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Deceptive labeling: Hypergames on graphs for stealthy deception

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arXiv 2020年

作者： Kulkarni, Abhishek N. Fu, Jie Leslie, Nandi O. Kamhoua, Charles A. Robotics Engineering Program Dept. of Electrical and Computer Engineering Worcester Polytechnic Institute WorcesterMA01609 United States U.S. Army Research Laboratory

With the increasing sophistication of attacks on cyber-physical systems, deception has emerged as an effective tool to improve system security and safety by obfuscating information or providing misleading information. In this paper, we present a solution to the deceptive game in which a control agent is to satisfy a Boolean objective specified by a co-safe temporal logic formula in the presence of an adversary. The agent intentionally introduces asymmetric information to create payoff misperception. This is done by masking information about the logical formula satisfied given the outcome of the game. We introduce hypergames on graphs as a model to capture the asymmetrical information with one-sided payoff misperception. We present the solution of such a hypergame for synthesizing stealthy deceptive strategies that exploit adversary’s misperception. Specifically, deceptive sure winning and deceptive almost-sure winning strategies are developed by reducing the hypergame to a two-player game and one-player stochastic game with reachability objectives. Finally, an illustrative example is introduced to demonstrate the correctness of theory and proposed algorithms. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

Time-to-Line Crossing Enhanced End-to-End Autonomous Driving Framework

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Time-to-Line Crossing Enhanced End-to-End Autonomous Driving...

International Conference on Intelligent Transportation

作者： Chanyoung Jung Hyunki Seong David Hyunchul Shim School of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea KAIST Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (数字)9781728141497

ISBN: (纸本)9781728141503

End-to-end autonomous driving approach, which directly maps raw input images to vehicle control commands using a deep neural network, is gaining considerable attention from both academia and industry. Researchers have conducted studies on this subject over the past few years. However, they have focused on designing network architecture, and evaluated performance only with root mean square error (RMSE), which did not account for the temporal dynamics of autonomous driving. In this paper, we propose a time-to-line crossing (TLC) enhanced end-to-end driving framework. The proposed framework is original to the industry in three ways. First, for the fine-labeled training dataset for end-to-end autonomous driving, the TLC based label correction algorithm is applied to reduce the inaccuracies of driver action, which is used as a ground truth. Second, we designed a novel deep neural network model based on bi-directional convolutional long short-term memory (bi-CLSTM) which can sufficiently encode the spatial and temporal features in the input image sequence. Third, in addition to the RMSE evaluation metric, we validated the performance of the end-to-end driving model using TLC, the advanced driving support system (ADAS), and a driver performance indicator. We integrated the proposed framework with existing end-to-end driving models on a full-scale autonomous vehicle in the experimental portion of our study. The results show that the proposed framework is valid and that our network model outperforms the existing models in terms of both RMSE and TLC.

关键词： Feature extraction Autonomous vehicles Training Vehicles Network architecture Data mining Wheels

Adaptive Traffic Signal Control for Developing Countries Using Fused Parameters Derived from Crowd-Source Data

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arXiv 2022年

作者： Mishra, Sumit Singh, Vishal Gupta, Ankit Bhattacharya, Devanjan Mudgal, Abhisek The Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Member of Technical Staff VMware Inc Palo AltoCA United States Department of Civil Engineering Indian Institute of Technology Banaras Hindu University Varanasi India Marie Sklodowska-Curie Actions TRAIN@ED School of Law School of Informatics University of Edinburgh United Kingdom Universidade Nova de Lisboa Campus de Campolide Lisboa1070-312 Portugal

Advancement of mobile technologies has enabled economical collection, storage, processing, and sharing of traffic data. These data are made accessible to intended users through various application program interfaces (API) and can be used to recognize and mitigate congestion in real time. In this paper, quantitative (time of arrival) and qualitative (color-coded congestion levels) data were acquired from the Google traffic APIs. New parameters that reflect heterogeneous traffic conditions were defined and utilized for real-time control of traffic signals while maintaining the green-to-red time ratio. The proposed method utilizes a congestion-avoiding principle commonly used in computer networking. Adaptive congestion levels were observed on three different intersections of Delhi (India), in peak hours. It showed good variation, hence sensitive for the control algorithm to act efficiently. Also, simulation study establishes that proposed control algorithm decreases waiting time and congestion. The proposed method provides an inexpensive alternative for traffic sensing and tracking technologies. © 2022, CC BY.

