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2020-04-06
Chen, Chia-Mei, Wang, Shi-Hao, Wen, Dan-Wei, Lai, Gu-Hsin, Sun, Ming-Kung.  2019.  Applying Convolutional Neural Network for Malware Detection. 2019 IEEE 10th International Conference on Awareness Science and Technology (iCAST). :1—5.

Failure to detect malware at its very inception leaves room for it to post significant threat and cost to cyber security for not only individuals, organizations but also the society and nation. However, the rapid growth in volume and diversity of malware renders conventional detection techniques that utilize feature extraction and comparison insufficient, making it very difficult for well-trained network administrators to identify malware, not to mention regular users of internet. Challenges in malware detection is exacerbated since complexity in the type and structure also increase dramatically in these years to include source code, binary file, shell script, Perl script, instructions, settings and others. Such increased complexity offers a premium on misjudgment. In order to increase malware detection efficiency and accuracy under large volume and multiple types of malware, this research adopts Convolutional Neural Networks (CNN), one of the most successful deep learning techniques. The experiment shows an accuracy rate of over 90% in identifying malicious and benign codes. The experiment also presents that CNN is effective with detecting source code and binary code, it can further identify malware that is embedded into benign code, leaving malware no place to hide. This research proposes a feasible solution for network administrators to efficiently identify malware at the very inception in the severe network environment nowadays, so that information technology personnel can take protective actions in a timely manner and make preparations for potential follow-up cyber-attacks.

Frank, Anna, Aydinian, Harout, Boche, Holger.  2019.  Delay Optimal Coding for Secure Transmission over a Burst Erasure Wiretap Channel. 2019 IEEE Wireless Communications and Networking Conference (WCNC). :1—7.

We consider transmissions of secure messages over a burst erasure wiretap channel under decoding delay constraint. For block codes we introduce and study delay optimal secure burst erasure correcting (DO-SBE) codes that provide perfect security and recover a burst of erasures of a limited length with minimum possible delay. Our explicit constructions of DO-SBE block codes achieve maximum secrecy rate. We also consider a model of a burst erasure wiretap channel for the streaming setup, where in any sliding window of a given size, in a stream of encoded source packets, the eavesdropper is able to observe packets in an interval of a given size. For that model we obtain an information theoretic upper bound on the secrecy rate for delay optimal streaming codes. We show that our block codes can be used for construction of delay optimal burst erasure correcting streaming codes which provide perfect security and meet the upper bound for a certain class of code parameters.

Xuebing, Wang, Na, Qin, Yantao, Liu.  2019.  A Secure Network Coding System Against Wiretap Attacks. 2019 34rd Youth Academic Annual Conference of Chinese Association of Automation (YAC). :62—67.

Cyber security is a vital performance metric for networks. Wiretap attacks belong to passive attacks. It commonly exists in wired or wireless networks, where an eavesdropper steals useful information by wiretapping messages being shipped on network links. It seriously damages the confidentiality of communications. This paper proposed a secure network coding system architecture against wiretap attacks. It combines and collaborates network coding with cryptography technology. Some illustrating examples are given to show how to build such a system and prove its defense is much stronger than a system with a single defender, either network coding or cryptography. Moreover, the system is characterized by flexibility, simplicity, and easy to set up. Finally, it could be used for both deterministic and random network coding system.

Zhang, Yang, Chen, Pengfei, Hao, Long.  2019.  Research on Privacy Protection with Weak Security Network Coding for Mobile Computing. 2019 Seventh International Conference on Advanced Cloud and Big Data (CBD). :174—179.

With the rapid development of the contemporary society, wide use of smart phone and vehicle sensing devices brings a huge influence on the extensive data collection. Network coding can only provide weak security privacy protection. Aiming at weak secure feature of network coding, this paper proposes an information transfer mechanism, Weak Security Network Coding with Homomorphic Encryption (HE-WSNC), and it is integrated into routing policy. In this mechanism, a movement model is designed, which allows information transmission process under Wi-Fi and Bluetooth environment rather than consuming 4G data flow. Not only does this application reduce the cost, but also improve reliability of data transmission. Moreover, it attracts more users to participate.

Haoliang, Sun, Dawei, Wang, Ying, Zhang.  2019.  K-Means Clustering Analysis Based on Adaptive Weights for Malicious Code Detection. 2019 IEEE 11th International Conference on Communication Software and Networks (ICCSN). :652—656.

