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Fixed-Wing UAV Path-Following Control via NMPC on the Lowest Level

Fixed-Wing UAV Path-Following Control via NMPC on the Lowest...

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2023 ieee Conference on Control technology and applications, CCTA 2023

作者： Reinhardt, Dirk Gros, Sebastien Johansen, Tor Arne Norwegian University of Science and Technology Department of Engineering Cybernetics Trondheim Norway

ISBN: (纸本)9798350335446

This paper introduces a Nonlinear Model Predictive Control (NMPC) approach for the path-following control of fixed-wing unmanned aerial vehicles (UAVs). Unlike other NMPC approaches that rely on kinematic guidance models or control-augmented dynamics, the proposed NMPC is implemented directly at the actuator level, eliminating the need for a lower-level flight-control loop. The performance of the proposed NMPC is evaluated through numerical simulations. The results demonstrate the controller's robustness in accurately tracking high-curvature parametric paths, particularly for short prediction horizons. Furthermore, the feasibility of real-time implementation on embedded computing platforms onboard a fixed-wing UAV is discussed. © 2023 ieee.

关键词： Fixed wings

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PEARTS: Provable Execution in real-time embedded Systems

PEARTS: Provable Execution in Real-Time Embedded Systems

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ieee symposium on Security and Privacy

作者： Antonio Joia Neto Norrathep Rattanavipanon Ivan De Oliveira Nunes Rochester Institute of Technology Prince of Songkla University

ISBN: (数字)9798331522360

ISBN: (纸本)9798331522377

embedded devices are increasingly ubiquitous and vital, often supporting safety-critical functions. However, due to strict cost and energy constraints, they are typically implemented with Micro-Controller Units (MCUs) that lack advanced architectural security features. Within this space, recent efforts have created low-cost architectures capable of generating Proofs of Execution (PoX) of software on potentially compromised MCUs. This capability can ensure the integrity of sensor data from the outset, by binding sensed results to an unforgeable cryptographic proof of execution on edge sensor MCUs. However, the security of existing PoX requires the proven execution to occur atomically (i.e., uninterrupted). This requirement precludes the application of PoX to (1) time-shared systems, and (2) applications with real-time constraints, creating a direct conflict between execution integrity and the real-time availability needs of several embedded system uses. In this paper, we formulate a new security goal called real-time Proof of Execution (RT-PoX) that retains the integrity guarantees of classic PoX while enabling its application to existing real-time systems. This is achieved by relaxing the atomicity requirement of PoX while dispatching interference attempts from other potentially malicious tasks (or compromised operating systems) executing on the same device. To realize the RT-PoX goal, we develop Provable Execution Architecture for real-time Systems (PEARTS). To the best of our knowledge, PEARTS is the first PoX system that can be directly deployed alongside a commodity embedded real-time operating system (FreeRTOS). This enables both real-time scheduling and execution integrity guarantees on commodity MCUs. To showcase this capability, we develop a PEARTS open-source prototype atop FreeRTOS on a single-core ARM Cortex- M33processor. Based on this prototype, we evaluate and report on PEARTS security and (modest) overheads.

关键词： Privacy embedded systems Prototypes Computer architecture Interference real-time systems Software Dispatching Security Cryptography

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A method for detecting re-entry vulnerabilities in large local area network smart contracts based on eBPF 4

A method for detecting re-entry vulnerabilities in large loc...

引用

4th International symposium on Computer technology and Information Science, ISCTIS 2024

作者： Yun, Lei Li, Dan CEPREI Laboratory Guangzhou511370 China Key Laboratory of Ministry of Industry and Information Technology Guangzhou510000 China

ISBN: (纸本)9798350354560

As one of the important applications of blockchain technology, smart contracts aim to achieve decentralized trusted transactions. However, the security of smart contracts has always been a focus of industry attention, with reentry vulnerabilities being the most representative and harmful. In response to this issue, this article proposes a large-scale local area network smart contract re-entry vulnerability detection method based on eBPF (Extended Berkeley Packet Filter). EBPF technology creates a virtual machine mechanism in the Linux kernel that allows for compiling C code into bytecode and mounting it onto hooks in the kernel. When the hook is triggered, the kernel runs bytecode in the 'sandbox' of the virtual machine, enabling efficient monitoring and analysis of system behavior. This article utilizes the characteristic of eBPF to deploy eBPF probes on key nodes in large local area networks, monitor the execution process of smart contracts in real time, introduce deep clustering algorithms, and capture and analyze potential re-entry vulnerabilities. The experimental results show that the method proposed in this article can accurately detect re-entry vulnerabilities in smart contracts, and has high detection efficiency and accuracy. © 2024 ieee.

关键词： C (programming language)

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ASAP: Reconciling Asynchronous real-time Operations and Proofs of Execution in Simple embedded Systems 22

ASAP: Reconciling Asynchronous Real-Time Operations and Proo...

