Biblio

Rescue robots are expected to soon become commonplace at disaster sites, where they are increasingly being deployed to provide rescuers with improved access and intervention capabilities while mitigating risks. The presence of robots in operation areas, however, is likely to carry a layer of additional ethical complexity to situations that are already ethically challenging. In addition, limited guidance is available for ethically informed, practical decision-making in real-life disaster settings, and specific ethics training programs are lacking. The contribution of this paper is thus to propose a tool aimed at supporting ethics training for rescuers operating with rescue robots. To this end, we have designed an interactive text-based simulation. The simulation was developed in Python, using Tkinter, Python's de-facto standard GUI. It is designed in accordance with the Case-Based Learning approach, a widely used instructional method that has been found to work well for ethics training. The simulation revolves around a case grounded in ethical themes we identified in previous work on ethical issues in rescue robotics: fairness and discrimination, false or excessive expectations, labor replacement, safety, and trust. Here we present the design of the simulation and the results of usability testing.

Trust is vital to promoting human and robot collaboration, but like human teammates, robots make mistakes that undermine trust. As a result, a human’s perception of his or her robot teammate’s trustworthiness can dramatically decrease [1], [2], [3], [4]. Trustworthiness consists of three distinct dimensions: ability (i.e. competency), benevolence (i.e. concern for the trustor) and integrity (i.e. honesty) [5], [6]. Taken together, decreases in trustworthiness decreases trust in the robot [7]. To address this, we conducted a 2 (high vs. low anthropomorphism) x 4 (trust repair strategies) between-subjects experiment. Preliminary results of the first 164 participants (between 19 and 24 per cell) highlight which repair strategies are effective relative to ability, integrity and benevolence and the robot’s anthropomorphism. Overall, this paper contributes to the HRI trust repair literature.

In-Network Computing is a promising field that can be explored to leverage programmable network devices to offload computing towards the edge of the network. This has created great interest in supporting a wide range of network functionality in the data plane. Considering a networked robotics domain, this brings new opportunities to tackle the communication latency challenges. However, this approach opens a room for hardware-level exploits, with the possibility to add a malicious code to the network device in a hidden fashion, compromising the entire communication in the robotic facilities. In this work, we expose vulnerabilities that are exploitable in the most widely used flexible framework for writing robot software, Robot Operating System (ROS). We focus on ROS protocol crossing a programmable SmartNIC as a use case for In-Network Hijacking and In-Network Replay attacks, that can be easily implemented using the P4 language, exposing security vulnerabilities for hackers to take control of the robots or simply breaking the entire system.

Surveillance systems involve a camera module (at a fixed location) connected/streaming video via Internet Protocol to a (video) server. In our IMPRINT consortium project, by mounting miniaturised camera module/s on mobile quadruped-lizard like robots, we developed a stealth surveillance system, which could be very useful as a monitoring system in hostage situations. In this paper, we report about the communication system that enables secure transmission of: Live-video from robots to a server, GPS-coordinates of robots to the server and Navigation-commands from server to robots. Since the end application is for stealth surveillance, often can involve sensitive data, data security is a crucial concern, especially when data is transmitted through the internet. We use the RC4 algorithm for video transmission; while the AES algorithm is used for GPS data and other commands’ data transmission. Advantages of the developed system is easy to use for its web interface which is provided on the control station. This communication system, because of its internet-based communication, it is compatible with any operating system environment. The lightweight program runs on the control station (on the server side) and robot body that leads to less memory consumption and faster processing. An important requirement in such hostage surveillance systems is fast data processing and data-transmission rate. We have implemented this communication systems with a single-board computer having GPU that performs better in terms of speed of transmission and processing of data.

Security is a major thing to focus on during this modern era as it is very important to secure your surroundings for the well being of oneself and his family, But there are many drawbacks of using conventional security surveillance cameras as they have to be set in a particular angle for good visual and they do not cover a large area, conventional security cameras can only be used from a particular device and cannot alert the user during an unforeseen circumstance. Hence we require a much more efficient device for better security a web controlled surveillance robot is much more practical device to be used compared to conventional security surveillance, this system needs a single camera to perform its operation and the user can monitor a wide range of area, any device with a wireless connection to the internet can be used to operate this device. This robot can move to any location within the range of the network and can be accessed globally from anywhere and as it uses only one camera to secure a large area it is also cost-efficient. At the core of the system lies Raspberry-pi which is responsible for all the operation of the system and the size of the device can be engineered according to the area it is to be used.

