Biblio

We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning times are still in the order of tens of seconds or minutes, and the success rates are low for difficult instances of the problem. We build on these control-based randomized planning approaches, but we investigate using them in conjunction with human-operator input. In our framework, the human operator supplies a high-level plan, in the form of an ordered sequence of objects and their approximate goal positions. We present experiments in simulation and on a real robotic setup, where we compare the success rate and planning times of our human-in-the-loop approach with fully autonomous sampling-based planners. We show that with a minimal amount of human input, the low-level planner can solve the problem faster and with higher success rates.

The full integration of Remotely Piloted Aircraft Systems (RPAS) in non-segregated airspace is one of the major objectives for the worldwide aviation organizations and authorities. However, there are several technological and regulatory issues due to the increase of the air traffic in the next years and to the need of keeping high safety levels. In this framework, a real-time validation environment capable to simulate complex scenarios related to future air traffic management (ATM) conditions is of paramount importance. These facilities allow detailed testing and tuning of new technologies and procedures before executing flight tests. With such motivations, the Italian Aerospace Research Centre has developed the Integrated Simulation Facility (ISF) able to accurately reproduce ATM complex scenarios in real-time with hardware and human in-the-loop simulations, aiming to validate new ATM procedures and innovative system prototypes for RPAS and General Aviation aircraft. In the present work, the ISF facility has been used for reproducing relevant ATM scenarios to validate the functionalities of a Detect and Avoid system (DAA). The results of the ISF test campaign demonstrate the effectiveness of the developed algorithm in the autonomous resolution of mid-air collisions in presence of both air traffic and fixed obstacles (i.e. bad weather areas, no-fly-zone and terrain) and during critical flight phases, thus exceeding the current DAA state-of-the-art.

In recent days cloud domain gains a lot of user attention in order to store and access the data from remote locations connected through the internet. As it is generally known that all the sensitive data come from remote locations will be stored in the centralized storage medium and then try to access the data from that centralized storage space controlled by the cloud server. It is facing a problem like there is no security for the data in terms of user authorization and data authentication from the centralized storage location. Hence, it is required to migrate for a new storage procedure like Decentralized storage of cloud data in which the systems that do not rely on a central authority, so that the collusion resistance can be avoided by maintaining a global identifier. Here, the term de-centralized access means granting multi authorities to control the access for providing more security for the sensitive data. The proposed research study attempts to develop a new scheme by adding a global identifier like Attribute Authority (AA) for providing access keys for the data users who wish to access the sensitive information from the cloud server. The proposed research work attempts to incorporate the composite order bilinear groups scheme for providing access facility for the data users and provide more security for the sensitive data. By conducting various experiments on the proposed model, the obtained result clearly tells that the proposed system is very efficient to access the data in a de-centralized manner by using a global identifier.

Modern cyberattacks are the most powerful disturbance factor for computer networks, as they have a complex and devastating impact. The impact of cyberattacks is primarily aimed at disrupting the performance of computer network protection means. Therefore, managing this defense system in the face of cyberattacks is an important task. The paper examines a technique for constructing an effective control system for a computer network security system operating in real time in the context of cyber attacks. It is supposed that it is built on the basis of constructing a system state space and a stack of control decisions. The probability of finding the security system in certain state at each control step is calculated using a finite Markov chain. The technique makes it possible to predict the number of iterations for managing the security system when exposed to cyber attacks, depending on the segment of the space of its states and the selected number of transitions, as well as automatically generate control decisions. An algorithm has been developed for situational control of a computer network security system in conditions of cyber attacks. The experimental results obtained using the generated dataset demonstrated the high efficiency of the developed technique and the ability to use it to determine the parameters that are most susceptible to abnormal deviations during the impact of cyber attacks.

