Biblio
The Robot Operating System (ROS) are being deployed for multiple life critical activities such as self-driving cars, drones, and industries. However, the security has been persistently neglected, especially the image flows incoming from camera robots. In this paper, we perform a structured security assessment of robot cameras using ROS. We points out a relevant number of security flaws that can be used to take over the flows incoming from the robot cameras. Furthermore, we propose an intrusion detection system to detect abnormal flows. Our defense approach is based on images comparisons and unsupervised anomaly detection method. We experiment our approach on robot cameras embedded on a self-driving car.
Robotic Operating System(ROS) security research is currently in a preliminary state, with limited research in tools or models. Considering the trend of digitization of robotic systems, this lack of foundational knowledge increases the potential threat posed by security vulnerabilities in ROS. In this article, we present a new tool to assist further security research in ROS, ROSploit. ROSploit is a modular two-pronged offensive tool covering both reconnaissance and exploitation of ROS systems, designed to assist researchers in testing exploits for ROS.
The Robot Operating System (ROS) is a widely adopted standard robotic middleware. However, its preliminary design is devoid of any network security features. Military grade unmanned systems must be guarded against network threats. ROS 2 is built upon the Data Distribution Service (DDS) standard and is designed to provide solutions to identified ROS 1 security vulnerabilities by incorporating authentication, encryption, and process profile features, which rely on public key infrastructure. The Department of Defense is looking to use ROS 2 for its military-centric robotics platform. This paper seeks to demonstrate that ROS 2 and its DDS security architecture can serve as a functional platform for use in military grade unmanned systems, particularly in unmanned Naval aerial swarms. In this paper, we focus on the viability of ROS 2 to safeguard communications between swarms and a ground control station (GCS). We test ROS 2's ability to mitigate and withstand certain cyber threats, specifically that of rogue nodes injecting unauthorized data and accessing services that will disable parts of the UAV swarm. We use the Gazebo robotics simulator to target individual UAVs to ascertain the effectiveness of our attack vectors under specific conditions. We demonstrate the effectiveness of ROS 2 in mitigating the chosen attack vectors but observed a measurable operational delay within our simulations.
This paper revealed the development and implementation of the wearable sensors based on transient responses of textile chemical sensors for odorant detection system as wearable sensor of humanoid robot. The textile chemical sensors consist of nine polymer/CNTs nano-composite gas sensors which can be divided into three different prototypes of the wearable humanoid robot; (i) human axillary odor monitoring, (ii) human foot odor tracking, and (iii) wearable personal gas leakage detection. These prototypes can be integrated into high-performance wearable wellness platform such as smart clothes, smart shoes and wearable pocket toxic-gas detector. While operating mode has been designed to use ZigBee wireless communication technology for data acquisition and monitoring system. Wearable humanoid robot offers several platforms that can be applied to investigate the role of individual scent produced by different parts of the human body such as axillary odor and foot odor, which have potential health effects from abnormal or offensive body odor. Moreover, wearable personal safety and security component in robot is also effective for detecting NH3 leakage in environment. Preliminary results with nine textile chemical sensors for odor biomarker and NH3 detection demonstrates the feasibility of using the wearable humanoid robot to distinguish unpleasant odor released when you're physically active. It also showed an excellent performance to detect a hazardous gas like ammonia (NH3) with sensitivity as low as 5 ppm.
In recent years, humanoid robots have become quite ubiquitous finding wide applicability in many different fields, spanning from education to entertainment and assistance. They can be considered as more complex cyber-physical systems (CPS) and, as such, they are exposed to the same vulnerabilities. This can be very dangerous for people acting that close with these robots, since attackers by exploiting their vulnerabilities, can not only violate people's privacy, but, more importantly, they can command the robot behavior causing them bodily harm, thus leading to devastating consequences. In this paper, we propose a solution not yet investigated in this field, which relies on the use of secure enclaves, which in our opinion could represent a valuable solution for coping with most of the possible attacks, while suggesting developers to adopt such a precaution during the robot design phase.