Robotic systems are becoming an ever-increasing part of everyday life due to their capacity to carry out physical tasks on behalf of human beings. Found in nearly every facet of our lives, robotic systems are used domestically, in small and large-scale factories, for the production and processing of agriculture, for military operations, to name a few. The Robotic Operating System (ROS) is the standard operating system used today for the development of modular robotic systems. However, in its development, ROS has been notorious for the absence of security mechanisms, placing people in danger both physically and digitally. This dissertation summary presents the development of a suite of ROS tools, leading up to the development of a modular, secure framework for ROS. An integrated approach for the security of ROS-enabled robotic systems is described, to set a baseline for the continual development to increase ROS security. The work culminates in the ROS security tool ROS-Immunity, combining internal system defense, external system verification, and automated vulnerability detection in an integrated tool that, in conjunction with Secure-ROS, provides a suite of defenses for ROS systems against malicious attackers.

As the web keeps increasing in size, the number of vulnerable and poorly-managed websites increases commensurately. Attackers rely on armies of malicious bots to discover these vulnerable websites, compromising their servers, and exfiltrating sensitive user data. It is, therefore, crucial for the security of the web to understand the population and behavior of malicious bots.In this paper, we report on the design, implementation, and results of Aristaeus, a system for deploying large numbers of "honeysites", i.e., websites that exist for the sole purpose of attracting and recording bot traffic. Through a seven-month-long experiment with 100 dedicated honeysites, Aristaeus recorded 26.4 million requests sent by more than 287K unique IP addresses, with 76,396 of them belonging to clearly malicious bots. By analyzing the type of requests and payloads that these bots send, we discover that the average honeysite received more than 37K requests each month, with more than 50% of these requests attempting to brute-force credentials, fingerprint the deployed web applications, and exploit large numbers of different vulnerabilities. By comparing the declared identity of these bots with their TLS handshakes and HTTP headers, we uncover that more than 86.2% of bots are claiming to be Mozilla Firefox and Google Chrome, yet are built on simple HTTP libraries and command-line tools.

Model predictive control (MPC) has become one of the most attractive control techniques due to its outstanding dynamic performance for motor drives. Besides, MPC with constant switching frequency (CSF-MPC) maintains the advantages of MPC as well as constant frequency but the selection of weighting factors in the cost function is difficult for CSF-MPC. Fortunately, the application of artificial neural networks (ANN) can accelerate the selection without any additional computation burden. Therefore, this paper designs a specific artificial neural network optimized by genetic algorithm (GA-ANN) to select the optimal weighting factors of CSF-MPC for permanent magnet synchronous motor (PMSM) drives fed by three-level T-type inverter. The key performance metrics like THD and switching frequencies error (ferr) are extracted from simulation and this data are utilized to train and evaluate GA-ANN. The trained GA-ANN model can automatically and precisely select the optimal weighting factors for minimizing THD and ferr under different working conditions of PMSM. Furthermore, the experimental results demonstrate the validation of GA-ANN and robustness of optimal weighting factors under different torque loads. Accordingly, any arbitrary user-defined working conditions which combine THD and ferr can be defined and the optimum weighting factors can be fast and explicitly determined via the trained GA-ANN model.

Context: The technical debt (TD) metaphor helps to conceptualize the pending issues and trade-offs made during software development. Knowing TD causes can support in defining preventive actions and having information about effects aids in the prioritization of TD payment. Goal: To investigate the impact of the experience level on how practitioners perceive the most likely causes that lead to TD and the effects of TD that have the highest impacts on software projects. Method: We approach this topic by surveying 227 practitioners. Results: While experienced software developers focus on human factors as TD causes and external quality attributes as TD effects, low experienced developers seem to concentrate on technical issues as causes and internal quality issues and increased project effort as effects. Missing any of these types of causes could lead a team to miss the identification of important TD, or miss opportunities to preempt TD. On the other hand, missing important effects could hamper effective planning or erode the effectiveness of decisions about prioritizing TD items. Conclusion: Having software development teams composed of practitioners with a homogeneous experience level can erode the team's ability to effectively manage TD.

When the electrical grid in a region suffers a major outage, e.g., after a catastrophic cyber attack, a “black start” may be required, where the grid is slowly restarted, carefully and incrementally adding generating capacity and demand. To ensure safe and effective black start, the grid control center has to be able to communicate with field personnel and with supervisory control and data acquisition (SCADA) systems. Voice and text communication are particularly critical. As part of the Defense Advanced Research Projects Agency (DARPA) Rapid Attack Detection, Isolation, and Characterization Systems (RADICS) program, we designed, tested and evaluated a self-configuring mesh network prototype called the Phoenix Secure Emergency Network (PhoenixSEN). PhoenixSEN provides a secure drop-in replacement for grid's primary communication networks during black start recovery. The network combines existing and new technologies, can work with a variety of link-layer protocols, emphasizes manageability and auto-configuration, and provides services and applications for coordination of people and devices including voice, text, and SCADA communication. We discuss the architecture of PhoenixSEN and evaluate a prototype on realistic grid infrastructure through a series of DARPA-led exercises.

