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Luecking, M., Fries, C., Lamberti, R., Stork, W..  2020.  Decentralized Identity and Trust Management Framework for Internet of Things. 2020 IEEE International Conference on Blockchain and Cryptocurrency (ICBC). :1—9.

Today, Internet of Things (IoT) devices mostly operate in enclosed, proprietary environments. To unfold the full potential of IoT applications, a unifying and permissionless environment is crucial. All IoT devices, even unknown to each other, would be able to trade services and assets across various domains. In order to realize those applications, uniquely resolvable identities are essential. However, quantifiable trust in identities and their authentication are not trivially provided in such an environment due to the absence of a trusted authority. This research presents a new identity and trust framework for IoT devices, based on Distributed Ledger Technology (DLT). IoT devices assign identities to themselves, which are managed publicly and decentralized on the DLT's network as Self Sovereign Identities (SSI). In addition to the Identity Management System (IdMS), the framework provides a Web of Trust (WoT) approach to enable automatic trust rating of arbitrary identities. For the framework we used the IOTA Tangle to access and store data, achieving high scalability and low computational overhead. To demonstrate the feasibility of our framework, we provide a proof-of-concept implementation and evaluate the set objectives for real world applicability as well as the vulnerability against common threats in IdMSs and WoTs.

Bogdan-Iulian, C., Vasilică-Gabriel, S., Alexandru, M. D., Nicolae, G., Andrei, V..  2020.  Improved Secure Internet of Things System using Web Services and Low Power Single-board Computers. 2020 International Conference on e-Health and Bioengineering (EHB). :1—5.

Internet of Things (IoT) systems are becoming widely used, which makes them to be a high-value target for both hackers and crackers. From gaining access to sensitive information to using them as bots for complex attacks, the variety of advantages after exploiting different security vulnerabilities makes the security of IoT devices to be one of the most challenging desideratum for cyber security experts. In this paper, we will propose a new IoT system, designed to ensure five data principles: confidentiality, integrity, availability, authentication and authorization. The innovative aspects are both the usage of a web-based communication and a custom dynamic data request structure.

Shahkar, S., Khorasani, K..  2020.  A Resilient Control Against Time-Delay Switch and Denial of Service Cyber Attacks on Load Frequency Control of Distributed Power Systems. 2020 IEEE Conference on Control Technology and Applications (CCTA). :718—725.

A time-delay switch (TDS) cyber attack is a deliberate attempt by malicious adversaries aiming at destabilizing a power system by impeding the communication signals to/from the centralized controller from/to the network sensors and generating stations that participate in the load frequency control (LFC). A TDS cyber attack can be targeting the sensing loops (transmitting network measurements to the centralized controller) or the control signals dispatched from the centralized controller to the governor valves of the generating stations. A resilient TDS control strategy is proposed and developed in this work that thwarts network instabilities that are caused by delays in the sensing loops, and control commands, and guarantees normal operation of the LFC mechanism. This will be achieved by augmenting the telemetered control commands with locally generated feedback control laws (i.e., “decentralized” control commands) taking measurements that are available and accessible at the power generating stations (locally) independent from all the telemetered signals to/from the centralized controller. Our objective is to devise a controller that is capable of circumventing all types of TDS and DoS (Denial of Service) cyber attacks as well as a broad class of False Data Injection (FDI) cyber attacks.