关键词： Crowdsourcing

Topological Approximate Dynamic programming under Temporal Logic Constraints

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Topological Approximate Dynamic Programming under Temporal L...

IEEE Annual Conference on Decision and Control

作者： Lening Li Jie Fu Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper, we develop a model-free approximate dynamic programming method for stochastic systems modeled as Markov decision processes to maximize the probability of satisfying high-level system specifications expressed in a subclass of temporal logic formulas-syntactically co-safe linear temporal logic. Our proposed method includes two steps: First, we decompose the planning problem into a sequence of sub-problems based on the topological property of the task automaton which is translated from a temporal logic formula. Second, we extend a model-free approximate dynamic programming method to solve value functions, one for each state in the task automaton, in an order reverse to the causal dependency. Particularly, we show that the run-time of the proposed algorithm does not grow exponentially with the size of specifications. The correctness and efficiency of the algorithm are demonstrated using a robotic motion planning example.

关键词： Task analysis Planning Dynamic programming Markov processes Automata Approximation algorithms Function approximation

Socially acceptable route planning and trajectory behavior analysis of personal mobility device for mobility management with improved sensing

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arXiv 2021年

作者： Mishra, Sumit Rajendran, Praveen Kumar Har, Dongsoo The Robotics Program Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Division of Future Vehicle Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of The CCS Graduate School of Green Transportation Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

In urban cities, with increasing acceptability of shared spaces used by pedestrians and personal mobility devices (PMDs), there is need for pragmatic socially acceptable path planning and navigation management policies. Hence, we propose a socially acceptable global route planner and assess the legibility of the resulting global route. Our approach proposed for choosing global route avoids streets penetrating shared spaces and main routes with high probability of dense usage. The experimental study shows that socially acceptable routes can be effectively found with an average of 10 % increment of route length with optimal hyperparameters. This helps PMDs to reach the goal while taking a socially acceptable and safe route with minimal interaction of different PMDs and pedestrians. When PMDs interact with pedestrians and other types of PMDs in shared spaces, micro-mobility simulations are of prime usage for acceptable and safe navigation policy. Social force models being state of the art for pedestrian simulation are calibrated for capturing random movements of pedestrian behavior. Social force model with calibration can imitate the required behavior of PMDs in a pedestrian mix navigation scheme. Based on calibrated models, simulations on shared space links and gate structures are performed to assist policies related to deciding waiting and stopping time. Also, based on simulated PMDs interaction with pedestrians, location data with finer resolution can be obtained if the resolution of GPS sensor is 0.2 m or less. This will help in formalizing better modelling and hence better micro-mobility policies. Copyright © 2021, The Authors. All rights reserved.

关键词： Navigation

Secure-by-synthesis network with active deception and temporal logic specifications

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arXiv 2020年

作者： Fu, Jie Kulkarni, Abhishek N. Luo, Huan Leslie, Nandi O. Kamhoua, Charles A. Dept. of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute MA United States U.S. Army Research Laboratory MD United States

