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Cybersecurity of Sensors on Smart Vehicles: Review of threats and Solutions

Cybersecurity of Sensors on Smart Vehicles: Review of Threat...

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international conference of Computer and informatics Engineering (IC2IE)

作者： Prasetyo Adi Wibowo Putro Fetty Amelia Jan Pidanic Heru Suhartanto Imam Arif Rahardjo Ejo Imandeka Faculty of Computer Science Universitas Indonesia Depok Indonesia Cryptographic Hardware Engineering Politeknik Siber dan Sandi Negara Bogor Indonesia Faculty of Electrical Engineering and Informatics University of Pardubice Pardubice Czech Republic Department of Electrical Engineering Universitas Negeri Jakarta Jakarta Indonesia

the use of sensors in smart vehicles brings benefits and vulnerabilities. Different kinds of sensors in smart vehicles are vulnerable to cyber-attack. Until now, the investigation of challenges and solutions for in-vehicle cybersecurity hasn't discussed various sensor objects and their correlation. In this study, we studied the cyber security problems of sensors in smart vehicles and how to overcome them. the research was designed as Systematic Literature Review (SLR) using the Kitchenham methodology with modification in the filtering phase using the artificial intelligence application, Elicit, to identify the problems, conclusions, and methodology description. Seventeen publications from 2016 until 2023 were gained from five databases. As a result, we find that the most discussed object related to cybersecurity sensors on smart vehicles are Electronic control Units. Spoofing and jamming is still the most addressed threat, and machine learning is the most utilized solution to be implemented in detection systems. Advanced detection systems are incorporating updated attack models. We also suggest using updated attack models and machine learning algorithms to ensure the safety and security of smart vehicle technology. All identified sensor technology correlated using mind maps under the Intelligent Transport System theory.

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Development of Hybrid Bed-Chair Assistive Device with Non-contact Vital Sensor

Development of Hybrid Bed-Chair Assistive Device with Non-co...

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IEEE international conference on Mechatronics, robotics and automation (ICMRA)

作者： Taoxuan Huang Yi-Horng Lai Meng Chen Zhipeng Mai Jianli Sun Kun Su School of Managenent Xiamen University Tan Kah Kee College Zhangzhou P.R. China School of Mechanical and Electrical Engineering & Automation Xiamen University Tan Kah Kee College Zhangzhou P.R. China School of Aeronautics Chongqing Jiaotong University Chongqing P.R. China Faculty of Engineering Architecture & Info Tech The University of Queensland St Lucia Australia

ISBN: (数字)9798350307535

ISBN: (纸本)9798350307542

this study aims to design a hybrid bed-chair assistive device with non-contact heart rate sensor for patients with mobility impairments. the novel mechanical design includes a dockable bed and wheelchair. the proposed design can assist conveniently caregivers in completing bed-chair transfer work. In addition, the subsidiary functions include the re-position function, bed rotation function, and lavatory function. through using algorithms of face detection, blind source separation and FFT, the proposed non-contact image based heart rate detection can reduce the limitation of vital measurement. the simulation of the finite element method verifies that the proposed design satisfies the design requirements. the pressure analysis of the seat interface is used to determine the material and specifications of the seat cushion. the empirical experimental result of heart rate detection validates the correlation coefficients between the non-contact method and contact method reach 0.93.

关键词： Mechatronics Wheelchairs Robot sensing systems Heart rate detection Heart rate measurement Finite element analysis Assistive devices Face detection robotics and automation System analysis and design

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A Voice control System for Assistive Robotic Arms: Preliminary Usability Tests on Patients

A Voice Control System for Assistive Robotic Arms: Prelimina...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Terrin Babu Pulikottil Marco Caimmi Maria Grazia D'Angelo Emilia Biffi Stefania Pellegrinelli Lorenzo Molinari Tosatti ITIA-CNR Institute of Industrial Technologies and Automation Italy Bioengineering Laboratory Scientific Institute IRCCS E. Medea Bosisio Parini Italy Neuromuscular Unit Scientific Institute IRCCS E. Medea Bosisio Parini Italy

One of the major issues for the success of assistive robotics concerns the question whether patients not only accept the technology and profit from it, but also whether they can effectively use it. this is especially relevant when patients are highly impaired and present several functional limitations. therefore, it is important to enable patients to control robots with alternative methods during their activities of daily living. this work deals with the development of a voice control system based on the ROS middleware framework. the voice control was customized on the JACO 2 (Kinova Technology, Montreal, QC, Canada), a 6 degree-of-freedom assistive robotic manipulator. Two subjects with different impairments due to a neurodegenerative disease tested the robot for usability controlling it through the JACO 2 joystick and the developed voice control system. Both subjects used the voice control system successfully and scored highly its usability. the most impaired subject preferred the voice control while, by contrast, the less impaired one preferred to use the joystick. Preliminary results showed good usability of the system, which could be an important aid for highly impaired people.