Bouzegag, Y., Teguig, D., Maali, A., Sadoudi, S..  2020.  On the Impact of SSDF Attacks in Hard Combination Schemes in Cognitive Radio Networks. 020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP). :19–24.
One of the critical threats menacing the Cooperative Spectrum Sensing (CSS) in Cognitive Radio Networks (CRNs) is the Spectrum Sensing Data Falsification (SSDF) reports, which can deceive the decision of Fusion Center (FC) about the Primary User (PU) spectrum accessibility. In CSS, each CR user performs Energy Detection (ED) technique to detect the status of licensed frequency bands of the PU. This paper investigates the performance of different hard-decision fusion schemes (OR-rule, AND-rule, and MAJORITY-rule) in the presence of Always Yes and Always No Malicious User (AYMU and ANMU) over Rayleigh and Gaussian channels. More precisely, comparative study is conducted to evaluate the impact of such malicious users in CSS on the performance of various hard data combining rules in terms of miss detection and false alarm probabilities. Furthermore, computer simulations are carried out to show that the hard-decision fusion scheme with MAJORITY-rule is the best among hard-decision combination under AYMU attacks, OR-rule has the best detection performance under ANMU.
Joykutty, A. M., Baranidharan, B..  2020.  Cognitive Radio Networks: Recent Advances in Spectrum Sensing Techniques and Security. 2020 International Conference on Smart Electronics and Communication (ICOSEC). :878–884.
Wireless networks are very significant in the present world owing to their widespread use and its application in domains like disaster management, smart cities, IoT etc. A wireless network is made up of a group of wireless nodes that communicate with each other without using any formal infrastructure. The topology of the wireless network is not fixed and it can vary. The huge increase in the number of wireless devices is a challenge owing to the limited availability of wireless spectrum. Opportunistic spectrum access by Cognitive radio enables the efficient usage of limited spectrum resources. The unused channels assigned to the primary users may go waste in idle time. Cognitive radio systems will sense the unused channel space and assigns it temporarily for secondary users. This paper discusses about the recent trends in the two most important aspects of Cognitive radio namely spectrum sensing and security.
Thanuja, T. C., Daman, K. A., Patil, A. S..  2020.  Optimized Spectrum sensing Techniques for Enhanced Throughput in Cognitive Radio Network. 2020 International Conference on Emerging Smart Computing and Informatics (ESCI). :137–141.
The wireless communication is a backbone for a development of a nation. But spectrum is finite resource and issues like spectrum scarcity, loss of signal quality, transmission delay, raised in wireless communication system due to growth of wireless applications and exponentially increased number of users. Secondary use of a spectrum using Software Defined Radio (SDR) is one of the solutions which is also supported by TRAI. The spectrum sensing is key process in communication based on secondary use of spectrum. But energy consumption, added delay, primary users security are some threats in this system. Here in this paper we mainly focused on throughput optimization in secondary use of spectrum based on optimal sensing time and number of Secondary users during cooperative spectrum sensing in Cognitive radio networks.
Shekhawat, G. K., Yadav, R. P..  2020.  Sparse Code Multiple Access based Cooperative Spectrum Sensing in 5G Cognitive Radio Networks. 2020 5th International Conference on Computing, Communication and Security (ICCCS). :1–6.
Fifth-generation (5G) network demands of higher data rate, massive user connectivity and large spectrum can be achieve using Sparse Code Multiple Access (SCMA) scheme. The integration of cognitive feature spectrum sensing with SCMA can enhance the spectrum efficiency in a heavily dense 5G wireless network. In this paper, we have investigated the primary user detection performance using SCMA in Centralized Cooperative Spectrum Sensing (CCSS). The developed model can support massive user connectivity, lower latency and higher spectrum utilization for future 5G networks. The simulation study is performed for AWGN and Rayleigh fading channel. Log-MPA iterative receiver based Log-Likelihood Ratio (LLR) soft test statistic is passed to Fusion Center (FC). The Wald-hypothesis test is used at FC to finalize the PU decision.
Yamaguchi, S..  2020.  Botnet Defense System and Its Basic Strategy Against Malicious Botnet. 2020 IEEE International Conference on Consumer Electronics - Taiwan (ICCE-Taiwan). :1—2.

This paper proposes a basic strategy for Botnet Defense System (BDS). BDS is a cybersecurity system that utilizes white-hat botnets to defend IoT systems against malicious botnets. Once a BDS detects a malicious botnet, it launches white-hat worms in order to drive out the malicious botnet. The proposed strategy aims at the proper use of the worms based on the worms' capability such as lifespan and secondary infectivity. If the worms have high secondary infectivity or a long lifespan, the BDS only has to launch a few worms. Otherwise, it should launch as many worms as possible. The effectiveness of the strategy was confirmed through the simulation evaluation using agent-oriented Petri nets.

