Shuyue Li

Shuyue Li, Miguel López-Benítez, Eng Gee Lim et al.

In GNSS-denied underwater environments, individual unmanned underwater vehicles (UUVs) suffer from unbounded dead-reckoning drift, making collaborative navigation crucial for accurate state estimation. However, the severe communication delay inherent in underwater acoustic channels poses serious challenges to real-time state estimation. Traditional filters, such as Extended Kalman Filters (EKF) or Unscented Kalman Filters (UKF), usually block the main control loop while waiting for delayed data, or completely discard Out-of-Sequence Measurements (OOSM), resulting in serious drift. To address this, we propose an Asynchronous Two-Speed Kalman Filter (TSKF) enhanced by a novel projection mechanism, which we term Variational History Distillation (VHD). The proposed architecture decouples the estimation process into two parallel threads: a fast-rate thread that utilizes Gaussian Process (GP) compensated dead reckoning to guarantee high-frequency real-time control, and a slow-rate thread dedicated to processing asynchronously delayed collaborative information. By introducing a finite-length State Buffer, the algorithm applies delayed measurements (t-T) to their corresponding historical states, and utilizes a VHD-based projection to fast-forward the correction to the current time without computationally heavy recalculations. Simulation results demonstrate that the proposed TSKF maintains trajectory Root Mean Square Error (RMSE) comparable to computationally intensive batch-optimization methods under severe delays (up to 30 s). Executing in sub-millisecond time, it significantly outperforms standard EKF/UKF. The results demonstrate an effective control, communication, and computing (3C) co-design that significantly enhances the resilience of autonomous marine automation systems.

Shuyue Li, Miguel López-Benítez, Eng Gee Lim et al.

The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent interruptions. When communication outages occur, standard state estimators such as the Unscented Kalman Filter (UKF) will be forced to make open-loop predictions. If the environment contains unmodeled dynamic factors, such as unknown ocean currents, this estimation error will grow rapidly, which may eventually lead to mission failure. To address this critical issue, this paper proposes a Variational History Distillation (VHD) approach. VHD regards trajectory prediction as an approximate Bayesian reasoning process, which links a standard motion model based on physics with a pattern extracted directly from the past trajectory of the UUV. This is achieved by synthesizing ``virtual measurements'' distilled from historical trajectories. Recognizing that the reliability of extrapolated historical trends degrades over extended prediction horizons, an adaptive confidence mechanism is introduced. This mechanism allows the filter to gradually reduce the trust of virtual measurements as the communication outage time is extended. Extensive Monte Carlo simulations in a high-fidelity environment demonstrate that the proposed method achieves a 91\% reduction in prediction Root Mean Square Error (RMSE), reducing the error from approximately 170 m to 15 m during a 40-second communication outage. These results demonstrate that VHD can maintain robust state estimation performance even under complete communication loss.

Ming Fan, Le Yu, Sen Chen et al.

The purpose of the General Data Protection Regulation (GDPR) is to provide improved privacy protection. If an app controls personal data from users, it needs to be compliant with GDPR. However, GDPR lists general rules rather than exact step-by-step guidelines about how to develop an app that fulfills the requirements. Therefore, there may exist GDPR compliance violations in existing apps, which would pose severe privacy threats to app users. In this paper, we take mobile health applications (mHealth apps) as a peephole to examine the status quo of GDPR compliance in Android apps. We first propose an automated system, named \mytool, to bridge the semantic gap between the general rules of GDPR and the app implementations by identifying the data practices declared in the app privacy policy and the data relevant behaviors in the app code. Then, based on \mytool, we detect three kinds of GDPR compliance violations, including the incompleteness of privacy policy, the inconsistency of data collections, and the insecurity of data transmission. We perform an empirical evaluation of 796 mHealth apps. The results reveal that 189 (23.7\%) of them do not provide complete privacy policies. Moreover, 59 apps collect sensitive data through different measures, but 46 (77.9\%) of them contain at least one inconsistent collection behavior. Even worse, among the 59 apps, only 8 apps try to ensure the transmission security of collected data. However, all of them contain at least one encryption or SSL misuse. Our work exposes severe privacy issues to raise awareness of privacy protection for app users and developers.