance the security of privacy-preserving data.Private information can be any attribute information which is categorized as sensitive logs in a patient’s records.The semantic relation between transactional patient records and access rights is estimated based on the mean average value to distinguish sensitive and non-sensitive information.In addition to this,crypto hidden policy is also applied here to encrypt the sensitive data through symmetric standard key log verification that protects the personalized sensitive information.Further,linear integrity verification provides authentication rights to verify the data,improves the performance of privacy preserving techni-que against intruders and assures high security in healthcare setting.

Joint Optimization of Resource Allocation and Trajectory Based on User Trajectory for UAV-Assisted Backscatter Communication System

The Backscatter communication has gained widespread attention from academia and industry in recent years. In this paper, A method of resource allocation and trajectory optimization is proposed for UAV-assisted backscatter communication based on user trajectory. This paper will establish an optimization problem of jointly optimizing the UAV trajectories, UAV transmission power and BD scheduling based on the large-scale channel state signals estimated in advance of the known user trajectories, taking into account the constraints of BD data and working energy consumption, to maximize the energy efficiency of the system. The problem is a non-convex optimization problem in fractional form, and there is nonlinear coupling between optimization variables.An iterative algorithm is proposed based on Dinkelbach algorithm, block coordinate descent method and continuous convex optimization technology. First, the objective function is converted into a non-fractional programming problem based on Dinkelbach method,and then the block coordinate descent method is used to decompose the original complex problem into three independent sub-problems. Finally, the successive convex approximation method is used to solve the trajectory optimization sub-problem. The simulation results show that the proposed scheme and algorithm have obvious energy efficiency gains compared with the comparison scheme.

Trajectory planning for multi-robot coordinated towing system based on stability

Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

The forward design of trajectory planning strategies requires preset trajectory optimization functions,resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits.In addition,owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios,it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters.Therefore,an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed.First,numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset.Subsequently,a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory.Furthermore,a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function,and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed.Finally,the proposed strategy is verified based on real driving scenarios.The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the“emergency degree”of obstacle avoidance and the state of the vehicle.Moreover,this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories,effectively improving the adaptability and acceptability of trajectories in driving scenarios.

General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

Research on aiming methods for small sample size shooting tests of two-dimensional trajectory correction fuse

The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.

Triceps skinfold thickness trajectories and the risk of all-cause mortality:A prospective cohort study

BACKGROUND The measurement of triceps skinfold(TSF)thickness serves as a noninvasive metric for evaluating subcutaneous fat distribution.Despite its clinical utility,the TSF thickness trajectories and their correlation with overall mortality have not been thoroughly investigated.AIM To explore TSF thickness trajectories of Chinese adults and to examine their associations with all-cause mortality.METHODS This study encompassed a cohort of 14747 adults sourced from the China Health and Nutrition Survey.Latent class trajectory modeling was employed to identify distinct trajectories of TSF thickness.Subjects were classified into subgroups reflective of their respective TSF thickness trajectory.We utilized multivariate Cox regression analyses and mediation examinations to explore the link between TSF thickness trajectory and overall mortality,including contributory factors.RESULTS Upon adjustment for multiple confounding factors,we discerned that males in the‘Class 2:Thin-stable’and‘Class 3:Thin-moderate’TSF thickness trajectories exhibited a markedly reduced risk of mortality from all causes in comparison to the‘Class 1:Extremely thin’subgroup.In the mediation analyses,the Geriatric Nutritional Risk Index was found to be a partial intermediary in the relationship between TSF thickness trajectories and mortality.For females,a lower TSF thickness pattern was significantly predictive of elevated all-cause mortality risk exclusively within the non-elderly cohort.CONCLUSION In males and non-elderly females,lower TSF thickness trajectories are significantly predictive of heightened mortality risk,independent of single-point TSF thickness,body mass index,and waist circumference.

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

A deep multimodal fusion and multitasking trajectory prediction model for typhoon trajectory prediction to reduce flight scheduling cancellation

Natural events have had a significant impact on overall flight activity,and the aviation industry plays a vital role in helping society cope with the impact of these events.As one of the most impactful weather typhoon seasons appears and continues,airlines operating in threatened areas and passengers having travel plans during this time period will pay close attention to the development of tropical storms.This paper proposes a deep multimodal fusion and multitasking trajectory prediction model that can improve the reliability of typhoon trajectory prediction and reduce the quantity of flight scheduling cancellation.The deep multimodal fusion module is formed by deep fusion of the feature output by multiple submodal fusion modules,and the multitask generation module uses longitude and latitude as two related tasks for simultaneous prediction.With more dependable data accuracy,problems can be analysed rapidly and more efficiently,enabling better decision-making with a proactive versus reactive posture.When multiple modalities coexist,features can be extracted from them simultaneously to supplement each other’s information.An actual case study,the typhoon Lichma that swept China in 2019,has demonstrated that the algorithm can effectively reduce the number of unnecessary flight cancellations compared to existing flight scheduling and assist the new generation of flight scheduling systems under extreme weather.