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Unprecedented Smart Algorithm for Uninterrupted SDN Services During DDoS Attack

Computers, Materials & Continua 2022年第1期70卷 875-894页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Rizaludin Kaspin Iram Haider Sana Nisar J.P.C.Rodrigues Bhawani Shankar Chowdhry Muhammad AslamUqaili Satya Prasad Majumder Danda B.Rawat Richard Etengu Rajkumar Buyya Faculty of Computing&Informatics Multimedia UniversityPersiaranMultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation Centre63000CyberjayaSelangorMalaysia Federal University of Piauí(UFPI) TeresinaPIBrazil Instituto de Telecomunica珲es 6201-001Covilh?Portugal National Center of Robotics and Automation-Condition Monitoring Systems Lab MUETJamshoroPakistan Department of Electrical and Electronic Engineering BUETDhaka1205Bangladesh Department of Electrical Engineering and Computer Science Data Science and Cybersecurity CenterHoward UniversityWashingtonDCUSA Cloud Computing and Distributed Systems(CLOUDS)Laboratory School of Computing and Information SystemsThe University of MelbourneMelbourneVIC 3053Australia

In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of the SDN controller is sophisticated for the centralized control system of the entire ***,it creates a significant loophole for the manifestation of a distributed denial of service(DDoS)attack ***,recently a distributed Reflected Denial of Service(DRDoS)attack,an unusual DDoS attack,has been ***,minimal deliberation has given to this forthcoming single point of SDN infrastructure failure ***,recently the high frequencies of DDoS attacks have increased *** this paper,a smart algorithm for planning SDN smart backup controllers under DDoS attack scenarios has *** proposed smart algorithm can recommend single or multiple smart backup controllers in the event of DDoS *** obtained simulated results demonstrate that the validation of the proposed algorithm and the performance analysis achieved 99.99%accuracy in placing the smart backup controller under DDoS attacks within 0.125 to 46508.7 s in SDN.

关键词： SDN smart algorithm RTZLK-DAASCP DDoS attack DRDoS

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A distributed formation-based odor source localization algorithm - design, implementation, and wind tunnel evaluation

A distributed formation-based odor source localization algor...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Alcherio Martinoli Laboratory of Robotics and Systems in Engineering and Science University of Lisbon Lisboa Portugal Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Faculty of Engineering University of Porto Research Center for Systems and Technology Porto Portugal

ISBN: (纸本)9781479969241

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes.

关键词： Robot sensing systems Robot kinematics Algorithm design and analysis Shape Hardware

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Plural Wheels Control based on Slip Estimation

Plural Wheels Control based on Slip Estimation

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Daisuke Chugo Hajime Asama Kuniaki Kawabata Hayato Kaetsu Taketoshi Mishima Graduate School ofInformation Systems University of Electro-Communications Tokyo Japan Distributed Adaptive Robotics Research Unit RIKEN Saitama Japan Research into Artifacts Center ofor Engineering University of Tokyo Kashiwa Chiba Japan Faculty ofScience and Engineering Saitama University Saitama Japan

In our current research, we are developing a holonomic mobile system which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over non-flat ground in forward or backward direction using the passive suspension mechanism. In order to realize the high mobile performance during step climbing, it is required to reduce wheel slippage for maximizing wheel traction. This paper proposes a new plural wheel control method based on wheel slip estimation. Our key idea is estimation of wheel slippage comparing with the loads and rotation velocities of all actuated wheels, and using this result for wheel control of the vehicle for reducing wheel slippage. The controller can adjust control tractions of plural wheels when the wheel begins to slip and can improve the mobile performance of the vehicle. The performance of our proposed control scheme is experimented by computer simulations and experiments

关键词： Wheels Mobile robots Legged locomotion Intelligent robots Actuators Crawlers Vehicle driving Control systems Programmable control Adaptive control

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The analysis of excavator operation by skillful operator

The analysis of excavator operation by skillful operator

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23rd International Symposium on robotics and Automation in Construction, ISARC 2006

作者： Sakaida, Yuki Chugo, Daisuke Kawabata, Kuniaki Kaetsu, Hayato Asama, Hajime Graduate School of Engineering University of Tokyo 5-1-5 Kashiwanoha Kashiwa-shi Chiba 277-8568 Japan Intelligent Modeling Laboratory University of Tokyo 2-11-16 Yayoi Bunkyo-ku Tokyo 113-8656 Japan Distributed Adaptive Robotics Research Unit RIKEN Institute of Physical and Chemical Research 2-1 Hirosawa Wako-shi Saitama 351-0198 Japan Research into Artifacts Center of Engineering University of Tokyo 5-1-5 Kashiwanoha Kashiwa-shi Chiba 277-8568 Japan