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59th ACM/ieee Design Automation Conference (DAC) - From Chips to Systems - Learn Today, Create Tomorrow

作者： Caulfield, Adam Rattanavipanon, Norrathep Nunes, Ivan De Oliveira Rochester Inst Technol Rochester NY 14623 USA Prince Songkla Univ Hat Yai Thailand

ISBN: (纸本)9781450391429

embedded devices are increasingly ubiquitous and their importance is hard to overestimate. While they often support safety-critical functions (e.g., in medical devices and sensor-alarm combinations), they are usually implemented under strict cost/energy budgets, using low-end microcontroller units (MCUs) that lack sophisticated security mechanisms. Motivated by this issue, recent work developed architectures capable of generating Proofs of Execution (PoX) for the correct/expected software in potentially compromised low-end MCUs. In practice, this capability can be leveraged to provide "integrity from birth" to sensor data, by binding the sensed results/outputs to an unforgeable cryptographic proof of execution of the expected sensing process. Despite this significant progress, current PoX schemes for low-end MCUs ignore the real-time needs of many applications. In particular, security of current PoX schemes precludes any interrupts during the execution being proved. We argue that lack of asynchronous capabilities (i.e., interrupts within PoX) can obscure PoX usefulness, as several applications require processing real-time and asynchronous events. To bridge this gap, we propose, implement, and evaluate an Architecture for Secure Asynchronous Processing in PoX (ASAP). ASAP is secure under full software compromise, enables asynchronous PoX, and incurs less hardware overhead than prior work.

关键词： embedded systems

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Wavelength Selection Considerations for Optical Wireless Positioning Systems 28

Wavelength Selection Considerations for Optical Wireless Pos...

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28th ieee symposium on Computers and Communications, ISCC 2023

作者： De Bruycker, Jorik Leloup, Frederic B. Stevens, Nobby KU Leuven WaveCore ESAT Ghent Technology Campus Ghent Belgium

ISBN: (纸本)9798350300482

Indoor Positioning Systems act as an important technology to provide real-time location estimation, enabling a large variety of industrial applications. In this context, Optical Wireless Positioning employs the propagation characteristics of optical signals as a means to calculate an accurate and precise position. While Visible Light Positioning focuses on the use of LED lighting to support both positioning and illumination simultaneously, Infrared-based systems also offer viable positioning solutions featuring distinct advantages and drawbacks over their visible light counterparts. The selection of the used wavelength thus proves to be an important design consideration for an Optical Wireless Positioning system. This work summarises the main differences and trade-offs fundamental to the selection of the wavelength, and compares them in order to make an informed decision on the selection. © 2023 ieee.

关键词： Economic and social effects

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Continuous-Emission Markov Models for real-time applications: Bounding Deadline Miss Probabilities

Continuous-Emission Markov Models for Real-Time Applications...

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ieee symposium on real-time and embedded technology and applications

作者： Anna Friebe Filip Marković Alessandro Vittorio Papadopoulos Thomas Nolte Mälardalen University (MDU) Sweden Max Planck Institute for Software Systems (MPI-SWS) Germany

Probabilistic approaches have gained attention over the past decade, providing a modeling framework that enables less pessimistic analysis of real-time systems. Among the different proposed approaches, Markov chains have been shown effective for analyzing real-time systems, particularly in estimating the pending workload distribution and deadline miss probability. However, the state-of-the-art mainly considered discrete emission distributions without investigating the benefits of continuous ones. In this paper, we propose a method for analyzing the workload probability distribution and bounding the deadline miss probability for a task executing in a reservation-based server, where execution times are described by a Markov model with Gaussian emission distributions. The evaluation is performed for the timing behavior of a Kalman filter for Furuta pendulum control. Deadline miss probability bounds are derived with a workload accumulation scheme. The bounds are compared to 1) measured deadline miss ratios of tasks running under the Linux Constant Bandwidth Server with SCHED-DEADLINE, 2) estimates derived from a Markov Model with discrete-emission distributions (PROSIT), 3) simulation-based estimates, and 4) an estimate assuming independent execution times. The results suggest that the proposed method successfully upper bounds actual deadline miss probabilities. Compared to the discrete-emission counterpart, the computation time is independent of the range of the execution times under analysis, and resampling is not required.

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Application to Detect Driver Distraction Using Haar Cascade Method

Application to Detect Driver Distraction Using Haar Cascade ...

引用

2023 ieee symposium on Wireless technology and applications, ISWTA 2023

作者： Zainuddin, Natasyha Zizi, Tuan Khalisah Tan Zizi Tuan Ramli, Suzaimah Shukran, Mohd LAfizi Mohd Wook, Muslihah Binti Nasional Defence University of Malaysia Faculty of Defence Science & Technology Sungai Besi Camp Kuala Lumpur Malaysia

ISBN: (纸本)9798350310955

Road accidents are a terrible fact of life. A traffic collision is usually mentioned in at least one of the daily news reports in Malaysia. The number of victims and damage done can be disastrous depending on the severity of the disaster. Road accidents claim many lives and cause significant property damage. This paper describes an eye-tracking system for the drowsiness detection of a driver. It is based on the application of Haar Cascade algorithm. The system alerts the driver if the drowsiness index exceeds a threshold level. The application was developed that focuses on the eye area, where the system makes a real-time analysis for the user which is the driver. © 2023 ieee.

