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.

With the explosive development of big data, it is necessary to sort the data according to their importance or priorities. The sources with different importance levels can be modeled by the multilevel diversity coding systems (MDCS). Another trend in future communication networks, say 5G wireless networks and Internet of Things, is that users may obtain their data from all available sources, even from devices belonging to other users. Then, the privacy of data becomes a crucial issue. In a recent work by Li et al., the secure asymmetric MDCS (S-AMDCS) with wiretap channels was investigated, where the wiretapped messages do not leak any information about the sources (i.e. perfect secrecy). It was shown that superposition (source-separate coding) is not optimal for the general S-AMDCS and the exact full secure rate region was proved for a class of S-AMDCS. In addition, a bound on the key size of the secure rate region was provided as well. As a further step on the SAMDCS problem, this paper mainly focuses on the key size characterization. Specifically, the constraints on the key size of superposition secure rate region are proved and a counterexample is found to show that the bound on the key size of the exact secure rate region provided by Li et al. is not tight. In contrast, tight necessary and sufficient constraints on the secrecy key size of the counterexample, which is the four-encoder S-AMDCS, are proved.

Vehicular networks are vulnerable to a variety of internal attacks. Misbehavior Detection Systems (MDS) are preferred over the cryptography solutions to detect such attacks. However, the existing misbehavior detection systems are static and do not adapt to the context of vehicles. To this end, we exploit the Software-Defined Networking (SDN) paradigm to propose a context-aware MDS. Based on the context, our proposed system can tune security parameters to provide accurate detection with low false positives. Our system is Sybil attack-resistant and compliant with vehicular privacy standards. The simulation results show that, under different contexts, our system provides a high detection ratio and low false positives compared to a static MDS.

Vehicular Ad Hoc Networks (VANETs) have a strategic goal to achieve service delivery in roads and smart cities, considering the integration and communication between vehicles, sensors and fixed road-side components (routers, gateways and services). VANETs have singular characteristics such as fast mobile nodes, self-organization, distributed network and frequently changing topology. Despite the recent evolution of VANETs, security, data integrity and users privacy information are major concerns, since attacks prevention is still open issue. One of the most dangerous attacks in VANETs is the Sybil, which forges false identities in the network to disrupt compromise the communication between the network nodes. Sybil attacks affect the service delivery related to road safety, traffic congestion, multimedia entertainment and others. Thus, VANETs claim for security mechanism to prevent Sybil attacks. Within this context, this paper proposes a mechanism, called SyDVELM, to detect Sybil attacks in VANETs based on artificial intelligence techniques. The SyDVELM mechanism uses Extreme Learning Machine (ELM) with occasional features of vehicular nodes, minimizing the identification time, maximizing the detection accuracy and improving the scalability. The results suggest that the suitability of SyDVELM mechanism to mitigate Sybil attacks and to maintain the service delivery in VANETs.

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.

This work presents the results of the Multi-Robot System designing that works on the basis of Swarm Intelligence models and is used to search for optimal solutions. The process of searching for optimal solutions is performed based on a field of gradient vectors that can be generated by ionizing radiation sources, radio-electro-magnetic devices, temperature generating sources, etc. The concept of the operation System is based on the distribution in the search space of a multitude of Mobile Robots that form a Mesh network between them. Each Mobile Robot has a set of ultrasonic sensors for excluding the collisions with obstacles, two sensors for identifying the gradient vector of the analyzed field, resources for wireless storage, processing and communication. The direction of the Mobile Robot movement is determined by the rotational speed of two DC motors which is calculated based on the models of Artificial Neural Networks. Gradient vectors generated by all Mobile Robots in the system structure are used to calculate the movement direction.

Jamming attacks target a wireless network creating an unwanted denial of service. 5G is vulnerable to these attacks despite its resilience prompted by the use of millimeter wave bands. Over the last decade, several types of jamming detection techniques have been proposed, including fuzzy logic, game theory, channel surfing, and time series. Most of these techniques are inefficient in detecting smart jammers. Thus, there is a great need for efficient and fast jamming detection techniques with high accuracy. In this paper, we compare the efficiency of several machine learning models in detecting jamming signals. We investigated the types of signal features that identify jamming signals, and generated a large dataset using these parameters. Using this dataset, the machine learning algorithms were trained, evaluated, and tested. These algorithms are random forest, support vector machine, and neural network. The performance of these algorithms was evaluated and compared using the probability of detection, probability of false alarm, probability of miss detection, and accuracy. The simulation results show that jamming detection based random forest algorithm can detect jammers with a high accuracy, high detection probability and low probability of false alarm.

