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Securing Mobile Robotic Networks Against Replacement Attack

IEEE Transactions on Automatic control 2025年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Cai, Lin Shanghai Jiao Tong University Dept. of Automation China Ministry of Education of China The Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Victoria Dept. of Electrical and Computer Engineering BC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external robot can replace a formation robot by compromising the communication and physically interfering with the victim simultaneously. To counter this advanced attack, the novel idea of this work is to leverage the physical proximity of the formation shape and the interaction topology among robots for defense design. First, from the physical proximity perspective, we propose the convex neighbor polygon (CNP) to capture the geometric characteristic of the formation robots, and design a CNP-based security mechanism for the robots during the replacement attack. Then, from the interaction perspective, we introduce the indirect controllability to characterize the possibility that the attacker leverages the interaction between robots to deactivate the CNP mechanism, and establish the conditions regarding the topology structure and the attack input to counter the replacement. Finally, based on the obtained conditions, we demonstrate how to design the initiatory topology among the formation robots to enhance the defense performance. Comparative simulations verify the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Topology

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Attack Tree Refinements Analysis and Verification by applying Coloured Petri Nets 48

Attack Tree Refinements Analysis and Verification by applyin...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Pasandideh, Shabnam Pereira, Pedro Gomes, Luis Nova School of Science and Technology-Nova University Lisbon Center of Technology and Systems-UNINOVA Dept. Electrical and Computer Engineering Caparica Portugal

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Recently, Graphical Security Models (GrSMs) became widely used for security analysis. The basic formalism called Attack Tree (AT) has been augmented with new attributes covering defence, response, and countermeasure aspects to support security modelling and analysis in vulnerable systems. Although the models have strength in visualising and analysing small attack-defence scenarios, these suffer from lack of scalability when increasing nodes and adaptability with other refinement models to show the dynamic nature and state of systems in interest. In this work, Coloured Petri net (CPN) is used to fulfil the mentioned shortcomings in GrSMs (specifically Tree-based models). It is applied for evaluating each component's interactions, the impact of threats as well as defence systems to mitigate those threats. For that end and pointing out the CPN adaptability with GrSMs, a set of mapping rules are proposed allowing translation of ATs extension into CPN and their analysis. The quantitative analysis aspect is addressed in this work by introducing computing transition. We validate our proposed approach by applying it in an example of SCADA systems cyber-security analysis. © 2022 IEEE.

关键词： Cybersecurity

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Towards Reliable Uncertainty Quantification and High Precision with General Type-2 Fuzzy systems

Towards Reliable Uncertainty Quantification and High Precisi...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Batuhan Avcı Aykut Beke Tufan Kumbasar Control and Automation Engineering Dept. Istanbul Technical University Istanbul Turkey Control Systems Design Dept. ASELSAN Inc. Ankara Turkey

Deep learning models have been successfully developed to solve complex problems with the main focus on high precision. Yet, accurately assessing uncertainty and prediction is essential for making informed decisions, especially in high-risk tasks. In this paper, we present a step towards learning reliable uncertainty quantification and high precision performance via α- plane based General Type-2 Fuzzy Logic systems (GT2-FLSs). To balance between accuracy and uncertainty quantification, we propose a novel composite loss function consisting of an accuracy-focused and uncertainty-focused loss term that exploits the parameters of the Secondary Membership Functions (SMFs). For the uncertainty-focused term, we use only the type-reduced set of α 0 = 0 plane of the GT2-FLS, i.e. the size of the SMFs, which does not contribute to the output calculation directly. In the accuracy-focused part, we present two options for the error terms. One uses the aggregated output while the other uses only the output α K = 1 plane of the GT2-FLS. In both terms, we make the SMF shape parameters responsible for learning pointwise prediction. We present statistical comparisons and demonstrate that the learned GT2-FLSs generate reliable prediction intervals while also resulting in high-precision performance. The results show the potential of the proposed approach for GT2-FLS as a promising solution for making reliable predictions in real-world applications.

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Navigating Green Transportation in Urban Agglomerations: A Refined Approach for Carbon Emissions Assessment 24

Navigating Green Transportation in Urban Agglomerations: A R...

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24th COTA International Conference of Transportation Professionals: Resilient, Intelligent, Connected, and Lowcarbon Multimodal Transportation, CICTP 2024

作者： Chen, Boyou Wang, Yuanqing Abolarin, Emmanuel Zhang, Shuangyan Liu, Xihao Guo, Hanlin Ren, Baolong Dept. of Built Environment Bartlett School of Planning Univ. College London London United Kingdom Dept. of Transportation Engineering College of Transportation Engineering Chang’an Univ. Xi’an China Dept. of Industrial and Manufacturing Systems Engineering College of Engineering and Computer Science Univ. of Michigan–Dearborn Dearborn United States School of Civil and Transportation Engineering Beijing Univ. of Civil Engineering and Architecture Beijing China Sino-French Engineer School Beihang Univ. Beijing China Dept. of Instrument Science and Technology College of Mechanical Engineering Nanjing Univ. of Science and Technology Nanjing China Sino-Danish College Univ. of Chinese Academy of Sciences Beijing China