ISBN: (纸本)4990271718

In recent years, some unmanned operation systems for the hydraulic excavator are required and some systems are already developed. However, it is difficult to realize effective operation utilizing such systems, because the operator cannot sense ground condition. The skillful operator adaptive their operation to the excavating environment based on the experience, and realizing the efficient excavating. In this paper, we described the experiment for extracting operator's skill for controlling unmanned hydraulic excavator. We compare the operation of skillful with non-skillful operator and discuss the result for the modeling of operator's skill. From these results, we have revealed that skillful operator realizes unified trajectories of the bucket with quick moving and this causes the efficient performance.

关键词： Excavators

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In this issue

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IEEE Transactions on robotics 2006年第5期22卷 1070-1070页

作者： S.A. Stoeter N. Papanikolopoulos Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Center of Distributed Robotics University of Minnesota Minneapolis MN USA

Provides an overview of the technical articles and features presented in this issue.

关键词： Intelligent robots robotics and automation Equations Production XML Intelligent systems

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Swarm size planning tool for multi-job type missions 18th

Swarm size planning tool for multi-job type missions

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18th AIAA Aviation Technology, Integration, and Operations Conference, 2018

作者： Chandarana, Meghan Lewis, Michael Allen, Bonnie Danette Sycara, Katia Scherer, Sebastian Carnegie Mellon University PittsburghPA15213 United States University of Pittsburgh PittsburghPA15260 United States NASA Langley Research Center HamptonVA23681 United States Dept. of Mechanical Engineering 5000 Forbes Ave. PittsburghPA United States Informatics and Distributed Systems and Intelligent Systems 135 North Bellefield Ave. PittsburghPA15260 United States Crew Systems & Aviation Operations Branch MS 492 United States Robotics Institute 5000 Forbes Ave PittsburghPA15213 United States

ISBN: (数字)9781624105562

ISBN: (纸本)9781624105562

As part of swarm search and service (SSS) missions, swarms are tasked with searching an area while simultaneously servicing jobs as they are encountered. Jobs must be immediately serviced and can be one of multiple types. Each type requires that vehicle(s) break off from the swarm and travel to the job site for a specified amount of time. The number of vehicles needed and the service time for each job type are known. Once a job has been successfully serviced, vehicles return to the swarm and are available for reallocation. When planning SSS missions, human operators are tasked with determining the required number of vehicles needed to handle the expected job demand. The complex relationship between job type parameters makes this choice challenging. This work presents a prediction model used to estimate the swarm size necessary to achieve a given performance. User studies were conducted to determine the usefulness and ease of use of such a prediction model as an aid during mission planning. Results show that using the planning tool leads to 7x less missed area and a 50% cost reduction. © 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Vehicles

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Force Assistance Control for Standing-Up Motion

Force Assistance Control for Standing-Up Motion

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： D. Chugo K. Kawabata H. Kaetsu N. Miyake K. Kosuge H. Asama E. Okada Intelligent Modeling Laboratory University of Tokyo Bunkyo Tokyo Japan Graduate School of Engineering University of Tokyo Kashiwa Chiba Japan Distributed Adaptive Robotics Research Unit RIKEN Institute of Physical and Chemical Research Wako Saitama Japan Research into Artifacts Center for Engineering University of Tokyo Kashiwa Chiba Japan Product Department Paramount Bed Company Limited Koto Tokyo Japan Department of Bioengineering and Robotics University of Tohoku Sendai Miyagi Japan

In our current research, we are developing a power assistance system for standing up motion. Our developing system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. In this paper, we develop the control scheme which realizes the natural standing up motion with fewer loads to the patient. For developing control scheme, we investigate the standing-up motion of aged people who requires to power support and typical standing up motion by nursing specialist. Comparing with two motions, we set the reference of standing-up motion with our system and we discuss the required assistance force during standing up. Our key ideas are two topics. One topic is control reference using zero moment point. Zero moment point is useful index which shows stability of the patient's posture. The other topic is combination of force and position control. According to the patient's posture during standing up, our control system select more appropriate control method from them. The performance of our proposed control scheme is experimented by computer simulations

关键词： Force control Motion control Senior citizens Intelligent robots Aging Control systems Medical services Position control Force sensors Laboratories

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Natural Criteria for Comparison of Pedestrian Flow Forecasting Models

