arXiv subjects

Zhengxiong Li

Publications and source records attributed to Zhengxiong Li.

23 records · Page 2Linked to original sources

arXiv2025

Bi-directional Momentum-based Haptic Feedback and Control System for In-Hand Dexterous Telemanipulation

In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices for dexterous telemanipulation focus on force feedback and lack effective torque rendering, which is essential for tasks involving object rotation. While some torque feedback solutions in virtual reality applications-such as those based on geared motors or mechanically coupled actuators-have been explored, they often rely on bulky mechanical designs, limiting their use in portable or in-hand applications. In this paper, we propose a Bi-directional Momentum-based Haptic Feedback and Control (Bi-Hap) system that utilizes a palm-sized momentum-actuated mechanism to enable real-time haptic and torque feedback. The Bi-Hap system also integrates an Inertial Measurement Unit (IMU) to extract the human's manipulation command to establish a closed-loop learning-based telemanipulation framework. Furthermore, an error-adaptive feedback strategy is introduced to enhance operator perception and task performance in different error categories. Experimental evaluations demonstrate that Bi-Hap achieved feedback capability with low command following latency (Delay < 0.025 s) and highly accurate torque feedback (RMSE < 0.010 Nm).

cs.RO↗

arXiv2024

PrintListener: Uncovering the Vulnerability of Fingerprint Authentication via the Finger Friction Sound

Fingerprint authentication has been extensively employed in contemporary identity verification systems owing to its rapidity and cost-effectiveness. Due to its widespread use, fingerprint leakage may cause sensitive information theft, enormous economic and personnel losses, and even a potential compromise of national security. As a fingerprint that can coincidentally match a specific proportion of the overall fingerprint population, MasterPrint rings the alarm bells for the security of fingerprint authentication. In this paper, we propose a new side-channel attack on the minutiae-based Automatic Fingerprint Identification System (AFIS), called PrintListener, which leverages users' fingertip swiping actions on the screen to extract fingerprint pattern features (the first-level features) and synthesizes a stronger targeted PatternMasterPrint with potential second-level features. The attack scenario of PrintListener is extensive and covert. It only needs to record users' fingertip friction sound and can be launched by leveraging a large number of social media platforms. Extensive experimental results in realworld scenarios show that Printlistener can significantly improve the attack potency of MasterPrint.

cs.CR↗

arXiv2023

A Resource-efficient FIR Filter Design Based on an RAG Improved Algorithm

In modern digital filter chip design, efficient resource utilization is a hot topic. Due to the linear phase characteristics of FIR filters, a pulsed fully parallel structure can be applied to address the problem. To further reduce hardware resource consumption, especially related to multiplication functions, an improved RAG algorithm has been proposed. Filters with different orders and for different algorithms have been compared, and the experimental results show that the improved RAG algorithm excels in terms of logic resource utilization, resource allocation, running speed, and power consumption under various application scenarios. The proposed algorithm introduces a better circuit structure for FIR filters, fully leveraging resource allocation strategies to reduce logic resource consumption. The proposed circuit is faster and more stable, making it suitable for a variety of complex application scenarios.

cs.AR↗

arXiv2023

Differentiable Radio Frequency Ray Tracing for Millimeter-Wave Sensing

Millimeter wave (mmWave) sensing is an emerging technology with applications in 3D object characterization and environment mapping. However, realizing precise 3D reconstruction from sparse mmWave signals remains challenging. Existing methods rely on data-driven learning, constrained by dataset availability and difficulty in generalization. We propose DiffSBR, a differentiable framework for mmWave-based 3D reconstruction. DiffSBR incorporates a differentiable ray tracing engine to simulate radar point clouds from virtual 3D models. A gradient-based optimizer refines the model parameters to minimize the discrepancy between simulated and real point clouds. Experiments using various radar hardware validate DiffSBR's capability for fine-grained 3D reconstruction, even for novel objects unseen by the radar previously. By integrating physics-based simulation with gradient optimization, DiffSBR transcends the limitations of data-driven approaches and pioneers a new paradigm for mmWave sensing.

cs.CV↗

arXiv2020

Nowhere to Hide: Cross-modal Identity Leakage between Biometrics and Devices

Along with the benefits of Internet of Things (IoT) come potential privacy risks, since billions of the connected devices are granted permission to track information about their users and communicate it to other parties over the Internet. Of particular interest to the adversary is the user identity which constantly plays an important role in launching attacks. While the exposure of a certain type of physical biometrics or device identity is extensively studied, the compound effect of leakage from both sides remains unknown in multi-modal sensing environments. In this work, we explore the feasibility of the compound identity leakage across cyber-physical spaces and unveil that co-located smart device IDs (e.g., smartphone MAC addresses) and physical biometrics (e.g., facial/vocal samples) are side channels to each other. It is demonstrated that our method is robust to various observation noise in the wild and an attacker can comprehensively profile victims in multi-dimension with nearly zero analysis effort. Two real-world experiments on different biometrics and device IDs show that the presented approach can compromise more than 70\% of device IDs and harvests multiple biometric clusters with ~94% purity at the same time.

cs.CR↗