Nowadays, a major challenge to network security is malicious codes. However, manual extraction of features is one of the characteristics of traditional detection techniques, which is inefficient. On the other hand, the features of the content and behavior of the malicious codes are easy to change, resulting in more inefficiency of the traditional techniques. In this paper, a K-Means Clustering Analysis is proposed based on Adaptive Weights (AW-MMKM). Identifying malicious codes in the proposed method is based on four types of network behavior that can be extracted from network traffic, including active, fault, network scanning, and page behaviors. The experimental results indicate that the AW-MMKM can detect malicious codes efficiently with higher accuracy.

Guo, Haoran, Ai, Jun, Shi, Tao.  2019.  A Clone Code Detection Method Based on Software Complex Network. 2019 IEEE International Symposium on Software Reliability Engineering Workshops (ISSREW). :120—121.

This paper introduces complex network into software clone detection and proposes a clone code detection method based on software complex network feature matching. This method has the following properties. It builds a software network model with many added features and codes written with different languages can be detected by a single method. It reduces the space of code comparison, and it searches similar subnetworks to detect clones without knowing any clone codes information. This method can be used in detecting open source code which has been reused in software for security analysis.

Ito, Keita, Masuda, Yoshihiro, Okamoto, Eiji.  2019.  A Chaos MIMO-Based Polar Concatenation Code for Secure Channel Coding. 2019 International Conference on Information Networking (ICOIN). :262—267.
For secure and high-quality wireless transmission, we propose a chaos multiple-input multiple-output (C-MIMO) transmission scheme, in which physical layer security and a channel coding effect with a coding rate of 1 are obtained by chaotic MIMO block modulation. In previous studies, we introduced a log-likelihood ratio (LLR) to C-MIMO to exploit LLR-based outer channel coding and turbo decoding, and obtained further coding gain. However, we only studied the concatenation of turbo code, low-density parity check (LDPC) code, and convolutional code which were relatively high-complexity or weak codes; thus, outer code having further low-complexity and strong error correction ability were expected. In particular, a transmission system with short and good code is required for control signaling, such as in 5G networks. Therefore, in this paper, we propose a polar code concatenation to C-MIMO, and introduce soft successive decoding (SCAD) and soft successive cancellation list decoding (SSCLD) as LLR-based turbo decoding for polar code. We numerically evaluate the bit error rate performance of the proposed scheme, and compare it to the conventional LDPC-concatenated transmission.
Hu, Xiaoyan, Zheng, Shaoqi, Zhao, Lixia, Cheng, Guang, Gong, Jian.  2019.  Exploration and Exploitation of Off-path Cached Content in Network Coding Enabled Named Data Networking. 2019 IEEE 27th International Conference on Network Protocols (ICNP). :1—6.

Named Data Networking (NDN) intrinsically supports in-network caching and multipath forwarding. The two salient features offer the potential to simultaneously transmit content segments that comprise the requested content from original content publishers and in-network caches. However, due to the complexity of maintaining the reachability information of off-path cached content at the fine-grained packet level of granularity, the multipath forwarding and off-path cached copies are significantly underutilized in NDN so far. Network coding enabled NDN, referred to as NC-NDN, was proposed to effectively utilize multiple on-path routes to transmit content, but off-path cached copies are still unexploited. This work enhances NC-NDN with an On-demand Off-path Cache Exploration based Multipath Forwarding strategy, dubbed as O2CEMF, to take full advantage of the multipath forwarding to efficiently utilize off-path cached content. In O2CEMF, each network node reactively explores the reachability information of nearby off-path cached content when consumers begin to request a generation of content, and maintains the reachability at the coarse-grained generation level of granularity instead. Then the consumers simultaneously retrieve content from the original content publisher(s) and the explored capable off-path caches. Our experimental studies validate that this strategy improves the content delivery performance efficiently as compared to that in the present NC-NDN.

Sun, Xuezi, Xu, Guangxian, Liu, Chao.  2019.  A Network Coding Optimization Scheme for Niche Algorithm based on Security Performance. 2019 IEEE 4th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC). 1:1969—1972.

The network coding optimization based on niche genetic algorithm can observably reduce the network overhead of encoding technology, however, security issues haven't been considered in the coding operation. In order to solve this problem, we propose a network coding optimization scheme for niche algorithm based on security performance (SNGA). It is on the basis of multi-target niche genetic algorithm(NGA)to construct a fitness function which with k-secure network coding mechanism, and to ensure the realization of information security and achieve the maximum transmission of the network. The simulation results show that SNGA can effectively improve the security of network coding, and ensure the running time and convergence speed of the optimal solution.