关键词： Manipulators Usability Rehabilitation robotics control systems Speech recognition Task analysis

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A Service Access control Framework for a Sensor Service Architecture

A Service Access Control Framework for a Sensor Service Arch...

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Annual Hawaii international conference on System Sciences (HICSS)

作者： Ralf Denzer Sascha Schlobinski Reiner Güttler Pascal Dihé Martin Scholl Sebastian Puhl Environmental Informatics Group Goebenstr. 40 Saarbrücken Germany

Sensor and earth observation data are becoming more and more available through service networks. In order to provide operational services, reliable and easy to use mechanisms for security, authentication and distributed access control are vital for service providers when offering their services. this paper describes a Service Access control (SAC) framework which was developed as part of the SANY project, a project of the 6th European Framework Program (FP6) which has developed a reference model and service architecture for sensor service networks. the result of this work is the CHARON Service Access control Framework, which aims at overcoming the major problems identified in the analysis. this paper describes the overall functionality of the SANY SAC framework, its implementation CHARON and its key components.

关键词： Computer architecture Authorization Authentication Software Service oriented architecture

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Designing adaptive robust extended Kalman filter based on Lyapunov-based controller for robotics manipulators

Designing adaptive robust extended Kalman filter based on Ly...

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international conference on Modeling, Simulation and Applied Optimization (ICMSAO)

作者： A. R. Ghiasi A. A. Ghavifekr Y. Shabbouei Hagh H. SeyedGholami Department of Electrical and Computer Engineering University of Tabriz Tabriz Iran

In this paper, a position and velocity estimation method for robotic manipulators which are affected by constant bounded disturbances is considered. the tracking control problem is formulated as a disturbance rejection problem, with all the unknown parameters and dynamic uncertainties lumped into disturbance. Using adaptive robust extended Kalman filter(AREKF) the movement and velocity of each joint is predicted to use in discontinuous Lyapunov-based controller structure. the parameters of the error dynamics have been validated off-line by real data. Computer simulation results given for a two degree of freedom manipulator demonstrate the efficacy of the improved Kalman Filter by comparing the performance of EKF and improved AREKF. Although it is shown that accurate trajectory tracking can be achieved by using the proposed controller.

关键词： Kalman filters Joints Manipulator dynamics Robustness Uncertainty

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Real-time classification of multi-modal sensory data for prosthetic hand control

Real-time classification of multi-modal sensory data for pro...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Iris Kyranou Agamemnon Krasoulis Mustafa Suphi Erden Kianoush Nazarpour Sethu Vijayakumar Edinburgh Centre of Robotics Heriot-Watt University UK Institute for Adaptive and Neural Computation and the Institute of Perception Action and Behaviour University of Edinburgh UK School of Engineering and Physical Sciences Heriot-Watt University UK School of Electrical and Electronic Engineering Newcastle University UK Institute of Perception Action and Behaviour University of Edinburgh UK

ISBN: (纸本)9781509032884

Recent work on myoelectric prosthetic control has shown that the incorporation of accelerometry information along with surface electromyography (sEMG) has the potential of improving the performance and robustness of a prosthetic device by increasing the classification accuracy. In this study, we investigated whether myoelectric control could further benefit from the use of additional sensory modalities such as gyroscopes and magnetometers. We trained a multi-class linear discriminant analysis (LDA) classifier to discriminate between six hand grip patterns and used predictions to control a robotic prosthetic hand in real-time. We recorded initial training data by using a total number of 12 sEMG sensors, each of which integrated a 9 degree-of-freedom inertial measurement unit (IMU). For classification, four different decoding schemes were used; 1) sEMG and IMU from all sensors 2) sEMG from all sensors, 3) IMU from all sensors and, finally, 4) sEMG and IMU from a nearly optimal subset of sensors. these schemes were evaluated based on offline classification accuracy on the training data, as well as with task-related metrics such as completion rates and times for a pick-and-place real-time experiment. We found that the classifier trained with all the sensory modalities and sensors (condition 1) attained the best decoding performance by achieving a 90.4% completion rate with an average completion time of 41.9 sec in real-time experiments. We also found that classifiers incorporating sEMG and IMU information outperformed on average the ones that only used sEMG signals, even when the amount of sensors used was less than half in the former case. these results suggest that using extra modalities along with sEMG might be more beneficial than including additional sEMG sensors.

关键词： Prosthetic hand Feature extraction Robot sensing systems Decoding Real-time systems three-dimensional displays

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Design and implementation of remotely operation interface for humanoid robot

Design and implementation of remotely operation interface fo...

