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 purpose of this work is to analyze the security model of a robotized system, to analyze the approaches to assessing the security of this system, and to develop our own framework. The solution to this problem involves the use of developed frameworks. The analysis will be conducted on a robotic system of robots. The prefix structures assume that the robotic system is divided into levels, and after that it is necessary to directly protect each level. Each level has its own characteristics and drawbacks that must be considered when developing a security system for a robotic system.

The usage of robot is rapidly growth in our society. The communication link and applications connect the robots to their clients or users. This communication link and applications are normally connected through some kind of network connections. This network system is amenable of being attached and vulnerable to the security threats. It is a critical part for ensuring security and privacy for robotic platforms. The paper, also discusses about several cyber-physical security threats that are only for robotic platforms. The peer to peer applications use in the robotic platforms for threats target integrity, availability and confidential security purposes. A Remote Administration Tool (RAT) was introduced for specific security attacks. An impact oriented process was performed for analyzing the assessment outcomes of the attacks. Tests and experiments of attacks were performed in simulation environment which was based on Gazbo Turtlebot simulator and physically on the robot. A software tool was used for simulating, debugging and experimenting on ROS platform. Integrity attacks performed for modifying commands and manipulated the robot behavior. Availability attacks were affected for Denial-of-Service (DoS) and the robot was not listened to Turtlebot commands. Integrity and availability attacks resulted sensitive information on the robot.

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.

Autonomous technologies have been rapidly replacing the traditional manual intervention nearly in every aspect of our life. These technologies essentially require robots to carry out their automated processes. Nowadays, with the emergence of industry 4.0, robots are increasingly being remote-controlled via client-server connection, which creates uncommon vulnerabilities that allow attackers to target those robots. The development of an open source operational environment for robots, known as Robot Operating System (ROS) has come as a response to these demands. Security and privacy are crucial for the use of ROS as the chance of a compromise may lead to devastating ramifications. In this paper, an overview of ROS and the attacks targeting it are detailed and discussed. Followed by a review of the ROS security and digital investigation studies.

Robots operating alongside humans in field environments have the potential to greatly increase the situational awareness of their human teammates. A significant challenge, however, is the efficient conveyance of what the robot perceives to the human in order to achieve improved situational awareness. We believe augmented reality (AR), which allows a human to simultaneously perceive the real world and digital information situated virtually in the real world, has the potential to address this issue. Motivated by the emerging prevalence of practical human-wearable AR devices, we present a system that enables a robot to perform cooperative search with a human teammate, where the robot can both share search results and assist the human teammate in navigation to the search target. We demonstrate this ability in a search task in an uninstrumented environment where the robot identifies and localizes targets and provides navigation direction via AR to bring the human to the correct target.

This paper explores an innovative approach to the telerobotics reasoning architecture and networking, which offer a reliable and adaptable operational process for complex tasks. There are many operational challenges in the remote control for manufacturing that can be introduced by the network communications and Iatency. A new protocol, named compact Reliable UDP (compact-RUDP), has been developed to combine both data channelling and media streaming for robot teleoperation. The original approach ensures connection reliability by implementing a TCP-like sliding window with UDP packets. The protocol provides multiple features including data security, link status monitoring, bandwidth control, asynchronous file transfer and prioritizing transfer of data packets. Experiments were conducted on a 5DOF robotic arm where a cutting tool was mounted at its distal end. A light sensor was used to guide the robot movements, and a camera device to provide a video stream of the operation. The data communication reliability is evaluated using Round-Trip Time (RTT), and advanced robot path planning for distributed decision making between endpoints. The results show 88% correlation between the remotely and locally operated robots. The file transfers and video streaming were performed with no data loss or corruption on the control commands and data feedback packets.

Cyber-physical systems contribute to building new infrastructure in the modern world. These systems help realize missions reducing costs and risks. The seas being a harsh and dangerous environment are a perfect application of them. Unmanned Surface vehicles (USV) allow realizing normal and new tasks reducing risk and cost i.e. surveillance, water cleaning, environmental monitoring or search and rescue operations. Also, as they are unmanned vehicles they can extend missions to unpleasing and risky weather conditions. The novelty of these systems makes that new command and control platforms need to be developed. In this paper, we describe an implemented architecture with 5 separated levels. This structure increases security by defining roles and by limiting information exchanges.

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.

A Robot Operating System (ROS) plays a significant role in organizing industrial robots for manufacturing. With an increasing number of the robots, the operators integrate a ROS with networked communication to share the data. This cyber-physical nature exposes the ROS to cyber attacks. To this end, this paper proposes a cross-layer approach to achieve secure and resilient control of a ROS. In the physical layer, due to the delay caused by the security mechanism, we design a time-delay controller for the ROS agent. In the cyber layer, we define cyber states and use Markov Decision Process to evaluate the tradeoffs between physical and security performance. Due to the uncertainty of the cyber state, we extend the MDP to a Partially Observed Markov Decision Process (POMDP). We propose a threshold solution based on our theoretical results. Finally, we present numerical examples to evaluate the performance of the secure and resilient mechanism.