As data being produced by IoT applications continues to explode, there is a growing need to bring computing power closer to the source of the data to meet the response-time, power dissipation and cost goals of performance-critical applications in various domains like Industrial Internet of Things (IIoT), Automated Driving, Medical Imaging or Surveillance among others. This paper proposes a data collection and utilization framework that allows runtime platform and application data to be sent to an edge and cloud system via data collection agents running close to the platform. Agents are connected to a cloud system able to train AI models to improve overall energy efficiency of an AI application executed on a edge platform. In the implementation part we show the benefits of FPGA-based platform for the task of object detection. Furthermore we show that it is feasible to collect relevant data from an FPGA platform, transmit the data to a cloud system for processing and receiving feedback actions to execute an edge AI application energy efficiently. As future work we foresee the possibility to train, deploy and continuously improve a base model able to efficiently adapt the execution of edge applications.

The fourth industrial revolution envisions industry manufacturing systems to be software driven where mundane manufacturing tasks can be automated. As software is perceived as an integral part of this vision, discovering vulnerabilities is of paramount of importance so that manufacturing systems are secure. A categorization of vulnerability discovery strategies can inform practitioners on how to identify undiscovered vulnerabilities in software. Recently researchers have investigated and identified vulnerability discovery strategies used in open source software (OSS) projects. The efficacy of the derived strategy needs to be validated by obtaining feedback from practitioners. Such feedback can be helpful to assess if identified strategies are useful for practitioners and possible directions the derived vulnerability discovery strategies can be improvised. We survey 51 practitioners to assess if four vulnerability discovery strategies: diagnostics, malicious payload construction, misconfiguration, and pernicious execution can be used to identify undiscovered vulnerabilities. Practitioners perceive the strategies to be useful: for example, we observe 88% of the surveyed practitioners to agree that diagnostics could be used to discover vulnerabilities. Our work provides evidence of usefulness for the identified strategies.

This paper is a systemization of knowledge of autonomic cybersecurity. Disruptive technologies, such as IoT, AI and autonomous systems, are becoming more prevalent and often have little or no cybersecurity protections. This lack of security is contributing to the expanding cybersecurity attack surface. The autonomic computing initiative was started to address the complexity of administering complex computing systems by making them self-managing. Autonomic systems contain attributes to address cyberattacks, such as self-protecting and self-healing that can secure new technologies. There has been a number of research projects on autonomic cybersecurity, with different approaches and target technologies, many of them disruptive. This paper reviews autonomic computing, analyzes research on autonomic cybersecurity, and provides a systemization of knowledge of the research. The paper concludes with identification of gaps in autonomic cybersecurity for future research.

The industrial revolution 4.0 has become a challenge for various sectors in mastering information technology, one of which is the arts and culture sector. Cultural arts that are quite widely spread and developed in Indonesia are traditional masks. Traditional masks are one of the oldest and most beautiful cultures in Indonesia. However, with the development of the era to the digital world in the era of the industrial revolution 4.0, this beloved culture is fading due to the entry of foreign cultures and technological developments. Many young people who succeed the nation do not understand this cultural art, namely traditional masks. So those cultural arts such as traditional masks can still keep up with the development of digital technology in industry 4.0, we conduct research to use technology to preserve this traditional mask culture. The research uses the ADDIE method starting with Analyze, Design, Develop, Implement, and Evaluate. We took some examples of traditional masks such as Malangan masks, Cirebon masks, and Panji masks from several regions in Indonesia. This research implements marker-based Augmented reality technology and makes a traditional mask book that can be a means of augmented reality.

