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Stealthy malware traffic - not as innocent as it looks

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arXiv 2017年

作者： Zhong, Xingsi Fu, Yu Yu, Lu Brooks, Richard Kumar Venayagamoorthy, G. Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University ClemsonSC29634 United States

Malware is constantly evolving. Although existing countermeasures have success in malware detection, corresponding counter-countermeasures are always emerging. In this study, a counter-countermeasure that avoids network-based detection approaches by camouflaging malicious traffic as an innocuous protocol is presented. The approach includes two steps: Traffic format transformation and side-channel massage (SCM). Format-transforming encryption (FTE) translates protocol syntax to mimic another innocuous protocol while SCM obscures traffic side-channels. The proposed approach is illustrated by transforming Zeus botnet (Zbot) Command and Control (C&C) traffic into smart grid Phasor Measurement Unit (PMU) data. The experimental results show that the transformed traffic is identified by Wireshark as synchrophasor protocol, and the transformed protocol fools current side-channel attacks. Moreover, it is shown that a real smart grid Phasor Data Concentrator (PDC) accepts the false PMU data. Copyright © 2017, The Authors. All rights reserved.

关键词： Phasor measurement units

Transformative role of photovoltaics in phasing out alternating current based grid by local DC power networks for sustainable global economic growth 44

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Transformative role of photovoltaics in phasing out alternat...

44th IEEE Photovoltaic Specialist Conference, PVSC 2017

作者： Singh, Rajendra Asif, Amir A. Venayagamoorthy, Ganesh K. Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University ClemsonSC29634 United States

ISBN: (纸本)9781509056057

For sustainable global economic growth, eradication of global energy poverty and addressing climate challenges, free fuel based solar and wind energy sources are the only viable solution for electricity generation. Due to inherent advantages, photovoltaics has emerged as the major source of electrical power. Local generation of direct current (DC) power by PV and the use of batteries for storing DC electrical power have the potential of transforming global electricity infrastructure to address the problems faced by alternating current (AC) based centralized power generation and long haul transmission and distribution. © 2017 IEEE.

关键词： Electric power transmission networks

EndoSensorFusion: Particle filtering-based multi-sensory data fusion with switching state-space model for endoscopic capsule robots

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arXiv 2017年

作者： Turan, Mehmet Almalioglu, Yasin Gilbert, Hunter Araujo, Helder Cemgil, Taylan Sitti, Metin Physical Intelligence Department Max Planck Institute for Intelligent Systems Department of Information Technology and Electrical Engineering Eth Zurich Computer Engineering Department Bogazici Univesity Mechanical Engineering Department Louisiana State University Baton RougeLA70803 United States Institute for Systems and Robotics University of Coimbra Computer Engineering Department Bogazici Univesity Physical Intelligence Department Max Planck Institute for Intelligent Systems

A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal (GI) tract. In this study, we propose a novel multi-sensor fusion approach based on a particle filter that incorporates an online estimation of sensor reliability and a non-linear kinematic model learned by a recurrent neural network. Our method sequentially estimates the true robot pose from noisy pose observations delivered by multiple sensors. We experimentally test the method using 5 degree-of-freedom (5-DoF) absolute pose measurement by a magnetic localization system and a 6-DoF relative pose measurement by visual odometry. In addition, the proposed method is capable of detecting and handling sensor failures by ignoring corrupted data, providing the robustness expected of a medical device. Detailed analyses and evaluations are presented using ex-vivo experiments on a porcine stomach model prove that our system achieves high translational and rotational accuracies for different types of endoscopic capsule robot trajectories. Copyright © 2017, The Authors. All rights reserved.

关键词： Monte Carlo methods

Magnetic-visual sensor fusion based medical SLAM for endoscopic capsule robot

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arXiv 2017年

作者： Turan, Mehmet Almalioglu, Yasin Gilbert, Hunter Araujo, Helder Konukoglu, Ender Sitti, Metin Max Planck Institute for Intelligent Systems Stuttgart Germany Computer Vision Laboratory Eth Zurich Computer Engineering Department Bogazici University Louisiana State University Baton RougeLA United States Robotics Laboratory University of Coimbra

A reliable, real-time simultaneous localization and mapping (SLAM) method is crucial for the navigation of actively controlled capsule endoscopy robots. These robots are an emerging, minimally invasive diagnostic and therapeutic technology for use in the gastrointestinal (GI) tract. In this study, we propose a dense, non-rigidly deformable, and real-time map fusion approach for actively controlled endoscopic capsule robot applications. The method combines magnetic and vision based localization, and makes use of frame-to-model fusion and model-to-model loop closure. The performance of the method is demonstrated using an ex-vivo porcine stomach model. Across four trajectories of varying speed and complexity, and across three cameras, the root mean square localization errors range from 0.42 to 1.92 cm, and the root mean square surface reconstruction errors range from 1.23 to 2.39 cm. Copyright © 2017, The Authors. All rights reserved.