Kumar, Rakesh, Babu, Vignesh, Nicol, David.  2018.  Network Coding for Critical Infrastructure Networks. 2018 IEEE 26th International Conference on Network Protocols (ICNP). :436–437.
The applications in the critical infrastructure systems pose simultaneous resilience and performance requirements to the underlying computer network. To meet such requirements, the networks that use the store-and-forward paradigm poses stringent conditions on the redundancy in the network topology and results in problems that becoming computationally challenging to solve at scale. However, with the advent of programmable data-planes, it is now possible to use linear network coding (NC) at the intermediate network nodes to meet resilience requirements of the applications. To that end, we propose an architecture that realizes linear NC in programmable networks by decomposing the linear NC functions into the atomic coding primitives. We designed and implemented the primitives using the features offered by the P4 ecosystem. Using an empirical evaluation, we show that the theoretical gains promised by linear network coding can be realized with a per-packet processing cost.
2020-04-03
Zhou, Hai, Rezaei, Amin, Shen, Yuanqi.  2019.  Resolving the Trilemma in Logic Encryption. 2019 IEEE/ACM International Conference on Computer-Aided Design (ICCAD). :1—8.
Logic encryption, a method to lock a circuit from unauthorized use unless the correct key is provided, is the most important technique in hardware IP protection. However, with the discovery of the SAT attack, all traditional logic encryption algorithms are broken. New algorithms after the SAT attack are all vulnerable to structural analysis unless a provable obfuscation is applied to the locked circuit. But there is no provable logic obfuscation available, in spite of some vague resorting to logic resynthesis. In this paper, we formulate and discuss a trilemma in logic encryption among locking robustness, structural security, and encryption efficiency, showing that pre-SAT approaches achieve only structural security and encryption efficiency, and post-SAT approaches achieve only locking robustness and encryption efficiency. There is also a dilemma between query complexity and error number in locking. We first develop a theory and solution to the dilemma in locking between query complexity and error number. Then, we provide a provable obfuscation solution to the dilemma between structural security and locking robustness. We finally present and discuss some results towards the resolution of the trilemma in logic encryption.
Šišejković, Dominik, Merchant, Farhad, Leupers, Rainer, Ascheid, Gerd, Kiefer, Volker.  2019.  A Critical Evaluation of the Paradigm Shift in the Design of Logic Encryption Algorithms. 2019 International Symposium on VLSI Design, Automation and Test (VLSI-DAT). :1—4.
The globalization of the integrated circuit supply chain has given rise to major security concerns ranging from intellectual property piracy to hardware Trojans. Logic encryption is a promising solution to tackle these threats. Recently, a Boolean satisfiability attack capable of unlocking existing logic encryption techniques was introduced. This attack initiated a paradigm shift in the design of logic encryption algorithms. However, recent approaches have been strongly focusing on low-cost countermeasures that unfortunately lead to low functional and structural corruption. In this paper, we show that a simple approach can offer provable security and more than 99% corruption if a higher area overhead is accepted. Our results strongly suggest that future proposals should consider higher overheads or more realistic circuit sizes for the evaluation of modern logic encryption algorithms.
Kuznetsov, Alexandr, Kiian, Anastasiia, Gorbenko, Yurii, Smirnov, Oleksii, Cherep, Oleksandr, Bexhter, Liliia.  2019.  Code-based Pseudorandom Generator for the Post-Quantum Period. 2019 IEEE International Conference on Advanced Trends in Information Theory (ATIT). :204—209.
This paper focuses on research of a provably secure code-based pseudorandom sequence generators whose cryptanalysis problem equals to syndrome decoding (belonging to the NP-complex class). It was found that generated sequences of such well-known Fischer-Stern code-based generator don’t have a maximum period, the actual period is much lower than expected. In our work, we have created a new generator scheme. It retains all advantages of the Fisher-Stern algorithm and provides pseudorandom sequences which are formed with maximum period. Also comparative analysis of proposed generator and popular generators was conducted.
Song, Liwei, Shokri, Reza, Mittal, Prateek.  2019.  Membership Inference Attacks Against Adversarially Robust Deep Learning Models. 2019 IEEE Security and Privacy Workshops (SPW). :50—56.