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IEEE international conference on robotics and automation (ICRA)

作者： S. Kagami J.J. Kuffner K. Nishiwaki T. Sugihara T. Michikata T. Aoyama M. Inaha H. Inoue Dept. of Mechano-Informatics Univ. of Tokyo Bunkyo-ku Tokyo Japan

ISBN: (纸本)0780365763

this paper describes a design of remote operation interface for humanoid robot with following three functions: (1) Body DOFs control interface through 3D robot model in a virtual environment, and it has two types of online stabilizing software for maintaining the body balance. (2) Environmental recognition display interface for sensors, sound and 3D vision. (3) Voice and face recognition interface for interacting with operator and a human in front of the robot body. then, implementation and experiments on our humanoid robot H6 are denoted.

关键词： Humanoid robots Robot sensing systems Human robot interaction Robot vision systems Software maintenance Face recognition Biological system modeling Virtual environment Speech recognition three dimensional displays

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Vision based Integrated System for Automated Anodic Bonding of MEMS Sensors

Vision based Integrated System for Automated Anodic Bonding ...

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international conference on (ICEPT) Electronic Packaging Technology

作者： Sun Lining Xie Hui Rong Weibin Chen Liguo Robotics Institute Harbin Institute of Technology Harbin China

Piezoresistive silicon pressure sensors are widely used in automotive, aerospace and medical equipment industries. Batch bonding of the sensors is limited by the manual manipulation required specially trained technicians. In order to reduce the production costs and simultaneously obtain high production quality, a vision based integrated system for automated anodic bonding is presented. this system consists of a vision subsystem, macro/micro stages, a vacuum micromanipulator, and some additional subsystems. the macro/micro stage performs fine positioning and bonding under the navigation of the vision, the vacuum micromanipulator integrated with smart force sensor can perform highly-precise bonding tasks and a nondestructive transportation of the chip and the quartz base. To perform manipulations automatically, a control system, including a task planning level and a real-time execution level, was developed. the automated batch bonding is validated by further experiment

关键词： Machine vision Micromechanical devices Sensor systems Aerospace industry Batch production systems Micromanipulators Bonding forces Piezoresistance Silicon Automotive engineering

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Using Deep Reinforcement Learning to Solve a Navigation Problem for a Swarm robotics System

Using Deep Reinforcement Learning to Solve a Navigation Prob...

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international Carpathian control conference (ICCC)

作者： Alaa Iskandar Hussam M. Rostum Béla Kovács Faculty of Mechanical Engineering and Informatics University of Miskolc Miskolc Hungary Institute of Automation and Info-Communication University of Miskolc Miskolc Hungary

Five mobile robots in a swarm are trained in this paper using the deep reinforcement learning method to solve a navigation problem with two targets without prior knowledge of the environment. the Proximal Policy Optimization method trains E-puck mobile robots to avoid obstacles while completing tasks in the shortest distance for each robot. A Webots simulator is used to model the environment in three-dimension space. the suggested algorithm works with continuous states derived from eight infrared sensors and continuous action spaces that reflect the velocities of two motors for each robot in the swarm. then the robot's behavior will be examined in light of two categories of rewards: Spares and Shaping rewards. If the environment's complexity is not decreased, proximal policy optimization with spare rewards will not be able to train every robot in the system how to accomplish its goal. Compared to the spare rewards technique, shaping rewards aid the robot in gaining experience from prior knowledge during the training process. this speeds up learning and aids navigation in more complex environments.

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Robust control of rapid thermal processes applied to vapor deposition processing

Robust control of rapid thermal processes applied to vapor d...

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international conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Stanislav Aranovskiy Aleksandr Kapitonov Alexey Bobtsov Anton Pyrkin Evgeny Zavarin Denis Davydov Romeo Ortega Department of Control Systems and Informatics ITMO University Saint-Petersburg Russia Ioffe Physical-Technical Institute St. Petersburg Russia Laboratoire des Signaux et Systèmes Supelec Gif-sur-Yvette France

ISBN: (纸本)9781479952922

Rapid thermal processes are an essential part of vapor deposition processing, which is widely used in semiconductor production; quality of the produced semiconductors significantly depends on accuracy of temperature control in an epitaxy process. From control point of view, temperature control is a nonlinear control problem. In the paper a control law for a family of nonlinear systems with polynomial nonlinearity is proposed and proved to provide asymptotic stability. the proposed control law is applied to a rapid thermal process control problem; experimental results for a vapor deposition processing are presented and illustrate a good tracking performance.

关键词： Temperature control Process control Epitaxial growth Polynomials Inductors Temperature measurement Rapid thermal processing

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