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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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Voronoi based place recognition using hidden Markov models 15th

Voronoi based place recognition using hidden Markov models

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Boada, B.L. Palazon, D. Blanco, D. Moreno, L. System Engineering and Automation Dept. Carlos III University Spain

ISBN: (纸本)9783902661746

This article presents a new algorithm to recognize natural distinctive places such as corridors, halls, narrowings, corridors with open doors on the left side etc., from indoor environments using Hidden Markov Models. The environment is modelled as a graph. This graph is obtained from a Voronoi Diagram from measurements of laser scanner. The characteristics of Voronoi Diagram (nodes, number of edges adjacent to nodes, slope of edges etc.) are used to learn and recognize the different places. Copyright © 2002 IFAC.

关键词： Hidden Markov models

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Solar thermal plants integration in smart grids

Solar thermal plants integration in smart grids

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作者： Camacho, E.F. Del Real, A.J. Bordons, C. Arce, A. Dept. System Engineering and Automation University of Seville School of Engineering Spain IDENER R and D Spain

ISBN: (纸本)9783902661937

Solar energy penetration has been increasingly growing in recent years. Since solar energy is intermittent its integration in existing grids is difficult. This paper deals with the optimal integration of solar power plants in grids. The paper proposes a modification of energy hubs which allows to solve the optimization problem with a mixed integer programming algorithm in a distributed way. An introductory simulation study case is given. © 2011 IFAC.

关键词： Integer programming

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Complex Resonance in Acoustics

Complex Resonance in Acoustics

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2020 International Multi-Conference on Industrial engineering and Modern Technologies, FarEastCon 2020

作者： Zhukov, E.A. Adamova, M.E. Zhukova, V.I. Pnu Dept. of Automation and System Engineering Dept. of Physics Khabarovsk Russia Festu Department of Higher Mathematics Khabarovsk Russia

ISBN: (纸本)9781728169514

A complex spectroscopy principle is extended to the bending vibration analysis. We considered the complex spectrum of attenuated Lamb waves for simply supported rectangular plate. The spectral analysis of real and imaginary parts of the vibration frequency enhances the acoustic spectroscopy as well as in optics. The complex spectrum allows one to distinguish two normal modes with identical frequencies and different attenuation coefficients, besides the resonance curve's width along the imaginary axis could be less than one along the real axis. This method can be applied to the investigation of non-linear interaction of magnetic, electromagnetic and acoustic waves in limited medium. The complex spectral analysis can also be used for non-destructive testing and in seismology. © 2020 IEEE.

关键词： Surface waves

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The multi-chamber electronic nose (MCE-nose)

The multi-chamber electronic nose (MCE-nose)

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IEEE International Conference on Mechatronics

作者： Gonzalez, Javier Monroy, Javier G. Garcia, Francisco Blanco, Jose Luis Dept. of System Engineering and Automation Spain Dept. of Mechanical Engineering Spain Dept. of Civil Engineering Materials and Construction University of Malaga Campus de Teatinos 29071 Malaga Spain

ISBN: (纸本)9781612849836

One of the major disadvantages of the Metal Oxide Semiconductor (MOS) technology as transducer for electronic gas sensing devices (e-noses) is the long recovery period needed after each gas exposure. This severely restricts its usage in applications where the gas concentration may change rapidly, as it is the case of robotic olfaction, where the robot must move at a very low speed, almost incompatible with any practical robot operation. This paper describes the design of a new e-nose which overcomes, to a great extent, such limitation. The proposed e-nose, called Multi-Chamber Electronic Nose (MCE-nose), comprises several identical sets of MOS sensors accommodated in separate chambers (four in our current prototype), which alternate between sensing and recovery states, providing, as a whole, a device capable of sensing faster changes in chemical concentrations. © 2011 IEEE.

关键词： Electronic nose

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Modelling a distributed computing system for BigData processing and managing algorithms implementation in MicroGrids 2

Modelling a distributed computing system for BigData process...

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2nd International Youth Scientific and Technical Conference on Relay Protection and automation, RPA 2019

作者： Boltunov, Alexey Vasilev, Stepan Karpenko, Vladislav Voloshin, Alexander Voloshin, Evgeniy Moscow Power Engineering Institute Relay Protection and Power System Automation Dept. Moscow Russia

ISBN: (纸本)9781728163819

This paper deals with the main principles and requirements of building a distributed fault-tolerant computing system for MicroGrid needs. This includes hardware and software infrastructure for managing power generation, transmission, consumption and accumulation processes. The system is built on the base of ARM64 SoC computers and microservice paradigm. © 2019 IEEE.