In more electrical aircraft, the embedded electrical network is handling more and more vital functions, being more and more strained as well. Attenuation of switching harmonics is a key step in the network reliability, thus filtering elements play a central role. To keep the weight of the embedded network reasonable, weakly damped high-order filters shall be preferred. Flatness-based control (FBC) can offer both high bandwidth regulation and large signal stability proof. This make FBC a good candidate to handle the inherent oscillating behavior of aforementioned filters. However, this control strategy can be tricky to implement, especially with high order systems. Moreover, FBC is more sensor demanding than classic PI-based control. This paper address these two drawbacks. First, a novel trajectory planning for high order systems is proposed. This method does not require multiple derivations. Then the input sensors are removed thanks to a parameters estimator. Feasibility and performances are verified with experimental results. Performances comparison with cascaded-loop topologies are given in final section to prove the relevance of the proposed control strategy.

Code-reuse techniques have emerged as a way to defeat the control-flow defenses that prevent the injection and execution of new code, as they allow an adversary to hijack the control flow of a victim program without injected code. A well-known code-reuse attack technique is Return-OrientedProgramming (ROP), which considers and links together (relatively short) code snippets, named ROP gadgets, already present in the victim’s memory address space through a controlled use of the stack values of the victim program. Although ROP attacks are known to be Turing-complete, there are still open question such as the quantification of the executional power of an adversary, which is determined by whatever code exists in the memory of a victim program, and whether an adversary can build a ROP chain, made up of ROP gadgets, for any kind of algorithm. To fill these gaps, in this paper we first define a virtual language, dubbed ROPLANG, that defines a set of operations (specifically, arithmetic, assignment, dereference, logical, and branching operations) which are mapped to ROP gadgets. We then use it to evaluate the executional power of an adversary in Windows 7 and Windows 10, in both 32- and 64-bit versions. In addition, we have developed ROP3, a tool that accepts a set of program files and a ROP chain described with our language and returns the code snippets that make up the ROP chain. Our results show that there are enough ROP gadgets to simulate any virtual operation and that branching operations are the less frequent ones. As expected, our results also indicate that the larger a program file is, the more likely to find ROP gadgets within it for every virtual operation.

Modern control flow attacks circumvent existing defense mechanisms to transfer the program control to attacker chosen malicious code in the program, leaving application vulnerable to attack. Advanced attacks such as Return-Oriented Programming (ROP) attack and its variants, transfer program execution to gadgets (code-snippet that ends with return instruction). The code space to generate gadgets is large and attacks using these gadgets are Turing-complete. One big challenge to harden the program against ROP attack is to confine gadget selection to a limited locations, thus leaving the attacker to search entire code space according to payload criteria. In this paper, we present a novel approach to label the nodes of the Control-Flow Graph (CFG) of a program such that labels of the nodes on a valid control flow edge satisfy a Hamming distance property. The newly encoded CFG enables detection of illegal control flow transitions during the runtime in the processor pipeline. Experimentally, we have demonstrated that the proposed Control Flow Integrity (CFI) implementation is effective against control-flow hijacking and the technique can reduce the search space of the ROP gadgets upto 99.28%. We have also validated our technique on seven applications from MiBench and the proposed labeling mechanism incurs no instruction count overhead while, on average, it increases instruction width to a maximum of 12.13%.

Return-oriented programming (ROP)is a technique used to break data execution protection(DEP). Existing ROP chain automatic construction technology cannot effectively use program controllable memory area. In order to improve the utilization of memory space, this paper proposes a method of ROP chain fragmentation layout. By searching the controllable memory area of the program, a set of layoutable space is formed, and the overall ROP chain is segmented to add jump instructions at the end of each segment, thereby achieving a fragmented layout of the ROP chain. The prototype system ROP-chip based on S2E proved the effectiveness of the fragmented layout of the ROP chain.

The dynamic and adaptable characteristics of mobile ad hoc networks have made it a significant field for deploying various applications in wireless sensor networks. Increasing popularity of the portable devices is the main reason for the development of mobile ad hoc networks. Furthermore, the network does not require a fixed architecture and it is easy to deploy. This type of network is highly vulnerable to cyber-attacks as the nodes communicate with each other through a Wireless medium. The most critical attack in ad hoc network is jellyfish attack. In this research we have proposed a Direct Trust-based Detection Algorithm to detect and prevent jellyfish attack in MANET.