Guibene, K., Ayaida, M., Khoukhi, L., MESSAI, N..  2020.  Black-box System Identification of CPS Protected by a Watermark-based Detector. 2020 IEEE 45th Conference on Local Computer Networks (LCN). :341–344.

The implication of Cyber-Physical Systems (CPS) in critical infrastructures (e.g., smart grids, water distribution networks, etc.) has introduced new security issues and vulnerabilities to those systems. In this paper, we demonstrate that black-box system identification using Support Vector Regression (SVR) can be used efficiently to build a model of a given industrial system even when this system is protected with a watermark-based detector. First, we briefly describe the Tennessee Eastman Process used in this study. Then, we present the principal of detection scheme and the theory behind SVR. Finally, we design an efficient black-box SVR algorithm for the Tennessee Eastman Process. Extensive simulations prove the efficiency of our proposed algorithm.

Ashraf, S., Ahmed, T..  2020.  Sagacious Intrusion Detection Strategy in Sensor Network. 2020 International Conference on UK-China Emerging Technologies (UCET). :1—4.
Almost all smart appliances are operated through wireless sensor networks. With the passage of time, due to various applications, the WSN becomes prone to various external attacks. Preventing such attacks, Intrusion Detection strategy (IDS) is very crucial to secure the network from the malicious attackers. The proposed IDS methodology discovers the pattern in large data corpus which works for different types of algorithms to detect four types of Denial of service (DoS) attacks, namely, Grayhole, Blackhole, Flooding, and TDMA. The state-of-the-art detection algorithms, such as KNN, Naïve Bayes, Logistic Regression, Support Vector Machine (SVM), and ANN are applied to the data corpus and analyze the performance in detecting the attacks. The analysis shows that these algorithms are applicable for the detection and prediction of unavoidable attacks and can be recommended for network experts and analysts.
Singh, A. K..  2020.  A Multi-Layered Network Model for Blockchain Based Security Surveillance system. 2020 IEEE International Conference for Innovation in Technology (INOCON). :1—5.

Blockchain technology is a decentralized ledger of all transactions across peer to peer network. Being decentralized in nature, a blockchain is highly secure as no single user can alter or remove an entry in the blockchain. The security of office premises and data is a very major concern for any organization. This paper majorly focuses on its application of blockchain technology in security surveillance. This paper proposes a blockchain based multi level network model for security surveillance system. The proposed system architecture is composed of different blockchain based systems connected to a multi level decentralized blockchain system to insure authentication, secure storage, Integrity and accountability.