In recent years, the research community has increasingly focused on understanding the security and privacy challenges posed by deep learning models. However, the security domain and the privacy domain have typically been considered separately. It is thus unclear whether the defense methods in one domain will have any unexpected impact on the other domain. In this paper, we take a step towards enhancing our understanding of deep learning models when the two domains are combined together. We do this by measuring the success of membership inference attacks against two state-of-the-art adversarial defense methods that mitigate evasion attacks: adversarial training and provable defense. On the one hand, membership inference attacks aim to infer an individual's participation in the target model's training dataset and are known to be correlated with target model's overfitting. On the other hand, adversarial defense methods aim to enhance the robustness of target models by ensuring that model predictions are unchanged for a small area around each sample in the training dataset. Intuitively, adversarial defenses may rely more on the training dataset and be more vulnerable to membership inference attacks. By performing empirical membership inference attacks on both adversarially robust models and corresponding undefended models, we find that the adversarial training method is indeed more susceptible to membership inference attacks, and the privacy leakage is directly correlated with model robustness. We also find that the provable defense approach does not lead to enhanced success of membership inference attacks. However, this is achieved by significantly sacrificing the accuracy of the model on benign data points, indicating that privacy, security, and prediction accuracy are not jointly achieved in these two approaches.
Cheang, Kevin, Rasmussen, Cameron, Seshia, Sanjit, Subramanyan, Pramod.  2019.  A Formal Approach to Secure Speculation. 2019 IEEE 32nd Computer Security Foundations Symposium (CSF). :288—28815.
Transient execution attacks like Spectre, Meltdown and Foreshadow have shown that combinations of microarchitectural side-channels can be synergistically exploited to create side-channel leaks that are greater than the sum of their parts. While both hardware and software mitigations have been proposed against these attacks, provable security has remained elusive. This paper introduces a formal methodology for enabling secure speculative execution on modern processors. We propose a new class of information flow security properties called trace property-dependent observational determinism (TPOD). We use this class to formulate a secure speculation property. Our formulation precisely characterises all transient execution vulnerabilities. We demonstrate its applicability by verifying secure speculation for several illustrative programs.
Hirose, Shoichi, Shikata, Junji.  2019.  Provable Security of the Ma-Tsudik Forward-Secure Sequential Aggregate MAC Scheme. 2019 Seventh International Symposium on Computing and Networking Workshops (CANDARW). :327—332.
Considering application to communication among wireless sensors, Ma and Tsudik introduced the notion of forward-secure sequential aggregate (FssAgg) authentication in 2007. They also proposed an FssAgg MAC scheme composed of a MAC function and cryptographic hash functions at the same time. The security of their proposed scheme has not been analyzed yet and remains open. It is shown in this paper that a slight variant of the Ma-Tsudik FssAgg MAC scheme is secure under reasonable and standard assumptions on security of the underlying primitives. An efficient instantiation of the underlying MAC function using a cryptographic hash function is also discussed.
2020-03-27
Huang, Shiyou, Guo, Jianmei, Li, Sanhong, Li, Xiang, Qi, Yumin, Chow, Kingsum, Huang, Jeff.  2019.  SafeCheck: Safety Enhancement of Java Unsafe API. 2019 IEEE/ACM 41st International Conference on Software Engineering (ICSE). :889–899.
Java is a safe programming language by providing bytecode verification and enforcing memory protection. For instance, programmers cannot directly access the memory but have to use object references. Yet, the Java runtime provides an Unsafe API as a backdoor for the developers to access the low- level system code. Whereas the Unsafe API is designed to be used by the Java core library, a growing community of third-party libraries use it to achieve high performance. The Unsafe API is powerful, but dangerous, which leads to data corruption, resource leaks and difficult-to-diagnose JVM crash if used improperly. In this work, we study the Unsafe crash patterns and propose a memory checker to enforce memory safety, thus avoiding the JVM crash caused by the misuse of the Unsafe API at the bytecode level. We evaluate our technique on real crash cases from the openJDK bug system and real-world applications from AJDK. Our tool reduces the efforts from several days to a few minutes for the developers to diagnose the Unsafe related crashes. We also evaluate the runtime overhead of our tool on projects using intensive Unsafe operations, and the result shows that our tool causes a negligible perturbation to the execution of the applications.
Coblenz, Michael, Sunshine, Joshua, Aldrich, Jonathan, Myers, Brad A..  2019.  Smarter Smart Contract Development Tools. 2019 IEEE/ACM 2nd International Workshop on Emerging Trends in Software Engineering for Blockchain (WETSEB). :48–51.