The ability to react to a malicious attack starts with high fidelity recognition, and with that, an agile response to the attack. The current Operational Technology (OT) systems for a critical infrastructure include an intrusion detection system (IDS), but the ability to adapt to an intrusion is a human initiated response. Orchestrators, which are coming of age in the financial sector and allow for levels of automated response, are not prevalent in the OT space. To evolve to such responses in the OT space, a tradeoff analysis is first needed. This tradeoff analysis should evaluate the mitigation benefits of responses versus the physical affects that result. Providing an informed and automated response decision. This paper presents a formulation of a novel tradeoff analysis and its use in advancing a cyber-physical architecture for automated responses (CyPhAAR).

Nowadays, massive amounts of data are stored in the cloud, how to access control the cloud data has become a prerequisite for protecting the security of cloud data. In order to address the problems of centralized control and privacy protection in current access control, we propose an access control scheme based on the blockchain and re-encryption technology, namely PERBAC-BC scheme. The access control policy is managed by the decentralized and immutability characteristics of blockchain, while the re-encryption is protected by the trusted computing characteristic of blockchain and the privacy is protected by the identity re-encryption technology. The overall structure diagram and detailed execution flow of the scheme are given in this paper. Experimental results show that, compared with the traditional hybrid encryption scheme, the time and space consumption is less when the system is expanded. Then, the time and space performance of each part of the scheme is simulated, and the security of blockchain is proved. The results also show that the time and space performance of the scheme are better and the security is stronger, which has certain stability and expandability.

When a robot breaks a person's trust by making a mistake or failing, continued interaction will depend heavily on how the robot repairs the trust that was broken. Prior work in psychology has demonstrated that both the trust violation framing and the trust repair strategy influence how effectively trust can be restored. We investigate trust repair between a human and a robot in the context of a competitive game, where a robot tries to restore a human's trust after a broken promise, using either a competence or integrity trust violation framing and either an apology or denial trust repair strategy. Results from a 2×2 between-subjects study ( n=82) show that participants interacting with a robot employing the integrity trust violation framing and the denial trust repair strategy are significantly more likely to exhibit behavioral retaliation toward the robot. In the Dyadic Trust Scale survey, an interaction between trust violation framing and trust repair strategy was observed. Our results demonstrate the importance of considering both trust violation framing and trust repair strategy choice when designing robots to repair trust. We also discuss the influence of human-to-robot promises and ethical considerations when framing and repairing trust between a human and robot.

In this paper, we propose a compositional scheme for the construction of abstractions for networks of control systems by using the interconnection matrix and joint dissipativity-type properties of subsystems and their abstractions. In the proposed framework, the abstraction, itself a control system (possibly with a lower dimension), can be used as a substitution of the original system in the controller design process. Moreover, we provide a procedure for constructing abstractions of a class of nonlinear control systems by using the bounds on the slope of system nonlinearities. We illustrate the proposed results on a network of linear control systems by constructing its abstraction in a compositional way without requiring any condition on the number or gains of the subsystems. We use the abstraction as a substitute to synthesize a controller enforcing a certain linear temporal logic specification. This example particularly elucidates the effectiveness of dissipativity-type compositional reasoning for large-scale systems.

We consider a compositional construction of approximate abstractions of interconnected control systems. In our framework, an abstraction acts as a substitute in the controller design process and is itself a continuous control system. The abstraction is related to the concrete control system via a so-called simulation function: a Lyapunov-like function, which is used to establish a quantitative bound between the behavior of the approximate abstraction and the concrete system. In the first part of the paper, we provide a small gain type condition that facilitates the compositional construction of an abstraction of an interconnected control system together with a simulation function from the abstractions and simulation functions of the individual subsystems. In the second part of the paper, we restrict our attention to linear control system and characterize simulation functions in terms of controlled invariant, externally stabilizable subspaces. Based on those characterizations, we propose a particular scheme to construct abstractions for linear control systems. We illustrate the compositional construction of an abstraction on an interconnected system consisting of four linear subsystems. We use the abstraction as a substitute to synthesize a controller to enforce a certain linear temporal logic specification.