Moormann, L., Mortel-Fronczak, J. M. van de, Fokkink, W. J., Rooda, J. E..  2020.  Exploiting Symmetry in Dependency Graphs for Model Reduction in Supervisor Synthesis. 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). :659–666.
Supervisor synthesis enables the design of supervisory controllers for large cyber-physical systems, with high guarantees for functionality and safety. The complexity of the synthesis problem, however, increases exponentially with the number of system components in the cyber-physical system and the number of models of this system, often resulting in lengthy or even unsolvable synthesis procedures. In this paper, a new method is proposed for reducing the model of the system before synthesis to decrease the required computational time and effort. The method consists of three steps for model reduction, that are mainly based on symmetry in dependency graphs of the system. Dependency graphs visualize the components in the system and the relations between these components. The proposed method is applied in a case study on the design of a supervisory controller for a road tunnel. In this case study, the model reduction steps are described, and results are shown on the effectiveness of model reduction in terms of model size and synthesis time.
Pelissero, N., Laso, P. M., Puentes, J..  2020.  Naval cyber-physical anomaly propagation analysis based on a quality assessed graph. 2020 International Conference on Cyber Situational Awareness, Data Analytics and Assessment (CyberSA). :1–8.
As any other infrastructure relying on cyber-physical systems (CPS), naval CPS are highly interconnected and collect considerable data streams, on which depend multiple command and navigation decisions. Being a data-driven decision system requiring optimized supervisory control on a permanent basis, it is critical to examine the CPS vulnerability to anomalies and their propagation. This paper presents an approach to detect CPS anomalies and estimate their propagation applying a quality assessed graph, which represents the CPS physical and digital subsystems, combined with system variables dependencies and a set of data and information quality measures vectors. Following the identification of variables dependencies and high-risk nodes in the CPS, data and information quality measures reveal how system variables are modified when an anomaly is detected, also indicating its propagation path. Taking as reference the normal state of a naval propulsion management system, four anomalies in the form of cyber-attacks - port scan, programmable logical controller stop, and man in the middle to change the motor speed and operation of a tank valve - were produced. Three anomalies were properly detected and their propagation path identified. These results suggest the feasibility of anomaly detection and estimation of propagation estimation in CPS, applying data and information quality analysis to a system graph.
Rehan, S., Singh, R..  2020.  Industrial and Home Automation, Control, Safety and Security System using Bolt IoT Platform. 2020 International Conference on Smart Electronics and Communication (ICOSEC). :787—793.
This paper describes a system that comprises of control, safety and security subsystem for industries and homes. The entire system is based on the Bolt IoT platform. Using this system, the user can control the devices such as LEDs, speed of the fan or DC motor, monitor the temperature of the premises with an alert sub-system for critical temperatures through SMS and call, monitor the presence of anyone inside the premises with an alert sub-system about any intrusion through SMS and call. If the system is used specifically in any industry then instead of monitoring the temperature any other physical quantity, which is critical for that industry, can be monitored using suitable sensors. In addition, the cloud connectivity is provided to the system using the Bolt IoT module and temperature data is sent to the cloud where using machine-learning algorithm the future temperature is predicted to avoid any accidents in the future.
Inshi, S., Chowdhury, R., Elarbi, M., Ould-Slimane, H., Talhi, C..  2020.  LCA-ABE: Lightweight Context-Aware Encryption for Android Applications. 2020 International Symposium on Networks, Computers and Communications (ISNCC). :1—6.

The evolving of context-aware applications are becoming more readily available as a major driver of the growth of future connected smart, autonomous environments. However, with the increasing of security risks in critical shared massive data capabilities and the increasing regulation requirements on privacy, there is a significant need for new paradigms to manage security and privacy compliances. These challenges call for context-aware and fine-grained security policies to be enforced in such dynamic environments in order to achieve efficient real-time authorization between applications and connected devices. We propose in this work a novel solution that aims to provide context-aware security model for Android applications. Specifically, our proposition provides automated context-aware access control model and leverages Attribute-Based Encryption (ABE) to secure data communications. Thorough experiments have been performed and the evaluation results demonstrate that the proposed solution provides an effective lightweight adaptable context-aware encryption model.

Lanotte, R., Merro, M., Munteanu, A..  2020.  Runtime Enforcement for Control System Security. 2020 IEEE 33rd Computer Security Foundations Symposium (CSF). :246–261.
With the explosion of Industry 4.0, industrial facilities and critical infrastructures are transforming into “smart” systems that dynamically adapt to external events. The result is an ecosystem of heterogeneous physical and cyber components, such as programmable logic controllers, which are more and more exposed to cyber-physical attacks, i.e., security breaches in cyberspace that adversely affect the physical processes at the core of industrial control systems. We apply runtime enforcement techniques, based on an ad-hoc sub-class of Ligatti et al.'s edit automata, to enforce specification compliance in networks of potentially compromised controllers, formalised in Hennessy and Regan's Timed Process Language. We define a synthesis algorithm that, given an alphabet P of observable actions and an enforceable regular expression e capturing a timed property for controllers, returns a monitor that enforces the property e during the execution of any (potentially corrupted) controller with alphabet P and complying with the property e. Our monitors correct and suppress incorrect actions coming from corrupted controllers and emit actions in full autonomy when the controller under scrutiny is not able to do so in a correct manner. Besides classical properties, such as transparency and soundness, the proposed enforcement ensures non-obvious properties, such as polynomial complexity of the synthesis, deadlock- and diverge-freedom of monitored controllers, together with scalability when dealing with networks of controllers.
Bentahar, A., Meraoumia, A., Bendjenna, H., Chitroub, S., Zeroual, A..  2020.  Fuzzy Extractor-Based Key Agreement for Internet of Things. 020 1st International Conference on Communications, Control Systems and Signal Processing (CCSSP). :25–29.
The emergence of the Internet of Things with its constraints obliges researchers in this field to find light and accurate solutions to secure the data exchange. This document presents secure authentication using biometrics coupled with an effective key agreement scheme to save time and energy. In our scheme, the agreed key is used to encrypt transmission data between different IoT actors. While the fuzzy extractor based on the fuzzy vault principle, is used as authentication and as key agreement scheme. Besides, our system incorporates the Reed Solomon and Hamming codes to give some tolerance to errors. The experimental results have been discussed according to several recognition rates and computation times. Indeed, the recognition rate results have been compared to other works to validate our system. Also, we clarify how our system resists to specific transmission attacks without affecting lightness and accuracy.
Jithish, J., Sankaran, S., Achuthan, K..  2020.  Towards Ensuring Trustworthiness in Cyber-Physical Systems: A Game-Theoretic Approach. 2020 International Conference on COMmunication Systems NETworkS (COMSNETS). :626–629.