ISBN: (数字)9780784485484

ISBN: (纸本)9780784485484

Rapid urbanization has expanded urban agglomerations, escalating carbon emissions from increased transportation needs. These agglomerations have distinct multi-modal transportation systems. Analyzing their carbon footprints and eco-friendly transportation evolution is essential for sustainability. However, research in this domain is limited. This research refines emissions estimation methods, introducing models tailored for urban agglomerations. An evaluation framework for green transportation detailing a computational method for future policies is proposed. The research highlights primary transportation structures and energy consumption. Using a "bottom-up" approach, carbon estimation models for inter- and intra-city transportation are drafted. Assessment indicators are redefined by merging the DPSIR model with urban metrics, forming five main modules with 19 indicators. Using the Regression Random Forest method and focusing on the Yangtze River Delta in China, the link between annual emissions and these indicators is examined, providing a theoretical analysis approach for general cases. © ASCE.

关键词： Carbon sequestration

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AGILE Project Management Using Jira in Processing of Food Industry 17

AGILE Project Management Using Jira in Processing of Food In...

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17th International Conference on engineering of Modern Electric systems, EMES 2023

作者： Monica, Mesaros Diana Coroian, Aurelia Mastan, Oana-Andreea Longodor, Adina-Lia Zoltan, Kovendi Silaghi, Marius Alexandru Liliana, Magdoiu University of Oradea Control Systems Engineering Department Oradea Romania University of Agricultural Sciences and Veterinary Medicine Dept. of Toxicology Cluj-Napoca Romania University of Agricultural Sciences and Veterinary Medicine Dept. of Preclinical Sciences Cluj-Napoca Romania University of Agricultural Sciences and Veterinary Medicine Dept. of Land Measurements and Exact Sciences Cluj-Napoca Romania

ISBN: (纸本)9798350310634

The goal of this paper is to present the applicability of AGILE SCRUM Project Management in Processing of Food Industry. This article is an incipient case study of interdisciplinarity fields such as food processing industry and AGILE SCRUM Methodology. Beginning with a succinct overview of the Methodology, this paper presents how AGILE suits in different fields of engineering. © 2023 IEEE.

关键词： Project management

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A PID control Algorithm for Path Tracking of a Nonholonomic Car-Like Robot

A PID Control Algorithm for Path Tracking of a Nonholonomic ...

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IEEE International Symposium on Consumer Electronics (ISCE)

作者： Indrazno Siradjuddin Dimas Adi Prayoga Sapto Wibowo Yan Watequlis Syaifudin Rendi Pambudi Wicaksono Mas Nurul Achmadiah Dept. of Electrical Engineering State Polytechnic of Malang Malang Indonesia Dept. of Information Technology State Polytechnic of Malang Malang Indonesia Dept. Of Computer Control Engineering State Polytechnic of Madiun Madiun Indonesia

ISBN: (数字)9798350365191

ISBN: (纸本)9798350365207

A car-like robot with an Ackermann steering system is a type of nonholonomic which is characterised by a set of first-order differential constraints on its configuration variables, which are not integrable. This distinctive characteristic gives rise to complex issues in the construction of feedback controllers. This research proposes reactive control using a feedback controller using PID algorithm for a car-like robot navigation. The proposed method controls the steering angle of the car-like robot to follow the prescribed path with a constant longitudinal robot velocity. The open-loop car-like dynamical system has been formulated in the form of state-space model. Two PID controllers in parallel computed the lateral position error and the yaw angle error. The summation of the two outputs from the PID controllers was inputted into the state-space model. The PID controller parameters were selected based on trial and error. The simulation results confirm the effectiveness of the proposed control algorithm.

关键词： PI control Navigation Simulation Heuristic algorithms Steering systems State-space methods PD control Adaptive control Dynamical systems Robots

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Pneumonia Classification using deep learning: A comparative study 8

Pneumonia Classification using deep learning: A comparative ...

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8th IEEE International Conference on Image and Signal Processing and their Applications, ISPA 2024

作者： Tiar, Mohamed Lakhdar Terki, Nadjiba Dominguez-Jimenez, Juan Jose University of Mohamed Khider Biskra IL3CUB Laboratory Algeria University of Mohamed Khider Biskra Electrical Engineering Department Algeria University of Cadiz Escuela Superior de Ingenieria Cadiz Dept. Computer Languages and Systems Spain

ISBN: (纸本)9798350309249

Pneumonia is an infectious disease of the lungs, caused by viruses, bacteria or fungi. Pneumonia is distinguished by acute inflammation of the lung tissue, causing the consolidation of the terminal bronchioles and alveoli. According to the WHO (the World Health Organization), this disease causes about 4 million deaths. Among the methods of diagnosing pneumonia uses a chest X-ray. This is widely used to visualize pulmonary abnormalities. This work aims at the detection and characterization of pneumonia by the development of computer-assisted diagnosis systems (DAOC). We use deep learning algorithms and chest X-ray images from a pneumonia database to examine the classification of pneumonia. To improve the accuracy, we compare several deep learning models. This research contributes to meeting the growing demand for medical personnel by addressing the global incidence of chest disorders. © 2024 IEEE.