Today technological changes make the probability of more complex things made into simple tasks with more accuracy in major areas and mostly in Manufacturing Industry. Internet of things contributes its major part in automation which helps human to make life easy by monitoring and directed to a related person with in a fraction of second. Continuous advances and improvement in computer vision, mobile computing and tablet screens have led to a revived interest in Augmented Reality the Augmented Reality makes the complex automation into an easier task by making more realistic real time animation in monitoring and automation on Internet of Things (eg like temperature, time, object information, installation manual, real time testing).In order to identify and link the augmented content, like object control of home appliances, industrial appliances. The AR-IoT will have a much cozier atmosphere and enhance the overall Interactivity of the IoT environment. Augmented Reality applications use a myriad of data generated by IoT devices and components, AR helps workers become more competitive and productive with the realistic environment in IoT. Augmented Reality and Internet of Things together plays a critical role in the development of next generation technologies. This paper describes the concept of how Augmented Reality can be integrated with industry(AR-IoT)4.0 and how the sensors are used to monitoring objects/things contiguously round the clock, and make the process of converting real-time physical objects into smart things for the upcoming new era with AR-IoT.

In this article we propose the architecture of a system in which its central objective is focused on creating a complete framework for creating outdoor environments of Augmented Reality (AR) and Virtual Reality (VR) allowing its users to digitize reality for hypermedia format. Subsequently, there will be an internal process with the objective of merging / grouping these 3D models, thus enabling clear and intuitive navigation within infinite virtual realities (based on the captured real world). In this way, the user is able to create points of interest within their parallel realities, being able to navigate and traverse their new worlds through these points.

The deployment of DER with smart-inverter functionality is increasing the controllable assets on power distribution networks and, consequently, the cyber-physical attack surface. Within this work, we consider the use of reinforcement learning as an online controller that adjusts DER Volt/Var and Volt/Watt control logic to mitigate network voltage unbalance. We specifically focus on the case where a network-aware cyber-physical attack has compromised a subset of single-phase DER, causing a large voltage unbalance. We show how deep reinforcement learning successfully learns a policy minimizing the unbalance, both during normal operation and during a cyber-physical attack. In mitigating the attack, the learned stochastic policy operates alongside legacy equipment on the network, i.e. tap-changing transformers, adjusting optimally predefined DER control-logic.

Containerization technology becomes one of alternatives in virtualization. Docker requires docker daemon to build, distribute and run the container and this makes the docker vulnerable to an attack surface called Docker daemon Attack Surface - an attack against docker daemon taking over the access (root). Using rootless mode is one way to prevent the attack. Therefore, this research demonstrates the attack prevention by making and running the docker container in the rootless mode. The success of the attack can be proven when the user is able to access the file /etc/shadow that is supposed to be only accessible for the rooted users. Findings of this research demonstrated that the file is inaccessible when the docker is run using the rootless mode. CPU usage is measured when the attack is being simulated using the docker run through root privileges and rootless mode, to identify whether the use of rootless mode in the docker adds the load of CPU usage and to what extent its increased. Results showed that the CPU use was 39% when using the docker with the rootless mode. Meanwhile, using the docker with the right of the root access was only 0%. The increase of 39% is commensurate with the benefit that can prevent the docker daemon attack surface.

The cutting edge of Industry 4.0 has driven everything to be converted to disruptive innovation and digitalized. This digital revolution is imprinted by modern and advanced technology that takes advantage of Big Data and Artificial Intelligence (AI) to nurture from automatic learning systems, smart city, smart energy, smart factory to the edge computing technology, and so on. To harness an appealing, noteworthy, and leading development in smart manufacturing industry, the modern industrial sciences and technologies such as Big Data, Artificial Intelligence, Internet of things, and Edge Computing have to be integrated cooperatively. Accordingly, a suggestion on the integration is presented in this paper. This proposed paper describes the design and implementation of big data platform for intelligence industrial internet of things sensor monitoring system and conveys a prediction of any upcoming errors beforehand. The architecture design is based on edge computing and artificial intelligence. To extend more precisely, industrial internet of things sensor here is about the condition monitoring sensor data - vibration, temperature, related humidity, and barometric pressure inside facility manufacturing factory.

An unprecedented upsurge in the number of cyberattacks and threats is the corollary of ubiquitous internet connectivity. Among a variety of threats and attacks, Denial of Service (DoS) attacks are crucial and conventional mechanisms currently being used for detection/ identification of these attacks are not adequate. The use of real-time and robust mechanisms is the way to handle this. Machine learning-based techniques have been extensively used for this in the recent past. In this paper, a robust mechanism using Support Vector Machine Based Auto-Encoder is proposed for identifying DoS attacks. The proposed technique is tested on the CICIDS dataset and has given 99.32 % accuracy for DoS attacks. To study the effect of the number of features on the performance of the technique, a discriminant component analysis is deployed for feature reduction and independent experiments, namely SVM with 25 features, SVM with 30 features, SVM with 35 features, and PCA-SVM with 25 features, are conducted. From the experiments, it is observed that AE-SVM has performed better than others.