The emergence of Cyber-Physical Systems (CPSs) is a potential paradigm shift for the usage of Information and Communication Technologies (ICT). From predominantly a facilitator of information and communication services, the role of ICT in the present age has expanded to the management of objects and resources in the physical world. Thus, it is imperative to devise mechanisms to ensure the trustworthiness of data to secure vulnerable devices against security threats. This work presents an analytical framework based on non-cooperative game theory to evaluate the trustworthiness of individual sensor nodes that constitute the CPS. The proposed game-theoretic model captures the factors impacting the trustworthiness of CPS sensor nodes. Further, the model is used to estimate the Nash equilibrium solution of the game, to derive a trust threshold criterion. The trust threshold represents the minimum trust score required to be maintained by individual sensor nodes during CPS operation. Sensor nodes with trust scores below the threshold are potentially malicious and may be removed or isolated to ensure the secure operation of CPS.

Leff, D., Maskay, A., Cunha, M. P. da.  2020.  Wireless Interrogation of High Temperature Surface Acoustic Wave Dynamic Strain Sensor. 2020 IEEE International Ultrasonics Symposium (IUS). :1–4.
Dynamic strain sensing is necessary for high-temperature harsh-environment applications, including powerplants, oil wells, aerospace, and metal manufacturing. Monitoring dynamic strain is important for structural health monitoring and condition-based maintenance in order to guarantee safety, increase process efficiency, and reduce operation and maintenance costs. Sensing in high-temperature (HT), harsh-environments (HE) comes with challenges including mounting and packaging, sensor stability, and data acquisition and processing. Wireless sensor operation at HT is desirable because it reduces the complexity of the sensor connection, increases reliability, and reduces costs. Surface acoustic wave resonators (SAWRs) are compact, can operate wirelessly and battery-free, and have been shown to operate above 1000°C, making them a potential option for HT HE dynamic strain sensing. This paper presents wirelessly interrogated SAWR dynamic strain sensors operating around 288.8MHz at room temperature and tested up to 400°C. The SAWRs were calibrated with a high-temperature wired commercial strain gauge. The sensors were mounted onto a tapered-type Inconel constant stress beam and the assembly was tested inside a box furnace. The SAWR sensitivity to dynamic strain excitation at 25°C, 100°C, and 400°C was .439 μV/με, 0.363μV/με, and .136 μV/με, respectively. The experimental outcomes verified that inductive coupled wirelessly interrogated SAWRs can be successfully used for dynamic strain sensing up to 400°C.
Portaluri, G., Giordano, S..  2020.  Gambling on fairness: a fair scheduler for IIoT communications based on the shell game. 2020 IEEE 25th International Workshop on Computer Aided Modeling and Design of Communication Links and Networks (CAMAD). :1–6.
The Industrial Internet of Things (IIoT) paradigm represents nowadays the cornerstone of the industrial automation since it has introduced new features and services for different environments and has granted the connection of industrial machine sensors and actuators both to local processing and to the Internet. One of the most advanced network protocol stack for IoT-IIoT networks that have been developed is 6LoWPAN which supports IPv6 on top of Low-power Wireless Personal Area Networks (LoWPANs). 6LoWPAN is usually coupled with the IEEE 802.15.4 low-bitrate and low-energy MAC protocol that relies on the time-slotted channel hopping (TSCH) technique. In TSCH networks, a coordinator node synchronizes all end-devices and specifies whether (and when) they can transmit or not in order to improve their energy efficiency. In this scenario, the scheduling strategy adopted by the coordinator plays a crucial role that impacts dramatically on the network performance. In this paper, we present a novel scheduling strategy for time-slot allocation in IIoT communications which aims at the improvement of the overall network fairness. The proposed strategy mimics the well-known shell game turning the totally unfair mechanics of this game into a fair scheduling strategy. We compare our proposal with three allocation strategies, and we evaluate the fairness of each scheduler showing that our allocator outperforms the others.