This paper is concerned with the synthesis of strategies in network systems with active cyber deception. Active deception in a network employs decoy systems and other defenses to conduct defensive planning against the intrusion of malicious attackers who have been confirmed by sensing systems. In this setting, the defender's objective is to ensure the satisfaction of security properties specified in temporal logic formulas. We formulate the problem of deceptive planning with decoy systems and other defenses as a two-player games with asymmetrical information and Boolean payoffs in temporal logic. We use level-2 hypergame with temporal logic objectives to capture the incomplete/incorrect knowledge of the attacker about the network system as a payoff misperception. The true payoff function is private information of the defender. Then, we extend the solution concepts of ω-regular games to analyze the attacker's rational strategy given her incomplete information. By generalizing the solution of level-2 hypergame in the normal form to extensive form, we extend the solutions of games with safe temporal logic objectives to decide whether the defender can ensure security properties to be satisfied with probability one, given any possible strategy that is perceived to be rational by the attacker. Further, we use the solution of games with co-safe (reachability) temporal logic objectives to determine whether the defender can engage the attacker, by directing the attacker to a high-fidelity honeypot. The effectiveness of the proposed synthesis methods is illustrated with synthetic network systems with honeypots. Copyright © 2020, The Authors. All rights reserved.

关键词： Temporal logic

Amino-functionalized reduced graphene oxide@MoS2@CoS2 heterostructure as a high-rate anode material for ultralong lifespan sodium–sulfur batteries

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New Journal of Chemistry 2025年第24期49卷 10379-10387页

作者： Navid Aslfattahi Maryam Sadat Kiai Nilgun Baydogan Lingenthiran Samylingam Kumaran Kadirgama Chee Kuang Kok Department of Fluid Dynamics and Thermodynamics Faculty of Mechanical Engineering Czech Technical University in Prague Prague 166 07 Czech Republic Nano-Science and Nano-Engineering Program Graduate School of Science Engineering and Technology Istanbul Technical University Istanbul-34469 Turkey Energy Institute Ayazaga Campus Istanbul Technical University Maslak Istanbul Turkey Centre for Advanced Mechanical and Green Technology Center of Excellence for Robotics & Sensing Technologies Faculty of Engineering and Technology Multimedia University Jalan Ayer Keroh Lama Bukit Beruang 75450 Melaka Malaysia Faculty of Mechanical and Automotive Engineering Technology Universiti Malaysia Pahang 26600 Pekan Malaysia Centre for Research in Advanced Fluid and Process University Malaysia Pahang Al-Sultan Abdullah Lebuhraya Tun Razak Gambang Kuantan Pahang Malaysia Centre for Sustainable Materials & Surface Metamorphosis (CSMSM) Chennai Institute of Technology Chennai India

A nanocomposite comprising MoS2@CoS2 amino-functionalized graphene (En-RGO) with a two-dimensional structure has been successfully synthesized using a simple self-assembly technique. The resulting cell with a MoS2@CoS...

A nanocomposite comprising MoS₂@CoS₂ amino-functionalized graphene (En-RGO) with a two-dimensional structure has been successfully synthesized using a simple self-assembly technique. The resulting cell with a MoS₂@CoS₂@En-RGO anode and a sulfur cathode exhibits a superior hierarchical architecture that significantly facilitates ion mobility, cell conductivity, and pseudocapacitance. Consequently, this leads to improved rate performance and extended cycle stability in Na–S batteries. Micron-sized CoS₂ was synthesized by solvothermal growth of MoS₂ nanosheets on its surface. This composite material presents enhanced sodium-ion diffusion kinetics attributed to its heterogeneous interface, reduced ion diffusion pathways and increased exposure of active sites for sodium storage due to its hierarchical nanosheet structure. Additionally, amino functionalized graphene oxide with uniform nitrogen doping could improve electronic conductivity. The cell employing MoS₂@CoS₂@En-RGO with superior ion mobility and enhanced adsorption energy of Na⁺ ions achieves a cycle stability of 541.2 mA h g⁻¹ after 1800 cycles. The increased adsorption energy facilitates a more efficient sodiation process at MoS₂@CoS₂@En-RGO compared to En-RGO. Additionally, the MoS₂@CoS₂@En-RGO anode demonstrates a capacity retention of 95.8% after 1800 cycles at 1 A g⁻¹. The enhanced mobility of Na ions and the effective adsorption of polysulfide chains in MoS₂@CoS₂@En-RGO have been examined through DFT calculations, confirming its potential as a promising anode material for

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Compositional planning in Markov decision processes: Temporal abstraction meets generalized logic composition

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Compositional planning in Markov decision processes: Tempora...