In this paper, the design as well as complete implementation of a robot which can be autonomously controlled for surveillance. It can be seamlessly integrated into an existing security system already present. The robot's inherent ability allows it to map the interiors of an unexplored building and steer autonomously using its self-ruling and pilot feature. It uses a 2D LIDAR to map its environment in real-time and HD camera records suspicious activity. It also features an in-built display with touch based commands and voice recognition that enables people to interact with the robot during any situation.
Internet of Things (IoT), commonly referred to a physical object connected to network, refers to a paradigm in information technology integrating the advances in terms of sensing, computation and communication to improve the service in daily life. This physical object consists of sensors and actuators that are capable of changing the data to offer the improvement of service quality in daily life. When a data exchange occurs, the exchanged data become sensitive; making them vulnerable to any security attacks, one of which, for example, is Sybil attack. This paper aimed to propose a method of trustworthiness management based upon the authentication and trust value. Once performing the test on three scenarios, the system was found to be capable of detecting the Sybil attack rapidly and accurately. The average of time to detect the Sybil attacks was 9.3287 seconds and the average of time required to detect the intruder object in the system was 18.1029 seconds. The accuracy resulted in each scenario was found 100% indicating that the detection by the system to Sybil attack was 100% accurate.
Cross-Site Scripting (XSS) is an attack most often carried out by attackers to attack a website by inserting malicious scripts into a website. This attack will take the user to a webpage that has been specifically designed to retrieve user sessions and cookies. Nearly 68% of websites are vulnerable to XSS attacks. In this study, the authors conducted a study by evaluating several machine learning methods, namely Support Vector Machine (SVM), K-Nearest Neighbour (KNN), and Naïve Bayes (NB). The machine learning algorithm is then equipped with the n-gram method to each script feature to improve the detection performance of XSS attacks. The simulation results show that the SVM and n-gram method achieves the highest accuracy with 98%.
Mobile Ad-hoc Network (MANET) consists of different configurations, where it deals with the dynamic nature of its creation and also it is a self-configurable type of a network. The primary task in this type of networks is to develop a mechanism for routing that gives a high QoS parameter because of the nature of ad-hoc network. The Ad-hoc-on-Demand Distance Vector (AODV) used here is the on-demand routing mechanism for the computation of the trust. The proposed approach uses the Artificial neural network (ANN) and the Support Vector Machine (SVM) for the discovery of the black hole attacks in the network. The results are carried out between the black hole AODV and the security mechanism provided by us as the Secure AODV (SAODV). The results were tested on different number of nodes, at last, it has been experimented for 100 nodes which provide an improvement in energy consumption of 54.72%, the throughput is 88.68kbps, packet delivery ratio is 92.91% and the E to E delay is of about 37.27ms.
Coherent rendering in augmented reality deals with synthesizing virtual content that seamlessly blends in with the real content. Unfortunately, capturing or modeling every real aspect in the virtual rendering process is often unfeasible or too expensive. We present a post-processing method that improves the look of rendered overlays in a dental virtual try-on application. We combine the original frame and the default rendered frame in an autoencoder neural network in order to obtain a more natural output, inspired by artistic style transfer research. Specifically, we apply the original frame as style on the rendered frame as content, repeating the process with each new pair of frames. Our method requires only a single forward pass, our shallow architecture ensures fast execution, and our internal feedback loop inherently enforces temporal consistency.
