Shiyi Yang

Mostafa Osman, Mohamed W. Mehrez, Shiyi Yang et al.

Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model Predictive Control (NMPC) is designed and implemented to a 10 Degrees of Freedom (DOF) mobile manipulator which consists of a 7-DOF robotic arm and a 3-DOF mobile base. The system model is based on kinematic models where the end-effector orientation is parameterized directly by a rotation matrix. The state and control constraints as well as singularity constraints are explicitly included in the NMPC formulation. The controller is tested using real-time simulations, which demonstrate high positioning accuracy with tractable computational cost.

Shiyi Yang, Peilun Wu, Hui Guo

Network intrusion detection (NID) is an essential defense strategy that is used to discover the trace of suspicious user behaviour in large-scale cyberspace, and machine learning (ML), due to its capability of automation and intelligence, has been gradually adopted as a mainstream hunting method in recent years. However, traditional ML based network intrusion detection systems (NIDSs) are not effective to recognize unknown threats and their high detection rate often comes with the cost of high false alarms, which leads to the problem of alarm fatigue. To address the above problems, in this paper, we propose a novel neural network based detection system, DualNet, which is constructed with a general feature extraction stage and a crucial feature learning stage. DualNet can rapidly reuse the spatial-temporal features in accordance with their importance to facilitate the entire learning process and simultaneously mitigate several optimization problems occurred in deep learning (DL). We evaluate the DualNet on two benchmark cyber attack datasets, NSL-KDD and UNSW-NB15. Our experiment shows that DualNet outperforms classical ML based NIDSs and is more effective than existing DL methods for NID in terms of accuracy, detection rate and false alarm rate.

Peilun Wu, Nour Moustafa, Shiyi Yang et al.

High false alarm rate and low detection rate are the major sticking points for unknown threat perception. To address the problems, in the paper, we present a densely connected residual network (Densely-ResNet) for attack recognition. Densely-ResNet is built with several basic residual units, where each of them consists of a series of Conv-GRU subnets by wide connections. Our evaluation shows that Densely-ResNet can accurately discover various unknown threats that appear in edge, fog and cloud layers and simultaneously maintain a much lower false alarm rate than existing algorithms.