Much recent work focuses on finding bugs and security vulnerabilities in smart contracts written in existing languages. Although this approach may be helpful, it does not address flaws in the underlying programming language, which can facilitate writing buggy code in the first place. We advocate a re-thinking of the blockchain software engineering tool set, starting with the programming language in which smart contracts are written. In this paper, we propose and justify requirements for a new generation of blockchain software development tools. New tools should (1) consider users' needs as a primary concern; (2) seek to facilitate safe development by detecting relevant classes of serious bugs at compile time; (3) as much as possible, be blockchain-agnostic, given the wide variety of different blockchain platforms available, and leverage the properties that are common among blockchain environments to improve safety and developer effectiveness.
Romagnoli, Raffaele, Krogh, Bruce H., Sinopoli, Bruno.  2019.  Design of Software Rejuvenation for CPS Security Using Invariant Sets. 2019 American Control Conference (ACC). :3740–3745.
Software rejuvenation has been proposed as a strategy to protect cyber-physical systems (CSPs) against unanticipated and undetectable cyber attacks. The basic idea is to refresh the system periodically with a secure and trusted copy of the online software so as to eliminate all effects of malicious modifications to the run-time code and data. This paper considers software rejuvenation design from a control-theoretic perspective. Invariant sets for the Lyapunov function for the safety controller are used to derive bounds on the time that the CPS can operate in mission control mode before the software must be refreshed. With these results it can be guaranteed that the CPS will remain safe under cyber attacks against the run-time system. The approach is illustrated using simulation of the nonlinear dynamics of a quadrotor system. The concluding section discusses directions for further research.
Liu, Wenqing, Zhang, Kun, Tu, Bibo, Lin, Kunli.  2019.  HyperPS: A Hypervisor Monitoring Approach Based on Privilege Separation. 2019 IEEE 21st International Conference on High Performance Computing and Communications; IEEE 17th International Conference on Smart City; IEEE 5th International Conference on Data Science and Systems (HPCC/SmartCity/DSS). :981–988.
In monolithic operating system (OS), any error of system software can be exploit to destroy the whole system. The situation becomes much more severe in cloud environment, when the kernel and the hypervisor share the same address space. The security of guest Virtual Machines (VMs), both sensitive data and vital code, can no longer be guaranteed, once the hypervisor is compromised. Therefore, it is essential to deploy some security approaches to secure VMs, regardless of the hypervisor is safe or not. Some approaches propose microhypervisor reducing attack surface, or a new software requiring a higher privilege level than hypervisor. In this paper, we propose a novel approach, named HyperPS, which separates the fundamental and crucial privilege into a new trusted environment in order to monitor hypervisor. A pivotal condition for HyperPS is that hypervisor must not be allowed to manipulate any security-sensitive system resources, such as page tables, system control registers, interaction between VM and hypervisor as well as VM memory mapping. Besides, HyperPS proposes a trusted environment which does not rely on any higher privilege than the hypervisor. We have implemented a prototype for KVM hypervisor on x86 platform with multiple VMs running Linux. KVM with HyperPS can be applied to current commercial cloud computing industry with portability. The security analysis shows that this approach can provide effective monitoring against attacks, and the performance evaluation confirms the efficiency of HyperPS.
Abedin, Zain Ul, Guan, Zhitao, Arif, Asad Ullah, Anwar, Usman.  2019.  An Advance Cryptographic Solutions in Cloud Computing Security. 2019 2nd International Conference on Computing, Mathematics and Engineering Technologies (iCoMET). :1–6.
Cryptographically cloud computing may be an innovative safe cloud computing design. Cloud computing may be a huge size dispersed computing model that ambitious by the economy of the level. It integrates a group of inattentive virtualized animatedly scalable and managed possessions like computing control storage space platform and services. External end users will approach to resources over the net victimization fatal particularly mobile terminals, Cloud's architecture structures are advances in on-demand new trends. That are the belongings are animatedly assigned to a user per his request and hand over when the task is finished. So, this paper projected biometric coding to boost the confidentiality in Cloud computing for biometric knowledge. Also, this paper mentioned virtualization for Cloud computing also as statistics coding. Indeed, this paper overviewed the safety weaknesses of Cloud computing and the way biometric coding will improve the confidentiality in Cloud computing atmosphere. Excluding this confidentiality is increased in Cloud computing by victimization biometric coding for biometric knowledge. The novel approach of biometric coding is to reinforce the biometric knowledge confidentiality in Cloud computing. Implementation of identification mechanism can take the security of information and access management in the cloud to a higher level. This section discusses, however, a projected statistics system with relation to alternative recognition systems to date is a lot of advantageous and result oriented as a result of it does not work on presumptions: it's distinctive and provides quick and contact less authentication. Thus, this paper reviews the new discipline techniques accustomed to defend methodology encrypted info in passing remote cloud storage.