Robots are becoming more and more prevalent in many real world scenarios. Housekeeping, medical aid, human assistance are a few common implementations of robots. Military and Security are also major areas where robotics is being researched and implemented. Robots with the purpose of surveillance in war zones and terrorist scenarios need specific functionalities to perform their tasks with precision and efficiency. In this paper, we present a model of Military Surveillance Robot developed using Robot Operating System. The map generation based on Kinect sensor is presented and some test case scenarios are discussed with results.

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.

Trust prediction in online social networks is crucial for information dissemination, product promotion, and decision making. Existing work on trust prediction mainly utilizes the network structure or the low-rank approximation of a trust network. These approaches can suffer from the problem of data sparsity and prediction accuracy. Inspired by the homophily theory, which shows a pervasive feature of social and economic networks that trust relations tend to be developed among similar people, we propose a novel deep user model for trust prediction based on user similarity measurement. It is a comprehensive data sparsity insensitive model that combines a user review behavior and the item characteristics that this user is interested in. With this user model, we firstly generate a user's latent features mined from user review behavior and the item properties that the user cares. Then we develop a pair-wise deep neural network to further learn and represent these user features. Finally, we measure the trust relations between a pair of people by calculating the user feature vector cosine similarity. Extensive experiments are conducted on two real-world datasets, which demonstrate the superior performance of the proposed approach over the representative baseline works.

Trusted collaboration satisfying the requirements of (a) adequate transparency and (b) preservation of privacy of business sensitive information is a key factor to ensure the success and adoption of online business-to-business (B2B) collaboration platforms. Our work proposes novel ways of stringing together game theoretic modeling, blockchain technology, and cryptographic techniques to build such a platform for B2B collaboration involving enterprise buyers and sellers who may be strategic. The B2B platform builds upon three ideas. The first is to use a permissioned blockchain with smart contracts as the technical infrastructure for building the platform. Second, the above smart contracts implement deep business logic which is derived using a rigorous analysis of a repeated game model of the strategic interactions between buyers and sellers to devise strategies to induce honest behavior from buyers and sellers. Third, we present a formal framework that captures the essential requirements for secure and private B2B collaboration, and, in this direction, we develop cryptographic regulation protocols that, in conjunction with the blockchain, help implement such a framework. We believe our work is an important first step in the direction of building a platform that enables B2B collaboration among strategic and competitive agents while maximizing social welfare and addressing the privacy concerns of the agents.

Trust is known to be a key component in human social relationships. It is trust that defines human behavior with others to a large extent. Generative models have been extensively used in social networks study to simulate different characteristics and phenomena in social graphs. In this work, an attempt is made to understand how trust in social graphs can be combined with generative modeling techniques to generate trust-based social graphs. These generated social graphs are then compared with the original social graphs to evaluate how trust helps in generative modeling. Two well-known social network data sets i.e. the soc-Bitcoin and the wiki administrator network data sets are used in this work. Social graphs are generated from these data sets and then compared with the original graphs along with other standard generative modeling techniques to see how trust is a good component in this. Other Generative modeling techniques have been available for a while but this investigation with the real social graph data sets validate that trust can be an important factor in generative modeling.

Nowadays, Microblog has become an important online social networking platform, and a large number of users share information through Microblog. Many malicious users have released various false news driven by various interests, which seriously affects the availability of Microblog platform. Therefore, the evaluation of Microblog user credibility has become an important research issue. This paper proposes a microblog user credibility evaluation algorithm based on trust propagation. In view of the high consumption and low precision caused by malicious users' attacking algorithms and manual selection of seed sets by establishing false social relationships, this paper proposes two optimization strategies: pruning algorithm based on social activity and similarity and based on The seed node selection algorithm of clustering. The pruning algorithm can trim off the attack edges established by malicious users and normal users. The seed node selection algorithm can efficiently select the highly available seed node set, and finally use the user social relationship graph to perform the two-way propagation trust scoring, so that the low trusted user has a lower trusted score and thus identifies the malicious user. The related experiments verify the effectiveness of the trustworthiness-based user credibility evaluation algorithm in the evaluation of Microblog user credibility.

We propose a distributed machine-learning architecture to predict trustworthiness of sensor services in Mobile Edge Computing (MEC) based Internet of Things (IoT) services, which aligns well with the goals of MEC and requirements of modern IoT systems. The proposed machine-learning architecture models training a distributed trust prediction model over a topology of MEC-environments as a Network Lasso problem, which allows simultaneous clustering and optimization on large-scale networked-graphs. We then attempt to solve it using Alternate Direction Method of Multipliers (ADMM) in a way that makes it suitable for MEC-based IoT systems. We present analytical and simulation results to show the validity and efficiency of the proposed solution.