关键词： Roads and streets

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An Efficient Decentralized Mutual Authentication Scheme Between Avatars for Metaverse 21

An Efficient Decentralized Mutual Authentication Scheme Betw...

引用

21st ieee International symposium on Parallel and Distributed Processing with applications, 13th ieee International Conference on Big Data and Cloud Computing, 16th ieee International Conference on Social Computing and Networking and 13th International Conference on Sustainable Computing and Communications, ISPA/BDCloud/SocialCom/SustainCom 2023

作者： Huang, Peng Xu, Zisang Liang, Wei Xu, Jianbo Zheng, Bin Changsha University of Science and Technology School of Computer and Communication Engineering Changsha China Hunan University of Science and Technology School of Computer Science and Engineering Xiangtan China

ISBN: (纸本)9798350329223

With the development of network technology and the blockchain, the metaverse as an emerging network paradigm has received extensive attention. In metaverse, users can create multiple virtual avatars to obtain different experiences such as extreme sports, interstellar travel, etc. Different from the traditional network model, there are frequent interactions between avatars in metaverse, leading to heavy authentication requirements. However, existing authentication schemes between different avatars mostly require real-time participation of third-party entity (TPE) such as trusted authority (TA) and server. Therefore, when facing high-concurrency authentication requirements between avatars in metaverse, existing schemes are prone to forming computational or communication bottlenecks at TPE, resulting in low authentication efficiency. To address this issue, the paper proposed an elliptic curve cryptography (ECC)-based mutual authentication scheme for avatars in metaverse without real-time participation of TPE, which can effectively avoid computational and communication bottlenecks formed at TPE and improve authentication efficiency. The security of our proposed scheme is proved under the real-or-random (ROR) model and informal security analysis. Performance analysis and evaluation show that compared with current existing schemes, the proposed scheme has higher authentication efficiency. © 2023 ieee.

关键词： Authentication

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Pig Detection Method Based on Improved YOLOv8 and MobileNetV3

Pig Detection Method Based on Improved YOLOv8 and MobileNetV...

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2024 International symposium on Digital Home, ISDH 2024

作者： Cao, Shuai Li, Fang School of Computer Science and Information Security Guilin University of Electronic Technology Guilin China

ISBN: (纸本)9798331509873

How to effectively solve the many challenges faced by pig testing in pig breeding management, such as difficulties in data collection, insufficient real-time performance, and high model complexity, is an urgent problem that need to be solved. At present, some solutions have been proposed in the field of pig testing, such as using RFID tags for individual identification and pig face recognition methods based on image or video technology. However, these methods still face challenges in practical applications, including difficulties in data collection, insufficient real-time performance, and high model complexity. To overcome these challenges, this paper introduces an enhanced pig detection approach utilizing the YOLOv8 algorithm. We initiated our work by thoroughly optimizing the YOLOv8 algorithm, substituting the backbone network with MobileNetV3 and incorporating the SE attention mechanism. Our experimental findings reveal that this model achieves a reduction in both model parameters and computational overhead, while augmenting the model's capacity to learn pig face features. Consequently, detection accuracy is significantly enhanced, offering fresh insights and technical assistance for addressing pig face detection challenges in pig farming management. © 2024 ieee.

关键词： Mammals

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A Field Practical Approach to Memory Bandwidth Allocation for Consolidating Multi-Domain Automotive applications on a Single SoC

A Field Practical Approach to Memory Bandwidth Allocation fo...

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ieee symposium on real-time and embedded technology and applications

作者： Hayeon Park Jiwoong Lee Hoyong Lee Taekyoung Kwon Wan Choi Sangmi Moon Chang-Gun Lee Dept. of Computer Science and Engineering Seoul National University Republic of Korea Dept. of Electrical and Computer Engineering Seoul National University Republic of Korea Dept. of IT Artificial Intelligence Korea Nazarene University Republic of Korea

ISBN: (数字)9798331543402

ISBN: (纸本)9798331543419

Along with the advent of a high-end SoC with multiple CPU clusters and many GPUs, the automotive industry has a strong motivation to consolidate multi-domain applications on such a single SoC for wiring harness reduction and space/weight saving. For this, it is essential to bound their mutual interferences among CPU+GPU clusters on the system memory since advanced automotive applications use huge size code/data like autonomous driving and multi-screen infotainment. In order to guarantee memory bandwidth to each cluster, this paper proposes a cluster-level memory access regulation that aggregates the total memory access amount by each cluster (by all CPU cores and GPUs within the cluster) and throttles the cluster if it exceeds the given threshold. Then, we propose a few-shot measurement based optimal memory bandwidth allocation that can find a near optimal solution with only a few measurements, which is practically essential to save the system development cost. Our extensive experiments on a real SoC board say that our proposed techniques successfully regulate each cluster's memory bandwidth usage within ± 10 % margin of the allocated bandwidth. Also, our optimization can achieve a near-optimal utility with less than 0.6 % loss on average compared to the real optimal, with only a few measurements (mostly three measurements) instead of 25 measurements needed for the real optimal.

关键词： Wiring Costs Memory management Automotive applications Bandwidth Channel allocation Regulation Loss measurement Timing Optimization

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