Yang, B., Liu, F., Yuan, L., Zhang, Y..  2020.  6LoWPAN Protocol Based Infrared Sensor Network Human Target Locating System. 2020 15th IEEE Conference on Industrial Electronics and Applications (ICIEA). :1773–1779.
This paper proposes an infrared sensor human target locating system for the Internet of Things. In this design, the wireless sensor network is designed and developed to detect human targets by using 6LoWPAN protocol and pyroelectric infrared (PIR) sensors. Based on the detection data acquired by multiple sensor nodes, K-means++ clustering algorithm combined with cost function is applied to complete human target location in a 10m×10m detection area. The experimental results indicate the human locating system works well and the user can view the location information on the terminal devices.
Bediya, A. K., Kumar, R..  2020.  Real Time DDoS Intrusion Detection and Monitoring Framework in 6LoWPAN for Internet of Things. 2020 IEEE International Conference on Computing, Power and Communication Technologies (GUCON). :824–828.
The Internet of things is an extremely enormous space and still, IoT is spreading over a wide range of zones of development with very fast speed. The IoT is going to create a new world of efficient services. IoT is a collective system consisting of hardware like sensors, Radio Frequency Identification RFID, Bluetooth devices, Near Field Communication (NFC) devices, etc. and software that provides data queries, exchange, repository and exchanges, etc. Security of the IoT network is also a big and important issue of concern. This paper reviews the DDoS attack impact on IoT network and its mitigation methods for IoT in network, also discusses CoAP protocol, RPL protocol and 6LoWPAN network. This paper also represents the security framework to detect and monitor the DDoS attack for low power devices based IoT network.
Lim, K., Islam, T., Kim, H., Joung, J..  2020.  A Sybil Attack Detection Scheme based on ADAS Sensors for Vehicular Networks. 2020 IEEE 17th Annual Consumer Communications Networking Conference (CCNC). :1–5.
Vehicular Ad Hoc Network (VANET) is a promising technology for autonomous driving as it provides many benefits and user conveniences to improve road safety and driving comfort. Sybil attack is one of the most serious threats in vehicular communications because attackers can generate multiple forged identities to disseminate false messages to disrupt safety-related services or misuse the systems. To address this issue, we propose a Sybil attack detection scheme using ADAS (Advanced Driving Assistant System) sensors installed on modern passenger vehicles, without the assistance of trusted third party authorities or infrastructure. Also, a deep learning based object detection technique is used to accurately identify nearby objects for Sybil attack detection and the multi-step verification process minimizes the false positive of the detection.
Hadiansyah, R., Suryani, V., Wardana, A. A..  2020.  IoT Object Security towards the Sybil Attack Using the Trustworthiness Management. 2020 8th International Conference on Information and Communication Technology (ICoICT). :1–4.

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.

Ababii, V., Sudacevschi, V., Braniste, R., Nistiriuc, A., Munteanu, S., Borozan, O..  2020.  Multi-Robot System Based on Swarm Intelligence for Optimal Solution Search. 2020 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA). :1–5.
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.