American Control Conference

作者： Xuan Liu Jie Fu Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (纸本)9781538679012;9781538679265

In hierarchical planning for Markov decision processes (MDPs), temporal abstraction allows planning with macro-actions that take place at different time scale in form of sequential composition. In this paper, we propose a novel approach to compositional reasoning and hierarchical planning for MDPs under co-safe temporal logic constraints. In addition to sequential composition, we introduce a composition of policies based on generalized logic composition: Given sub-policies for sub-tasks and a new task expressed as logic compositions of subtasks, a semi-optimal policy, which is optimal in planning with only sub-policies, can be obtained by simply composing sub-polices. Thus, a synthesis algorithm is developed to compute optimal policies efficiently by planning with primitive actions, policies for sub-tasks, and the compositions of sub-policies, for maximizing the probability of satisfying constraints specified in the fragment of co-safe temporal logic. We demonstrate the correctness and efficiency of the proposed method in stochastic planning examples with a single agent and multiple task specifications.

关键词： Markov chain time scales Planning Formal logic Policies Abstraction Temporal logic accuracy class

Multimaterial 3D Nanoprinting of a 2 Fr Soft Robotic Microcatheter for Transarterial Chemoembolization of Liver Cancer

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Multimaterial 3D Nanoprinting of a 2 Fr Soft Robotic Microca...

IEEE International Conference on Soft robotics (RoboSoft)

作者： Bailey M. Felix Jordi T. Andreou Sarah McHugh Jack E. McCann Olivia M. Young Molly A. Carton Dheeraj Gandhi Miroslaw Janowski Mark Fuge Axel Kreiger Clifford R. Weiss Christopher R. Bailey Ryan D. Sochol Fischell Department of Bioengineering University of Maryland College Park MD USA Department of Mechanical Engineering University of Maryland College Park MD USA Department of Diagnostic Radiology and Nuclear Medicine Program in Image Guided Neurointerventions University of Maryland School of Medicine Baltimore MD USA Department of Mechanical Engineering ETH Zurich Zurich Switzerland Department of Mechanical Engineering Johns Hopkins University Baltimore MD USA The Russell H. Morgan Department of Radiology and Radiological Science Division of Vascular and Interventional Radiology Johns Hopkins University School of Medicine Baltimore MD USA Maryland Robotics Center University of Maryland College Park MD USA Robert E. Fischell Institute for Biomedical Devices University of Maryland College Park MD USA

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Transarterial chemoembolization (TACE)—i.e., the delivery of chemotherapeutics directly into the vasculature of liver tumors—necessitates the use of guidewire-microcatheter systems to navigate tortuous vascular networks. These guide-wires and microcatheters typically lack effective steering controls, making successful navigation through geometrically complex anatomy challenging. Recent advancements in the area of soft microrobotics could offer a pathway to remotely steerable microcatheters at size scales relevant to TACE procedures; however, the difficulties associated with fabricating such systems have represented a critical hurdle. To overcome this barrier, here we present a multimaterial additive nanomanufacturing— or "three-dimensional (3D) nanoprinting"—strategy to achieve steerable soft robotic microcatheters that not only facilitate on-demand regulation of catheter tip deflection, but also comprise 2 French (Fr) outer dimensions (i.e., ⌀ = 666 μm) that are suitable for clinical chemoembolization of liver cancers. Specifically, we use "Two-Photon Direct Laser Writing (DLW)" to 3D nanoprint 1.5 mm-tall microcatheters capable of unidirectional tip bending of approximately 140° as well as mediating delivery of a fluidic payload. Experimental results for navigating the soft robotic microcatheter through a vascular phantom to deliver fluid payloads to target sites suggest the presented strategy holds promise for TACE as well as additional endovascular interventions and minimally invasive surgeries.

关键词： Liver cancer Actuators Navigation Deformation Phantoms Liver Soft robotics Bending Three-dimensional printing Payloads