To preserve anonymity and obfuscate their identity on online platforms users may morph their text and portray themselves as a different gender or demographic. Similarly, a chatbot may need to customize its communication style to improve engagement with its audience. This manner of changing the style of written text has gained significant attention in recent years. Yet these past research works largely cater to the transfer of single style attributes. The disadvantage of focusing on a single style alone is that this often results in target text where other existing style attributes behave unpredictably or are unfairly dominated by the new style. To counteract this behavior, it would be nice to have a style transfer mechanism that can transfer or control multiple styles simultaneously and fairly. Through such an approach, one could obtain obfuscated or written text incorporated with a desired degree of multiple soft styles such as female-quality, politeness, or formalness. To the best of our knowledge this work is the first that shows and attempt to solve the issues related to multiple style transfer. We also demonstrate that the transfer of multiple styles cannot be achieved by sequentially performing multiple single-style transfers. This is because each single style-transfer step often reverses or dominates over the style incorporated by a previous transfer step. We then propose a neural network architecture for fairly transferring multiple style attributes in a given text. We test our architecture on the Yelp dataset to demonstrate our superior performance as compared to existing one-style transfer steps performed in a sequence.
In the process of informationization and networking of smart grids, the original physical isolation was broken, potential risks increased, and the increasingly serious cyber security situation was faced. Therefore, it is critical to develop accuracy and efficient anomaly detection methods to disclose various threats. However, in the industry, mainstream security devices such as firewalls are not able to detect and resist some advanced behavior attacks. In this paper, we propose a time series anomaly detection model, which is based on the periodic extraction method of discrete Fourier transform, and determines the sequence position of each element in the period by periodic overlapping mapping, thereby accurately describe the timing relationship between each network message. The experiments demonstrate that our model can detect cyber attacks such as man-in-the-middle, malicious injection, and Dos in a highly periodic network.
Over the years, technology has reformed the perception of the world related to security concerns. To tackle security problems, we proposed a system capable of detecting security alerts. System encompass audio events that occur as an outlier against background of unusual activity. This ambiguous behaviour can be handled by auditory classification. In this paper, we have discussed two techniques of extracting features from sound data including: time-based and signal based features. In first technique, we preserve time-series nature of sound, while in other signal characteristics are focused. Convolution neural network is applied for categorization of sound. Major aim of research is security challenges, so we have generated data related to surveillance in addition to available datasets such as UrbanSound 8k and ESC-50 datasets. We have achieved 94.6% accuracy for proposed methodology based on self-generated dataset. Improved accuracy on locally prepared dataset demonstrates novelty in research.
The digital low dropout regulators are widely used because it can operate at low supply voltage. In the digital low drop-out regulators, the high sampling frequency circuit has a short setup time, but it will produce overshoot, and then the output can be stabilized; although the low sampling frequency circuit output can be directly stabilized, the setup time is too long. This paper proposes a two sampling frequency circuit model, which aims to include the high and low sampling frequencies in the same circuit. By controlling the sampling frequency of the circuit under different conditions, this allows the circuit to combine the advantages of the circuit operating at different sampling frequencies. This shortens the circuit setup time and the stabilization time at the same time.
In this study we propose a novel method for drone surveillance that can simultaneously analyze time-frequency responses in all pixels of a high-frame-rate video. The propellers of flying drones rotate at hundreds of Hz and their principal vibration frequency components are much higher than those of their background objects. To separate the pixels around a drone's propellers from its background, we utilize these time-series features for vibration source localization with pixel-level short-time Fourier transform (STFT). We verify the relationship between the number of taps in the STFT computation and the performance of our algorithm, including the execution time and the localization accuracy, by conducting experiments under various conditions, such as degraded appearance, weather, and defocused blur. The robustness of the proposed algorithm is also verified by localizing a flying multi-copter in real-time in an outdoor scenario.
A new approach to micro-Doppler signal analysis is presented in this article. Novel chirp rate estimators in the time-frequency domain were used for this purpose, which provided the chirp rate of micro-Doppler signatures, allowing the classification of objects in the urban environment. As an example verifying the method, a signal from a high-resolution radar with a linear frequency modulated continuous wave (FMCW) recording an echo reflected from a pedestrian was used to validate the proposed algorithms for chirp rate estimation. The obtained results are plotted on saturated accelerograms, giving an additional parameter dedicated for target classification in security systems utilizing radar sensors for target detection.