At present, the network architecture is based on the TCP/IP protocol and node communications are achieved by the IP address and identifier of the node. The IP address in the network remains basically unchanged, so it is more likely to be attacked by network intruder. To this end, it is important to make periodic dynamic hopping in a specific address space possible, so that an intruder fails to obtain the internal network address and grid topological structure in real time and to continue to perform infiltration by the building of a new address space layout randomization system on the basis of SDN from the perspective of an attacker.

This paper presents a framework for medium access control (MAC) and physical (PRY) cross-layer security design of wireless avionics intra-communications (WAICs). The paper explores the different options based on the latest results of MAC-PRY cross-layer design and the available standard technologies for WAICs. Particular emphasis is given to solutions based on multiple-input multiple-output (MIMO) systems and recent developments towards a wireless technology with ultra-low latency and high reliability in the context of 5G and machine-type traffic support. One major objective is to improve WAICs technology and thus match the real-time, reliability and safety critical performance of the internal aeronautics bus technologies (e.g., ARINC 664). The main identified vulnerabilities and potential solutions are explored, as well as their impact on system design complexity and feasibility for wireless networks on-board aircraft. The solutions are presented in the context of the European project SCOTT (secure connected trustable things) using the recently released reference architecture for trusted IoT systems. Other aspects of SCOTT such as trust, privacy, security classes, and safety are also discussed here for the aeronautics domain.

Mobile Ad hoc Network (MANET) is the collection of mobile devices which could change the locations and configure themselves without a centralized base point. Mobile Ad hoc Networks are vulnerable to attacks due to its dynamic infrastructure. The routing attacks are one among the possible attacks that causes damage to MANET. This paper gives a new method of risk aware response technique which is combined version the Dijkstra's shortest path algorithm and Destination Sequenced Distance Vector (DSDV) algorithm. This can reduce black hole attacks. Dijkstra's algorithm finds the shortest path from the single source to the destination when the edges have positive weights. The DSDV is an improved version of the conventional technique by adding the sequence number and next hop address in each routing table.

Voice-based input is usually used as the primary input method for augmented reality (AR) headsets due to immersive AR experience and good recognition performance. However, recent researches have shown that an attacker can inject inaudible voice commands to the devices that lack voice verification. Even if we secure voice input with voice verification techniques, an attacker can easily steal the victim's voice using low-cast handy recorders and replay it to voice-based applications. To defend against voice-spoofing attacks, AR headsets should be able to determine whether the voice is from the person who is using the AR headsets. Existing voice-spoofing defense systems are designed for smartphone platforms. Due to the special locations of microphones and loudspeakers on AR headsets, existing solutions are hard to be implemented on AR headsets. To address this challenge, in this paper, we propose a voice-spoofing defense system for AR headsets by leveraging both the internal body propagation and the air propagation of human voices. Experimental results show that our system can successfully accept normal users with average accuracy of 97% and defend against two types of attacks with average accuracy of at least 98%.

The NOC Network on chip provides better performance and scalability communication structures point-to-point signal node, shared through bus architecture. Information analysis of method using the IOT termination, as the energy consumed in this regard reduces and reduces the network load but it also displays safety concerns because the valuation data is stored or transmitted to the network in various stages of the node. Using encryption to protect data on the area of network-on-chip Analysis Machine is a way to solve data security issues. We propose a Network on chip based on a combined multicore cluster with special packages for computing-intensive data processing and encryption functionality and support for software, in a tight power envelope for analyzing and coordinating integrated encryption. Programming for regular computing tasks is the challenge of efficient and secure data analysis for IOT end-end applications while providing full-functionality with high efficiency and low power to satisfy the needs of multiple processing applications. Applications provide a substantial parallel, so they can also use NOC's ability. Applications must compose in. This system controls the movement of the packets through the network. As network on chip (NOC) systems become more prevalent in the processing unit. Routers and interconnection networks are the main components of NOC. This system controls the movement of packets over the network. Chip (NOC) networks are very backward for the network processing unit. Guides and Link Networks are critical elements of the NOC. Therefore, these areas require less access and power consumption, so we can better understand environmental and energy transactions. In this manner, a low-area and efficient NOC framework were proposed by removing virtual channels.