关键词： Classification (of information)

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Towards a Theory of control Architecture: A QUANTITATIVE FRAMEWORK FOR LAYERED MULTI-RATE control

arXiv

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arXiv 2024年

作者： Matni, Nikolai Ames, Aaron D. Doyle, John C. Dept. of Electrical and Systems Engineering University of Pennsylvania Philadelphia United States Control and Dynamical Systems California Institute of Technology Pasadena United States

This paper focuses on the need for a rigorous theory of layered control architectures (LCAs) for complex engineered and natural systems, such as power systems, communication networks, autonomous robotics, bacteria, and human sensorimotor control. All deliver extraordinary capabilities, but they lack a coherent theory of analysis and design, partly due to the diverse domains across which LCAs can be found. In contrast, there is a core universal set of control concepts and theory that applies very broadly and accommodates necessary domain-specific specializations. However, control methods are typically used only to design algorithms in components within a larger system designed by others, typically with minimal or no theory. This points towards a need for natural but large extensions of robust performance from control to the full decision and control stack. It is encouraging that the successes of extant architectures from bacteria to the Internet are due to strikingly universal mechanisms and design patterns. This is largely due to convergent evolution by natural selection and not intelligent design, particularly when compared with the sophisticated design of components. Our aim here is to describe the universals of architecture and sketch tentative paths towards a useful design theory. Copyright © 2024, The Authors. All rights reserved.

关键词： Bacteria

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Enhancing Performance in Hybrid Satellite-Terrestrial Networks: A Novel Joint NOMA-NC Approach

Enhancing Performance in Hybrid Satellite-Terrestrial Networ...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Michail Karavolos Nektarios Moraitis Lefteris Tsipi Demosthenes Vouyioukas Dept. of Information and Communication Systems Engineering University of the Aegean Samos Greece School of Electrical and Computer Engineering National Technical University of Athens Zografou Greece Dept. of Digital Systems University of Piraeus Piraeus Greece

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

An appealing alternative towards dealing with mobility and coverage challenges in future wireless networks, are hybrid satellite-terrestrial networks (HSTNs). The combination of network coding (NC) and non-orthogonal multiple access (NOMA) techniques, have recently gained popularity due to their performance gains in improving the quality of a wireless transmission and exploiting the accessible spectrum. This paper introduces a joint NOMA-NC approach, integrated to an HSTN comprising a satellite, a terrestrial base station (BS), and multiple ground-based mobile terminals (MTs). The suggested method facilitates a cluster of end-users to be concurrently served through NOMA from a satellite using optimal power allocation, whereas the BS utilizes random linear NC to augment the MTs’ reception in the event of errors. The simulation results confirm the effectiveness of the proposed methodology in improving system sum throughput, demonstrating substantial enhancements compared with both OMA with NC, and standalone NOMA and OMA approaches. The resilience of the suggested method is proved, improving the sum throughput even at low power transmissions and in the worst case channel conditions.

关键词： NOMA Satellites Wireless networks Simulation Network coding Space-air-ground integrated networks Throughput Hybrid power systems Resource management Resilience

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Machine-Learning-Based Path Loss Prediction for In-Cabin Wireless Networks

Machine-Learning-Based Path Loss Prediction for In-Cabin Wir...

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Machine Learning for Communication and Networking (ICMLCN), IEEE International Conference on

作者： Nektarios Moraitis Lefteris Tsipi Demosthenes Vouyioukas School of Electrical and Computer Engineering National Technical University of Athens Athens Greece Dept. of Information and Communication Systems Engineering University of the Aegean Samos Greece Dept. of Digital Systems University of Piraeus Piraeus Greece

ISBN: (数字)9798350343199

ISBN: (纸本)9798350343205

This article examines the performance of machine learning (ML) techniques for accurate path loss predictions inside aircrafts. An artificial neural network (ANN) and support vector regression (SVR) methods are introduced and assessed. Both algorithms are trained, validated and tested with measurements collected inside a long-range Airbus aircraft at three different frequencies. According to the statistical analysis both methods adapt very well to the measured data, delivering low root-mean-square errors, being 1.5 and 1.9 dB for ANN and SVR models, respectively. In any case, the ANN method exhibits better performance in predicting accurately path loss. Finally, the results verified that the appropriateness of the applied ML techniques is much better than that of conventional empirical models, thus forecasting path loss with remarkable efficacy.

关键词： Support vector machines Accuracy Statistical analysis Atmospheric modeling Wireless networks Artificial neural networks Machine learning

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