Verifying complex Cyber-Physical Systems (CPS) is increasingly important given the push to deploy safety-critical autonomous features. Unfortunately, traditional verification methods do not scale to the complexity of these systems and do not provide systematic methods to protect verified properties when not all the components can be verified. To address these challenges, this paper proposes a real-time mixed-trust computing framework that combines verification and protection. The framework introduces a new task model, where an application task can have both an untrusted and a trusted part. The untrusted part allows complex computations supported by a full OS with a realtime scheduler running in a VM hosted by a trusted hypervisor. The trusted part is executed by another scheduler within the hypervisor and is thus protected from the untrusted part. If the untrusted part fails to finish by a specific time, the trusted part is activated to preserve safety (e.g., prevent a crash) including its timing guarantees. This framework is the first allowing the use of untrusted components for CPS critical functions while preserving logical and timing guarantees, even in the presence of malicious attackers. We present the framework design and implementation along with the schedulability analysis and the coordination protocol between the trusted and untrusted parts. We also present our Raspberry Pi 3 implementation along with experiments showing the behavior of the system under failures of untrusted components, and a drone application to demonstrate its practicality.

Malware is pervasive and poses serious threats to normal operation of business processes in cloud. Cloud computing environments typically have hundreds of hosts that are connected to each other, often with high risk trust assumptions and/or protection mechanisms that are not difficult to break. Malware often exploits such weaknesses, as its immediate goal is often to spread itself to as many hosts as possible. Detecting this propagation is often difficult to address because the malware may reside in multiple components across the software or hardware stack. In this scenario, it is usually best to contain the malware to the smallest possible number of hosts, and it's also critical for system administration to resolve the issue in a timely manner. Furthermore, resolution often requires that several participants across different organizational teams scramble together to address the intrusion. In this vision paper, we define this problem in detail. We then present our vision of decentralized malware containment and the challenges and issues associated with this vision. The approach of containment involves detection and response using graph analytics coupled with a blockchain framework. We propose the use of a dominance frontier for profile nodes which must be involved in the containment process. Smart contracts are used to obtain consensus amongst the involved parties. The paper presents a basic implementation of this proposal. We have further discussed some open problems related to our vision.

The papers in this special section explore recent advancements in parallel graph processing. In the sphere of modern data science and data-driven applications, graph algorithms have achieved a pivotal place in advancing the state of scientific discovery and knowledge. Nearly three centuries of ideas have made graph theory and its applications a mature area in computational sciences. Yet, today we find ourselves at a crossroads between theory and application. Spurred by the digital revolution, data from a diverse range of high throughput channels and devices, from across internet-scale applications, are starting to mark a new era in data-driven computing and discovery. Building robust graph models and implementing scalable graph application frameworks in the context of this new era are proving to be significant challenges. Concomitant to the digital revolution, we have also experienced an explosion in computing architectures, with a broad range of multicores, manycores, heterogeneous platforms, and hardware accelerators (CPUs, GPUs) being actively developed and deployed within servers and multinode clusters. Recent advances have started to show that in more than one way, these two fields—graph theory and architectures–are capable of benefiting and in fact spurring new research directions in one another. This special section is aimed at introducing some of the new avenues of cutting-edge research happening at the intersection of graph algorithm design and their implementation on advanced parallel architectures.

With the development of Internet of Things, numerous IoT devices have been brought into our daily lives. Bluetooth Low Energy (BLE), due to the low energy consumption and generic service stack, has become one of the most popular wireless communication technologies for IoT. However, because of the short communication range and exclusive connection pattern, a BLE-equipped device can only be used by a single user near the device. To fully explore the benefits of BLE and make BLE-equipped devices truly accessible over the Internet as IoT devices, in this paper, we propose a cloud-based software framework that can enable multiple users to interact with various BLE IoT devices over the Internet. This framework includes an agent program, a suite of services hosting in cloud, and a set of RESTful APIs exposed to Internet users. Given the availability of this framework, the access to BLE devices can be extended from local to the Internet scale without any software or hardware changes to BLE devices, and more importantly, shared usage of remote BLE devices over the Internet is also made available.

Increasing number of Internet-scale applications, such as video streaming, incur huge amount of wide area traffic. Such traffic over the unreliable Internet without bandwidth guarantee suffers unpredictable network performance. This result, however, is unappealing to the application providers. Fortunately, Internet giants like Google and Microsoft are increasingly deploying their private wide area networks (WANs) to connect their global datacenters. Such high-speed private WANs are reliable, and can provide predictable network performance. In this paper, we propose a new type of service-inter-datacenter network as a service (iDaaS), where traditional application providers can reserve bandwidth from those Internet giants to guarantee their wide area traffic. Specifically, we design a bandwidth trading market among multiple iDaaS providers and application providers, and concentrate on the essential bandwidth pricing problem. The involved challenging issue is that the bandwidth price of each iDaaS provider is not only influenced by other iDaaS providers, but also affected by the application providers. To address this issue, we characterize the interaction between iDaaS providers and application providers using a Stackelberg game model, and analyze the existence and uniqueness of the equilibrium. We further present an efficient bandwidth pricing algorithm by blending the advantage of a geometrical Nash bargaining solution and the demand segmentation method. For comparison, we present two bandwidth reservation algorithms, where each iDaaS provider's bandwidth is reserved in a weighted fair manner and a max-min fair manner, respectively. Finally, we conduct comprehensive trace-driven experiments. The evaluation results show that our proposed algorithms not only ensure the revenue of iDaaS providers, but also provide bandwidth guarantee for application providers with lower bandwidth price per unit.