FedAligns: A Federated Learning-Based IoT Intrusion Detection Method With Direction-Aligned Updates. - Keyuan Qiu; Zhejie Xu; Jianlin Lu; Xiaohui Xu; Shuangshi Zhao; Meifang Yan; Tao Luo 016; Dejie Yang; Zhigang Li 004 (IEEE Internet Things J., 2026)