Boehm, Barry, Rosenberg, Doug, Siegel, Neil.  2019.  Critical Quality Factors for Rapid, Scalable, Agile Development. 2019 IEEE 19th International Conference on Software Quality, Reliability and Security Companion (QRS-C). :514–515.
Agile methods frequently have difficulties with qualities, often specifying quality requirements as stories, e.g., "As a user, I need a safe and secure system." Such projects will generally schedule some capability releases followed by safety and security releases, only to discover user-developer misunderstandings and unsecurable agile code, leading to project failure. Very large agile projects also have further difficulties with project velocity and scalability. Examples are trying to use daily standup meetings, 2-week sprints, shared tacit knowledge vs. documents, and dealing with user-developer misunderstandings. At USC, our Parallel Agile, Executable Architecture research project shows some success at mid-scale (50 developers). We also examined several large (hundreds of developers) TRW projects that had succeeded with rapid, high-quality development. The paper elaborates on their common Critical Quality Factors: a concurrent 3-team approach, an empowered Keeper of the Project Vision, and a management approach emphasizing qualities.
Lai, Chengzhe, Ding, Yuhan.  2019.  A Secure Blockchain-Based Group Mobility Management Scheme in VANETs. 2019 IEEE/CIC International Conference on Communications in China (ICCC). :340–345.
Vehicular Ad-hoc Network (VANET) can provide vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications for efficient and safe transportation. The vehicles features high mobility, thus undergoing frequent handovers when they are moving, which introduces the significant overload on the network entities. To address the problem, the distributed mobility management (DMM) protocol for next generation mobile network has been proposed, which can be well combined with VANETs. Although the existing DMM solutions can guarantee the smooth handovers of vehicles, the security has not been fully considered in the mobility management. Moreover, the most of existing schemes cannot support group communication scenario. In this paper, we propose an efficient and secure group mobility management scheme based on the blockchain. Specifically, to reduce the handover latency and signaling cost during authentication, aggregate message authentication code (AMAC) and one-time password (OTP) are adopted. The security analysis and the performance evaluation results show that the proposed scheme can not only enhance the security functionalities but also support fast handover authentication.
Richter, Michael, Mehlmann, Gert, Luther, Matthias.  2019.  Grid Code Compliant Modeling and Control of Modular Multilevel Converters during Unbalanced Faults. 2019 54th International Universities Power Engineering Conference (UPEC). :1–6.
This paper presents necessary modeling and control enhancements for Modular Multilevel Converters (MMC) to provide Fault-Ride-Through capability and fast fault current injection as required by the new German Technical Connection Rules for HVDC. HVDC converters have to be able to detect and control the grid voltage and grid currents accurately during all fault conditions. That applies to the positive as well as negative sequence components, hence a Decoupled Double Synchronous Reference Frame - Phase-Locked-Loop (DDSRF-PLL) and Current Control (DDSRF-CC) are implemented. In addition, an enhanced current limitation and an extension of the horizontal balancing control are proposed to complement the control structure for safe operation.
Lin, Nan, Zhang, Linrui, Chen, Yuxuan, Zhu, Yujun, Chen, Ruoxi, Wu, Peichen, Chen, Xiaoping.  2019.  Reinforcement Learning for Robotic Safe Control with Force Sensing. 2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA). :148–153.
For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to obtain impressive results, its stability and reliability is hard to guarantee, which would cause the potential safety threats. Besides, the transfer from simulation to real-world also will lead in unpredictable situations. To enhance the safety and reliability of robots, we introduce the force and haptic perception into reinforcement learning. Force and tactual sensation play key roles in robotic dynamic control and human-robot interaction. We demonstrate that the force-based reinforcement learning method can be more adaptive to environment, especially in sim-to-real transfer. Experimental results show in object pushing task, our strategy is safer and more efficient in both simulation and real world, thus it holds prospects for a wide variety of robotic applications.