Biblio
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.
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.
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.
Image style transfer is an increasingly interesting topic in computer vision where the goal is to map images from one style to another. In this paper, we propose a new framework called Combined Layer GAN as a solution of dealing with image style transfer problem. Specifically, the edge-constraint and color-constraint are proposed and explored in the GAN based image translation method to improve the performance. The motivation of the work is that color and edge are fundamental vision factors for an image, while in the traditional deep network based approach, there is a lack of fine control of these factors in the process of translation and the performance is degraded consequently. Our experiments and evaluations show that our novel method with the edge and color constrains is more stable, and significantly improves the performance compared with the traditional methods.
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.
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.
{Static characteristic extraction method Control flow-based features proposed by Ding has the ability to detect malicious code with higher accuracy than traditional Text-based methods. However, this method resolved NP-hard problem in a graph, therefore it is not feasible with the large-size and high-complexity programs. So, we propose the C500-CFG algorithm in Control flow-based features based on the idea of dynamic programming, solving Ding's NP-hard problem in O(N2) time complexity, where N is the number of basic blocks in decom-piled executable codes. Our algorithm is more efficient and more outstanding in detecting malware than Ding's algorithm: fast processing time, allowing processing large files, using less memory and extracting more feature information. Applying our algorithms with IoT data sets gives outstanding results on 2 measures: Accuracy = 99.34%
Software Defined Networking (SDN) provides opportunities for flexible and dynamic traffic engineering. However, in current SDN systems, routing strategies are based on traditional mechanisms which lack in real-time modification and less efficient resource utilization. To overcome these limitations, deep learning is used in this paper to improve the routing computation in SDN. This paper proposes Convolutional Deep Reinforcement Learning (CoDRL) model which is based on deep reinforcement learning agent for routing optimization in SDN to minimize the mean network delay and packet loss rate. The CoDRL model consists of Deep Deterministic Policy Gradients (DDPG) deep agent coupled with Convolution layer. The proposed model tends to automatically adapts the dynamic packet routing using network data obtained through the SDN controller, and provides the routing configuration that attempts to reduce network congestion and minimize the mean network delay. Hence, the proposed deep agent exhibits good convergence towards providing routing configurations that improves the network performance.
With the development of modern High-Speed Railway (HSR) and mobile communication systems, network operators have a strong demand to provide high-quality on-board Internet services for HSR passengers. Multi-path TCP (MPTCP) provides a potential solution to aggregate available network bandwidth, greatly overcoming throughout degradation and severe jitter using single transmission path during the high-speed train moving. However, the choose of MPTCP algorithms, i.e., Coupled or Uncoupled, has a great impact on the performance. In this paper, we investigate this interesting issue in the practical datasets along multiple HSR lines. Particularly, we collect the first-hand network datasets and analyze the characteristics and category of traffic flows. Based on this statistics, we measure and analyze the transmission performance for both mice flows and elephant ones with different MPTCP congestion control algorithms in HSR scenarios. The simulation results show that, by comparing with the coupled MPTCP algorithms, i.e., Fully Coupled and LIA, the uncoupled EWTCP algorithm provides more stable throughput and balances congestion window distribution, more suitable for the HSR scenario for elephant flows. This work provides significant reference for the development of on-board devices in HSR network systems.
In recent years, integration of Passive Optical Net-work(PON) and WiMAX (Worldwide Interoperability Microwave Access Network) network is attracting huge interest among many researchers. The continuous demand for large bandwidths with wider coverage area are the key drivers to this technology. This integration has led to high speed and cost efficient solution for internet accessibility. This paper investigates the issues related to traffic grooming, routing and resource allocation in the hybrid networks. The Elastic Optical Network forms Backbone and is integrated with WiMAX. In this novel approach, traffic grooming is carried out using light trail technique to minimize the bandwidth blocking ratio and also reduce the network resource consumption. The simulation is performed on different network topologies, where in the traffic is routed through three modes namely the pure Wireless Network, the Wireless-Optical/Optical-Wireless Network, the pure Optical Network keeping the network congestion in mind. The results confirm reduction in bandwidth blocking ratio in all the given networks coupled with minimum network resource utilization.
We present ctrlTCP, a method to combine the congestion controls of multiple TCP connections. In contrast to the previous methods such as the Congestion Manager, ctrlTCP can couple all TCP flows that leave one sender, traverse a common bottleneck (e.g., a home user's thin uplink) and arrive at different destinations. Using ns-2 simulations and an implementation in the FreeBSD kernel, we show that our mechanism reduces queuing delay, packet loss, and short flow completion times while enabling precise allocation of the share of the available bandwidth between the connections according to the needs of the applications.
The decisions made by machines are increasingly comparable in predictive performance to those made by humans, but these decision making processes are often concealed as black boxes. Additional techniques are required to extract understanding, and one such category are explanation methods. This research compares the explanations of two popular forms of artificial intelligence; neural networks and random forests. Researchers in either field often have divided opinions on transparency, and comparing explanations may discover similar ground truths between models. Similarity can help to encourage trust in predictive accuracy alongside transparent structure and unite the respective research fields. This research explores a variety of simulated and real-world datasets that ensure fair applicability to both learning algorithms. A new heuristic explanation method that extends an existing technique is introduced, and our results show that this is somewhat similar to the other methods examined whilst also offering an alternative perspective towards least-important features.
A recent study featuring a new kind of care robot indicated that participants expect a robot's ethical decision-making to be transparent to develop trust, even though the same type of `inspection of thoughts' isn't expected of a human carer. At first glance, this might suggest that robot transparency mechanisms are required for users to develop trust in robot-made ethical decisions. But the participants were found to desire transparency only when they didn't know the specifics of a human-robot social interaction. Humans trust others without observing their thoughts, which implies other means of determining trustworthiness. The study reported here suggests that the method is social interaction and observation, signifying that trust is a social construct. Moreover, that `social determinants of trust' are the transparent elements. This socially determined behaviour draws on notions of virtue ethics. If a caregiver (nurse or robot) consistently provides good, ethical care, then patients can trust that caregiver to do so often. The same social determinants may apply to care robots and thus it ought to be possible to trust them without the ability to see their thoughts. This study suggests why transparency mechanisms may not be effective in helping to develop trust in care robot ethical decision-making. It suggests that roboticists need to build sociable elements into care robots to help patients to develop patient trust in the care robot's ethical decision-making.
Trust is an important topic in medical human-robot interaction, since patients may be more fragile than other groups of people. This paper investigates the issue of users' trust when interacting with a rehabilitation robot. In the study, we investigate participants' heart rate and perception of safety in a scenario when their arm is led by the rehabilitation robot in two types of exercises at three different velocities. The participants' heart rate are measured during each exercise and the participants are asked how safe they feel after each exercise. The results showed that velocity and type of exercise has no significant influence on the participants' heart rate, but they do have significant influence on how safe they feel. We found that increasing velocity and longer exercises negatively influence participants' perception of safety.