The increasing of malwares has presented a serious threat to the security of computer systems in recent years. Traditional signature-based anti-virus systems are not able to detect metamorphic and previously unseen malwares and it inspires people to use machine learning methods such as Naive Bayes and Decision Tree to identity malicious executables. Among these methods, detecting malwares by using Support Vector Machine (SVM) is one of the most effective approaches. However, the parameters of SVM have serious impacts on its classification performance. In order to find the optimal parameter combination and avoid the problem of falling into local optimal solution, many methods based on evolutionary algorithms are proposed, including Particle Swarm Optimization (PSO), Genetic Algorithm (GA), Differential Evolution (DE) and others. But these algorithms still face the problem of being trapped into local solution spaces in different degree. In this paper, an improved fireworks algorithm is presented and applied to search parameters of SVM: penalty factor c and kernel function parameter g. To research the performance of the proposed algorithm, numeric experiments are made and compared with some typical algorithms, the experimental results demonstrate it outperforms other algorithms.

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.

Today, a modern data center hosts a wide variety of applications comprising batch, interactive, machine learning, and streaming applications. In this paper, we factor out the commonalities in a large majority of these applications, into a generic dataflow layer called Common Runtime for Applications (CRA). In parallel, another trend, with containerization technologies (e.g., Docker), has taken a serious hold on cloud-scale data centers, with direct implications on building next generation of data center applications. Container orchestrators (e.g., Kubernetes) have made deployment a lot easy, and they solve many infrastructure level problems, e.g., service discovery, auto-restart, and replication. For best in class performance, there is a need to marry the next generation applications with containerization technologies. To that end, CRA leverages and builds upon the containerization and resource orchestration capabilities of Kubernetes/Docker, and makes it easy to build a wide range of cloud-edge applications on top. To the best of our knowledge, we are the first to present a cloud native runtime for building data center applications. We show the efficiency of CRA through various micro-benchmarking experiments.

A substantial amount of work is often overlooked due to the exponential rate of growth in global scientific output across all disciplines. Current approaches for addressing this issue are usually limited in scope and often restrict the possibility of obtaining multidisciplinary views in practice. To tackle this problem, researchers can now leverage an ecosystem of citizens, volunteers and crowd workers to perform complex tasks that are either difficult for humans and machines to solve alone. Motivated by the idea that human crowds and computer algorithms have complementary strengths, we present an approach where the machine will learn from crowd behavior in an iterative way. This approach is embodied in the architecture of SciCrowd, a crowd-powered human-machine hybrid system designed to improve the analysis and processing of large amounts of publication records. To validate the proposal's feasibility, a prototype was developed and an initial evaluation was conducted to measure its robustness and reliability. We conclude this paper with a set of implications for design.

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.

Since 2016, the northwest power grid has organized new energy sources to participate in the rapid frequency regulation research and carried out pilot test work at the sending end large power grid. The experimental results show that new energy generator has the ability to participate in the grid's rapid frequency regulation, and its performance is better than that of conventional power supply units. This paper analyses the requirements for fast frequency control of the sending end large power grid in northwest China, and proposes the segmented participation indexes of photovoltaic and wind power in the frequency regulation of power grids. In accordance with the idea of "clear responsibilities, various types of unit coordination", the parameter setting of new energy sources rapid frequency regulation is completed based on the coordinated control based on multi-frequency regulation resources in northwest power grid. The new energy fast frequency regulation model was established, through the PSASP power grid stability simulation program and the large-scale power grid stability simulation analysis was completed. The simulation results show that the wind power and photovoltaic adopting differential rapid frequency regulation parameters can better utilize the rapid frequency regulation capability of various types of power sources, realize the coordinated rapid frequency regulation of all types of units, and effectively improve the frequency security prevention and control level of the sending end large power grid.

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.