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Role of Network Topology in Cybersecurity

Role of Network Topology in Cybersecurity

引用

IEEE Annual Conference on Decision and Control

作者： Richard J. La Department of Electrical & Computer Engineering (ECE) and the Institute for Systems Research (ISR) at the University of Maryland College Park

ISBN: (纸本)9781467360890

We study how an underlying network property affects network security when nodes are rational and have four choices - i) invest in protection, ii) purchase (incomplete coverage) insurance, iii) invest in protection and purchase insurance, or iv) do nothing. More specifically, using a population game model, we examine how the degree distribution of nodes influences their choices at Nash equilibria (NEs) and overall security level. We first show that there exists a degree threshold at NEs so that only the populations with degrees greater than or equal to the threshold invest in protection. Second, as the weighted degree distribution of nodes becomes stochastically larger, the risk or threat posed by a neighbor decreases, even though the aforementioned degree threshold tends to rise, hence only nodes with increasingly higher degrees invest in protection, at the same time. Third, we show that the social optimum also possesses similar properties. Finally, we derive an upper bound on the price of anarchy, which is an affine function of the average degree of nodes. This upper bound is tight in that it is achieved in some scenarios.

关键词： Network security Ganglia Network topology Security level Anarchy Greater than or equal to Neighbor Upper bound population model

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A p300 model for cerebot - A mind-controlled humanoid robot 2

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2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Game-theoretic learning in a distributed-information setting: Distributed convergence to mean-centric equilibria

Game-theoretic learning in a distributed-information setting...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) University of Lisbon Portugal

ISBN: (纸本)9781479982981

The paper considers distributed learning in large-scale games via fictitious-play type algorithms. Given a preassigned communication graph structure for information exchange among the players, this paper studies a distributed implementation of the Empirical Centroid Fictitious Play (ECFP) algorithm that is well-suited to large-scale games in terms of complexity and memory requirements. It is shown that the distributed algorithm converges to an equilibrium set denoted as the mean-centric equilibria (MCE) for a reasonably large class of games.

关键词： Games Convergence Joints History Cognition Economics Protocols

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A Single DOF arm for transition of climbing robots between perpendicular planes

A Single DOF arm for transition of climbing robots between p...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Carlos Viegas Mahmoud Tavakoli Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781479969357

This paper introduces a novel single DOF plane transition mechanism, designed to enable wheel based climbing robots to transit between perpendicular planes. The developed mechanism is composed of an arm with two revolute joints derived by a single motor. An innovative transmission mechanism is designed based on the required trajectory and relative position for each arm link, enabling individual or simultaneous rotation of the two joints during the transition movement. An electromagnetic unit which adapts to both flat and curved structures is also designed and integrated in the arm. This solution was installed on the omnidirectional climbing robot, OmniClimber. The mechanism was successfully tested on a curved structure with a diameter of 220mm.

关键词： Joints Climbing robots Torque Adhesives Force

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Adaptive under-actuated anthropomorphic hand: isr-SoftHand

Adaptive under-actuated anthropomorphic hand: ISR-SoftHand

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Anibal T. de Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781479969357

isr-Softhand is a novel under-actuated self contained anthropomorphic robotic hand which takes advantage of elastic joints and soft pads. The integrated compliance in the hand's joint allows for a very good adaptability to a wide range of objects. It can achieve the top ten grasps with highest frequency of usage by humans, with only three actuators.

关键词： Self tuning Hand robotic hand Grasp elastic joint wide-range actuators Human

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Pedestrian Detection Combining RGB and Dense LIDAR Data

Pedestrian Detection Combining RGB and Dense LIDAR Data

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Cristiano Premebida Joao Carreira Jorge Batista Urbano Nunes Institute of Systems and Robotics Electrical and Computer Engineering Department University of Coimbra Portugal EECS Department at UC Berkeley

ISBN: (纸本)9781479969357

Why is pedestrian detection still very challenging in realistic scenes? How much would a successful solution to monocular depth inference aid pedestrian detection? In order to answer these questions we trained a state-of-the-art deformable parts detector using different configurations of optical images and their associated 3D point clouds, in conjunction and independently, leveraging upon the recently released KITTI dataset. We propose novel strategies for depth upsampling and contextual fusion that together lead to detection performance which exceeds that of the RGB-only systems. Our results suggest depth cues as a very promising mid-level target for future pedestrian detection approaches.