Data leakage and disclosure to attackers is a significant problem in embedded systems, considering the ability of attackers to get physical access to the systems. We present methods to protect memory data leakage in tamper-proof embedded systems. We present methods that exploit memory supply voltage manipulation to change the memory contents, leading to an operational and reusable memory or to destroy memory cell circuitry. For the case of memory data change, we present scenaria for data change to a known state and to a random state. The data change scenaria are effective against attackers who cannot detect the existence of the protection circuitry; furthermore, original data can be calculated in the case of data change to a known state, if the attacker identifies the protection circuitry and its operation. The methods that change memory contents to a random state or destroy memory cell circuitry lead to irreversible loss of the original data. However, since the known state can be used to calculate the original data.

We investigate a method of building a closed domain intelligent conversational agent using deep neural networks. A conversational agent is a dialog system intended to converse with a human, with a coherent structure. Our conversational agent uses a retrieval based model that identifies the intent of the input user query and maps it to a knowledge base to return appropriate results. Human conversations are based on context, but existing conversational agents are context insensitive. To overcome this limitation, our system uses a simple stack based context identification and storage system. The conversational agent generates responses according to the current context of conversation. allowing more human-like conversations.

In VLSI industry the design cycle is categorized into Front End Design and Back End Design. Front End Design flow is from Specifications to functional verification of RTL design. Back End Design is from logic synthesis to fabrication of chip. Handheld devices like Mobile SOC's is an amalgamation of many components like GPU, camera, sensor, display etc. on one single chip. In order to integrate these components protocols are needed. One such protocol in the emerging trend is I3C protocol. I3C is abbreviated as Improved Inter Integrated Circuit developed by Mobile Industry Processor Interface (MIPI) alliance. Most probably used for the interconnection of sensors in Mobile SOC's. The main motivation of adapting the standard is for the increase speed and low pin count in most of the hardware chips. The bus protocol is backward compatible with I2C devices. The paper includes detailed study I3C bus protocol and developing verification environment for the protocol. The test bench environment is written and verified using system Verilog and UVM. The Universal Verification Methodology (UVM) is base class library built using System Verilog which provides the fundamental blocks needed to quickly develop reusable and well-constructed verification components and test environments. The Functional Coverage of around 93.55 % and Code Coverage of around 98.89 % is achieved by verification closure.

With the growth of technology, designs became more complex and may contain bugs. This makes verification an indispensable part in product development. UVM describe a standard method for verification of designs which is reusable and portable. This paper verifies IIC bus protocol using Universal Verification Methodology. IIC controller is designed in Verilog using Vivado. It have APB interface and its function and code coverage is carried out in Mentor graphic Questasim 10.4e. This work achieved 83.87% code coverage and 91.11% functional coverage.

This paper presents a control strategy for Cyber-Physical System defense developed in the framework of the European Project ATENA, that concerns Critical Infrastructure (CI) protection. The aim of the controller is to find the optimal security configuration, in terms of countermeasures to implement, in order to address the system vulnerabilities. The attack/defense problem is modeled as a multi-agent general sum game, where the aim of the defender is to prevent the most damage possible by finding an optimal trade-off between prevention actions and their costs. The problem is solved utilizing Reinforcement Learning and simulation results provide a proof of the proposed concept, showing how the defender of the protected CI is able to minimize the damage caused by his her opponents by finding the Nash equilibrium of the game in the zero-sum variant, and, in a more general scenario, by driving the attacker in the position where the damage she/he can cause to the infrastructure is lower than the cost it has to sustain to enforce her/his attack strategy.

Over the past decade, the reliance on Unmanned Aerial Systems (UAS) to carry out critical missions has grown drastically. With an increased reliance on UAS as mission assets and the dependency of UAS on cyber resources, cyber security of UAS must be improved by adopting sound security principles and relevant technologies from the computing community. On the other hand, the traditional avionics community, being aware of the importance of cyber security, is looking at new architecture and designs that can accommodate both the traditional safety oriented principles as well as the cyber security principles and techniques. It is with the effective and timely convergence of these domains that a holistic approach and co-design can meet the unique requirements of modern systems and operations. In this paper, authors from both the cyber security and avionics domains describe our joint effort and insights obtained during the course of designing secure and resilient embedded avionics systems.