Graph pooling is an essential ingredient of Graph Neural Networks (GNNs) in graph classification and regression tasks. For these tasks, different pooling strategies have been proposed to generate a graph-level representation by downsampling and summarizing nodes' features in a graph. However, most existing pooling methods are unable to capture distinguishable structural information effectively. Besides, they are prone to adversarial attacks. In this work, we propose a novel pooling method named as HIBPool where we leverage the Information Bottleneck (IB) principle that optimally balances the expressiveness and robustness of a model to learn representations of input data. Furthermore, we introduce a novel structure-aware Discriminative Pooling Readout (DiP-Readout) function to capture the informative local subgraph structures in the graph. Finally, our experimental results show that our model significantly outperforms other state-of-art methods on several graph classification benchmarks and more resilient to feature-perturbation attack than existing pooling methods11Source code at: https://github.com/forkkr/HIBPool.

Securing data, management of the authorised access of the user and maintaining the privacy of the data are some of the problems relating with the stored data in the database. The security of the data stored is considered as the major concern which is to be managed in a very serious manner as the users are sensitive about their shared data. The user's data can be protected by the process of cryptography which is considered as the conventional method. Advanced Encryption Standard (AES), Data Encryption Standard(DES), Two Fish, Rivest Shamir Adleman Algorithm (RSA), Attribute Based Encryption (ABE), Blowfish algorithms are considered as some of the cryptographic algorithms. These algorithms are classified into symmetric and asymmetric algorithms. Same key is used for the encryption and decoding technique in symmetric key cryptographic algorithm whereas two keys are used for the asymmetric ones. In this paper, the implementation of one of the asymmetric algorithm RSA with the educational dataset is done. To secure the distributed database, the extended version of the RSA algorithm is implemented as the proposed work.

Sound plays a key role in human life and therefore sound recognition system has a great future ahead. Sound classification and identification system has many applications such as system for personal security, critical surveillance, etc. The main aim of this paper is to detect and classify the security sound event using the surveillance camera systems with integrated microphone based on the generated spectrograms of the sounds. This will enable to track security events in cases of emergencies. The goal is to propose a security system to accurately detect sound events and make a better security sound event detection system. We propose to use a convolutional neural network (CNN) to design the security sound detection system to detect a security event with minimal sound. We used the spectrogram images to train the CNN. The neural network was trained using different security sounds data which was then used to detect security sound events during testing phase. We used two datasets for our experiment training and testing datasets. Both the datasets contain 3 different sound events (glass break, gun shots and smoke alarms) to train and test the model, respectively. The proposed system yields the good accuracy for the sound event detection even with minimum available sound data. The designed system achieved accuracy was 92% and 90% using CNN on training dataset and testing dataset. We conclude that the proposed sound classification framework which using the spectrogram images of sounds can be used efficiently to develop the sound classification and recognition systems.

There will be a fatal risk when the submitted file is stolen or altered by someone else during the file submission process. To maintain the security of sending files from sender to recipient, it is necessary to secure files. The science of maintaining the security of messages is called cryptography. The authors were interested in examining the Three Pass Protocol scheme in this study because it eliminated the necessity for sender and receiver to exchange keys during the operation of the Hill Cipher 3x3 algorithm. The Hill Cipher algorithm was chosen because the key has an inverse and matrix-shaped value. Then the key used must be checked whether it has a GCD (Greatest Common Divisor) grade 1 or not and will be shaped like matrix. System implementation using the Java programming language using Android Studio software. System testing is done by encrypting and decrypting files. System testing results illustrate that the process encryption and decryption by the sender is faster than the recipient, so the encryption and decryption time needed directly proportional; the larger the pixel size of the image on the image file used, the longer it takes.

The recent analysis indicates more than 250,000 people in the United States of America (USA) die every year because of medical errors. World Health Organisation (WHO) reports states that 2.6 million deaths occur due to medical and its prescription errors. Many of the errors related to the wrong drug/dosage administration by caregivers to patients due to indecipherable handwritings, drug interactions, confusing drug names, etc. The espousal of Mobile-based speech recognition applications will eliminate the errors. This allows physicians to narrate the prescription instead of writing. The application can be accessed through smartphones and can be used easily by everyone. An application program interface has been created for handling requests. Natural language processing is used to read text, interpret and determine the important words for generating prescriptions. The patient data is stored and used according to the Health Insurance Portability and Accountability Act of 1996 (HIPAA) guidelines. The SMS4-BSK encryption scheme is used to provide the data transmission securely over Wireless LAN.