关键词： Pedestrians Optical Imaging Lidar

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Filter design for localization aided by direction and Doppler measurements

Filter design for localization aided by direction and Dopple...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joel Reis Paulo Oliveira Pedro Batista Carlos Silvestre Institute for Systems and Robotics Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Macau

This paper presents a localization solution for the study of tagged marine animals (sources) based on direction and Doppler measurements. The source localization, in 3-D, is supported by a Portable Underwater Robotic Tool (PURT), comprising a Ultra-Short Baseline (USBL) aided INS navigation system, carried by a diver (agent). Furthermore, a Surface Robotic Tool (SRT) provides the agent with its absolute position expressed in inertial coordinates. The observability of the system is studied and realistic simulation results are presented, in the presence of measurement noise.

关键词： Vectors Observability Noise Robots Acoustics Navigation Doppler effect

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Synchronous Reluctance Motor Drive for Electric Vehicles Including Cross-Magnetic Saturation

Synchronous Reluctance Motor Drive for Electric Vehicles Inc...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： A. P. Goncalves S. M. A. Cruz F. J. T. E. Ferreira A. M. S. Mendes Anibal T. De Almeida Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering University of Coimbra/IT Coimbra Portugal

This paper proposes a high-efficiency synchronous reluctance motor drive for the traction system of an electric vehicle. A vector control system, along with a maximum torque per ampere strategy was implemented taking into account the cross-magnetic saturation in the motor, to achieve a high- efficiency drive with a good dynamic behavior. Experimental results obtained in the laboratory, both in steady-state and transient regimes, demonstrate the feasibility and applicability of the developed control system for the target application.

关键词： Torque Induction motors Rotors Reluctance motors Stator windings

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Sensor placement for real-time dynamic state estimation in power systems: Structural systems approach

Sensor placement for real-time dynamic state estimation in p...

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Asilomar Conference on Signals, systems & computers

作者： Pedro Rocha Sérgio Pequito Soummya Kar A. Pedro Aguiar Paula Rocha Department of Electrical and Computer Engineering University of Porto Porto Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA Institute for Systems and Robotics Technical University of Lisbon Lisbon Portugal

ISBN: (纸本)9781479982981

This paper studies the problem of sensor placement design for efficient dynamic real-time state estimation in electric power networks. Given a (linearized) dynamic physical model of the power system, efficient sensor placement strategies are proposed that minimize the observability index of the system. The observability index plays a key role in determining the minimum window length of filters that guarantee stable estimation error and minimizing this index allows the design of memory and computationally efficient filtering schemes with performance guarantees. Specifically, given the system dynamics, the paper addresses the following two sensor placement design problems: (1) determining the minimal number and placement of sensors that achieves a certain desired system observability index, and (2) given the number of sensors to be deployed, obtaining the placement achieving minimal system observability index. These problems are addressed in a structural systems framework, i.e., the placement strategies are obtained on the basis of the sparsity pattern (location of zeroes/non-zeroes) of the system coupling matrix, and the design guarantees hold for almost all numerical parametric realizations of the system. Finally, an example is provided which illustrates the analytical findings.

关键词： Observability Indexes Power system dynamics Approximation algorithms Approximation methods Robot sensing systems State estimation

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Minimum number of information gatherers to ensure full observability of a dynamic social network: A structural systems approach

Minimum number of information gatherers to ensure full obser...

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IEEE Global Conference on Signal and Information Processing (GlobalSIP)

作者： Sergio Pequito Soummya Kar A. Pedro Aguiar Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA Institute for Systems and Robotics Technical University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering University of Porto Porto Portugal

ISBN: (纸本)9781479970896

This paper studies the problem of identifying the minimum number of entities (agents), referred to as information gatherers, that are able to infer all the states in a dynamical social network. The information gatherers can be, for instance, service providers and the remaining agents the clients, each comprising several dynamic states associated with the services and personal information. The problem of identifying the minimum number of information gatherers can constitute a way to create coalitions to oversee the entire state of the system, and consequently the behavior of the agents in the social network. The dynamical social network is assumed to be modelled as a linear time-invariant system, and we will make use of the structural systems concept, i.e., by considering only the sparsity pattern (location of zeroes/non-zeroes) of the system coupling matrix. As a consequence, the design guarantees derived hold for almost all numerical parametric realizations of the system. In this paper, we show that this problem is NP-hard: in addition, we provide a reduction of the coalition problem to a minimum set covering problem that, in practice, leads to efficient (polynomial complexity) approximation schemes for solving the coalition problem with guaranteed optimality gaps. Finally, an example is provided which illustrates the analytical findings.

关键词： Polynomials Observability Social network services Complexity theory Approximation methods Bipartite graph computers

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