Natural Criteria for Comparison of Pedestrian Flow Forecasti...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Tomáš Vintr Zhi Yan Kerem Eyisoy Filip Kubiš Jan Blaha Jiří Ulrich Chittaranjan S. Swaminathan Sergi Molina Tomasz P. Kucner Martin Magnusson Gregorz Cielniak Jan Faigl Tom Duckett Achim J. Lilienthal Tomáš Krajník Artificial Intelligence Center Czech Technical University Distributed Artificial Intelligence and Knowledge Laboratory (CIAD) University of Technology of Belfort-Montbeliard (UTBM) France Faculty of Engineering Marmara University Turkey AASS Mobile Robotics and Olfaction Lab Orebro University Sweden Lincoln Centre for Autonomous Systems (L-CAS) University of Lincoln UK

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Models of human behaviour, such as pedestrian flows, are beneficial for safe and efficient operation of mobile robots. We present a new methodology for benchmarking of pedestrian flow models based on the afforded safety of robot navigation in human-populated environments. While previous evaluations of pedestrian flow models focused on their predictive capabilities, we assess their ability to support safe path planning and scheduling. Using real-world datasets gathered continuously over several weeks, we benchmark state-of-the-art pedestrian flow models, including both time-averaged and time-sensitive models. In the evaluation, we use the learned models to plan robot trajectories and then observe the number of times when the robot gets too close to humans, using a predefined social distance threshold. The experiments show that while traditional evaluation criteria based on model fidelity differ only marginally, the introduced criteria vary significantly depending on the model used, providing a natural interpretation of the expected safety of the system. For the time-averaged flow models, the number of encounters increases linearly with the percentage operating time of the robot, as might be reasonably expected. By contrast, for the time-sensitive models, the number of encounters grows sublinearly with the percentage operating time, by planning to avoid congested areas and times.

关键词： Navigation Predictive models Benchmark testing Trajectory Planning Safety Robots

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Defining Positioning in a Core Ontology for robotics

Defining Positioning in a Core Ontology for Robotics

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Joel Luis Carbonera Sandro Rama Fiorini Edson Prestes Vitor A. M. Jorge Mara Abel Raj Madhavan Angela Locoro Paulo Goncalves Tamas Haidegger Marcos E. Barreto Craig Schlenoff Institute of Informatics UFRGS Brazil Institute for Systems Research University of Maryland USA DIBRIS Universit degli Studi di Genova Italy Polytechnic Institute of Castelo Branco / Technical University of Lisbon Center of Intelligent Systems IDMEC / LAETA Portugal ABC Center for Intelligent Robotics Obuda University Budapest Hungary Distributed Systems Laboratory UFBA Brazil Intelligent Systems Division NIST EUA

ISBN: (纸本)9781467363563

Unambiguous definition of spatial position and orientation has crucial importance for robotics. In this paper we propose an ontology about positioning. It is part of a more extensive core ontology being developed by the IEEE RAS Working Group on ontologies for robotics and automation. The core ontology should provide a common ground for further ontology development in the field. We give a brief overview of concepts in the core ontology and then describe an integrated approach for representing quantitative and qualitative position information.

关键词： Ontologies Robot sensing systems Robot kinematics Service robots Automation Position measurement

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Time-varying Pedestrian Flow Models for Service Robots

Time-varying Pedestrian Flow Models for Service Robots

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European Conference on Mobile Robots (ECMR)

作者： Tomáš Vintr Sergi Molina Ransalu Senanayake George Broughton Zhi Yan Jiří Ulrich Tomasz Piotr Kucner Chittaranjan Srinivas Swaminathan Filip Majer Mária Stachová Achim J. Lilienthal Tomáš Krajník Artificial Intelligence Center Czech Technical University Lincoln Centre for Autonomous Systems (L-CAS) University of Lincoln UK Stanford University Distributed Artificial Intelligence and Knowledge Laboratory (CIAD) University of Technology of Belfort-Montbéliard (UTBM) France AASS Mobile Robotics and Olfaction Lab Örebro University Sweden University of Matej Bel in Banska Bystrica Slovakia

We present a human-centric spatiotemporal model for service robots operating in densely populated environments for long time periods. The method integrates observations of pedestrians performed by a mobile robot at different locations and times into a memory efficient model, that represents the spatial layout of natural pedestrian flows and how they change over time. To represent temporal variations of the observed flows, our method does not model the time in a linear fashion, but by several dimensions wrapped into themselves. This representation of time can capture long-term (i.e. days to weeks) periodic patterns of peoples' routines and habits. Knowledge of these patterns allows making long-term predictions of future human presence and walking directions, which can support mobile robot navigation in human-populated environments. Using datasets gathered for several weeks, we compare the model to state-of-the-art methods for pedestrian flow modelling.

关键词： Navigation Hidden Markov models Predictive models Trajectory Legged locomotion

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