关键词： system-on-chip

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system engineering and automation 1

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1000年

作者： Javier Fernández de Cañete Cipriano Galindo Inmaculada García Moral

ISBN: (数字)9783642202308

ISBN: (纸本)9783642202292;9783642434136

This book provides insight and enhanced appreciation of analysis, modeling and control of dynamic systems. The reader is assumed to be familiar with calculus, physics and some programming skills. It might develop the reader’s ability to interpret physical significance of mathematical results in system analysis. The book also prepares the reader for more advanced treatment of subsequent knowledge in the automatic control field. Learning objectives are performance-oriented, using for this purpose interactive MATLAB and SIMULINK software tools. It presents realistic problems in order to analyze, design and develop automatic control systems. Learning with computing tools can aid theory and help students to think, analyze and reason in meaningful ways. The book is also complemented with classroom slides and MATLAB and SIMULINK exercise files to aid students to focus on fundamental concepts treated.

关键词： Control and systems Theory systems Theory, Control Control, Robotics, Mechatronics

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Calibration of MOX gas sensors in open sampling systems based on Gaussian Processes

Calibration of MOX gas sensors in open sampling systems base...

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11th IEEE SENSORS 2012 Conference

作者： Monroy, Javier G. Lilienthal, Achim Blanco, Jose Luis Gonzalez-Jimenez, Javier Trincavelli, Marco Dept. of System Engineering and Automation University of Malaga Spain AASS Research Centre Crebro University Sweden Dept. of Civil Engineering University of Malaga Spain

ISBN: (纸本)9781457717659

Calibration of metal oxide (MOX) gas sensors for continuous monitoring is a complex problem due to the highly dynamic characteristics of the gas sensor signal when exposed to a natural environment in an Open Sampling system (OSS). This work presents a probabilistic approach to the calibration of MOX gas sensors using Gaussian Processes (GP). The proposed approach estimates for every sensor measurement a probability distribution of the corresponding gas concentration, which enables the calculation of confidence intervals for the predicted concentrations. Being able to predict the uncertainty about the concentration related to a particular sensor response is particularly advantageous in OSS applications where typically many sources of uncertainty exist. The proposed approach has been tested with an experimental setup where an array of MOX sensors and a Photo Ionization Detector (PID) are placed downwind with respect to the gas source. The PID is used to obtain ground truth concentration measurements. Comparison with standard calibration methods demonstrate the advantage of the proposed approach. © 2012 IEEE.

关键词： Calibration

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Modified feedback narrowband active noise control with online secondary-path modeling 24

Modified feedback narrowband active noise control with onlin...

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24th International Congress on Acoustics, ICA 2022

作者： Ma, Yaping Xiao, Yegui Ma, Liying Khorasani, Khashayar Dept. of Automation Jiangnan University China Dept. of Information and Management System Prefectural University of Hiroshima Japan Dept. of Electrical and Computer Engineering Concordia University Canada

Feedback narrowband active noise control (NANC, FBNANC) systems have been developed to suppress sinusoidal noise signals generated by rotating machines such as diesel engines, fans, etc. They do not require any reference sensor and can avoid the frequency mismatch and the acoustic feedback, as compared with the conventional feedforward NANC (FFNANC) systems. In this paper, a modified FBNANC system is proposed which contains three subsystems, namely: 1) a cascade pre-filtered and parallelly updated adaptive notch filter bank (CPANFB) that is included to synthesize the reference sinusoidal signals for the FBNANC controller, 2) an online secondary-path modeling (SPM, OSPM) subsystem that is introduced into the new system to track the secondary-path changes, and 3) a bandpass filter bank that is applied to the residual noise for separating the remaining sinusoids from other broadband noise components, with the former utilized to scale the auxiliary white Gaussian noise (AWGN) for the purpose of reducing its contribution to the residual noise. The three subsystems including the MPA (magnitude and phase adjuster) based controller are seamlessly integrated to work in harmony such that the whole FBNANC system enjoys nice advantages in both convergence and noise reduction performance (NRP). Extensive simulations are conducted to demonstrate and confirm the effectiveness of the proposed system. © ICA *** rights reserved

关键词： adaptive notch filter bank (ANFB) Feedback narrowband active noise control (FBNANC) magnitude noise reduction performance (NRP) online secondary-path modeling (OSPM) phase adjuster (MPA)

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Voronoi extraction of free-way areas in cluttered environments

Voronoi extraction of free-way areas in cluttered environmen...

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作者： Castejón, C. Blanco, D. Boada, B.L. Moreno, L. Mechanical Dept. Carlos III University 28911 Madrid Spain System Engineering and Automation Dept. Carlos III University 28911 Madrid Spain

ISBN: (纸本)0780389123

In robotic service field, safety navigation in human environments is one of the most important goals. To navigate without collision, some kind of environment representation is needed. This paper presents a new methodology to build, in real-time, compact local maps for navigation in complex indoor environments. The map is called Traversable Regions Model (TRM) and is based on Voronoi diagram techniques. The new approach is the application of Voronoi techniques in 3D environments and the previous study of traversability in indoor environments. The model built allows to define safe trajectories depending on the robot's capabilities and the terrain properties, because a previous traversability study is performed with the 3D data. The methodology presented is validated in real indoor environments with the mobile manipulator MANFRED, developed in our lab. © 2005 IEEE.

关键词： Navigation

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