关键词： Magnetism

Sparse-then-Dense Alignment based 3D Map Reconstruction Method for Endoscopic Capsule Robots

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arXiv 2017年

作者： Turan, Mehmet Pilavci, Yusuf Yigit Ganiyusufoglu, Ipek Araujo, Helder Konukoglu, Ender Sitti, Metin Max Planck Institute for Intelligent Systems Stuttgart Germany Computer Vision Laboratory ETH Zurich Switzerland Robotics Laboratory University of Coimbra Portugal Electrical and Electronics Engineering Middle East Technical University Turkey Computer Science Faculty of Engineering and Natural Sciences Sabanci University Turkey

In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is emerging as a novel, minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Since the development of this technology, medical device companies and many research groups have made substantial progress in converting passive capsule endoscopes to robotic active capsule endoscopes which can be controlled by the doctor. However, robotic capsule endoscopy still has some challenges. In particular, the use of such devices to generate a precise and globally consistent three-dimensional (3D) map of the entire inner organ remains an unsolved problem. Such global 3D maps of inner organs would help doctors to detect the location and size of diseased areas more accurately, precisely, and intuitively, thus permitting more accurate and intuitive diagnoses. The proposed 3D reconstruction system is built in a modular fashion including preprocessing, frame stitching, and shading-based 3D reconstruction modules. We propose an efficient scheme to automatically select the key frames out of the huge quantity of raw endoscopic images. Together with a bundle fusion approach that aligns Copyright © 2017, The Authors. All rights reserved.

关键词： Endoscopy

Full body human motion estimation on lie groups using 3D marker position measurements 16

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Full body human motion estimation on lie groups using 3D mar...

16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016

作者： Ćesić, Josip Joukov, Vladimir Petrović, Ivan Kulić, Dana University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics Croatia University of Waterloo Department of Electrical and Computer Engineering Adaptive Systems Laboratory Canada

ISBN: (纸本)9781509047185

This paper proposes a new algorithm for full body human motion estimation using 3D marker position measurements. The joints are represented with Lie group members, including special orthogonal groups SO(2) and SO(3), and a special euclidean group SE(3). We employ the Lie Group Extended Kalman Filter (LG-EKF) for stochastic inference on groups, thus explicitly accounting for the non-euclidean geometry of the state space, and provide the derivation of the LG-EKF recursion for articulated motion estimation. We evaluate the performance of the proposed algorithm in both simulation and on real-world motion capture data, comparing it with the Euler angles based EKF. The results show that the proposed filter significantly outperforms the Euler angles based EKF, since it estimates human motion more accurately and is not affected by gimbal lock. © 2016 IEEE.

关键词： Extended Kalman filters

Model-driven deep learning for physical layer communications

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arXiv 2018年

作者： He, Hengtao Jin, Shi Wen, Chao-Kai Gao, Feifei Li, Geoffrey Ye Xu, Zongben National Mobile Communications Research Laboratory Southeast University Nanjing210096 China Institute of Communications Engineering National Sun Yat-sen University Kaohsiung804 Taiwan State Key Lab of Intelligent Technologies and Systems Tsinghua University Department of Automation Tsinghua University Beijing China School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States Institute for Information and System Sciences Xian Jiaotong University Xi'an710049 China

intelligent communication is gradually becoming a mainstream direction. As a major branch of machine learning, deep learning (DL) has been applied in physical layer communications and demonstrated an impressive performance improvement in recent years. However, most of the existing works related to DL focus on data-driven approaches, which consider the communication system as a black box and train it by using a huge volume of data. Training a network requires sufficient computing resources and extensive time, both of which are rarely found in communication devices. By contrast, modeldriven DL approaches combine communication domain knowledge with DL to reduce the demand for computing resources and training time. This article discusses the recent advancements in model-driven DL approaches in physical layer communications, including transmission schemes, receiver design, and channel information recovery. Several open issues for future research are also highlighted. Copyright © 2018, The Authors. All rights reserved.

关键词： Deep learning

Adaptive Dynamic Programming and Optimal Stabilization for Linear systems with Time-varying Uncertainty

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Adaptive Dynamic Programming and Optimal Stabilization for L...

Asian Control Conference

作者： Meng Zhang Ming-Gang Gan Jie Chen Zhong-Ping Jiang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering New York University Brooklyn NY

ISBN: (纸本)9781509015740;9781509015733

This paper focuses on the optimal control of continuous-time linear time-varying uncertain systems with completely unknown internal dynamics and proposes a novel approach which leads to an optimal controller with guaranteed stability. A model-free algorithm of adaptive dynamic programming is employed to deal with the uncertainty of system parameters, yielding an optimal feedback controller for the system subject to a predefined cost. Then the stability of the system in time-varying uncertain situation which may undergo parameter changes or jumps is analyzed from the perspective of finite-time stability. On the basis of these results, a switching control strategy is presented to ensure the stability of the time-varying uncertain system with desired optimality properties in the long run. The effectiveness of the strategy is verified by simulations on a DC torque motor servo system.

关键词： Time-varying systems Stability analysis Symmetric matrices Asymptotic stability Uncertainty Optimal control

Design of Low-cost Position Differential Positioning System Based on STM32

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Design of Low-cost Position Differential Positioning System ...

Chinese Automation Congress

作者： Haijun Fu Ming Qiu Xisong Dong Gang Xiong Haonan Xiong Xiang Su Shichao Chen Zhen Shen Xiujiang Guo School of Artificial Intelligence Beijing Union University Beijing China The Cloud Computing Center Chinese Academy of Sciences Dongguan China The Qingdao Academy of Intelligent Industries Macau University of Science and Technology Qingdao China Beijing Union University Beijing China School of Electrical Engineering and Electronic Information Xihua University Chengdu China The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China The Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China Department of Computer Science University of Helsinki Fin Finland Measurement Center Station PetroChina Huabei Oilfield Company Renqiu China

There exist some obstacles to realize high-precision positioning with using the position differential technique due to the limiting factors. However, with the advancement of chip performance and the establishment of multiple satellite navigation systems, position differential positioning can be realized to meet the civilian high-precision positioning demand while significantly reducing costs. This paper is to explore the engineering application and propose a new method. Through the experiments and data analysis, we have found the error correlation between two receivers in a small area and designed a set of positioning system, and programmed in the Keil μVision5 in C language. The system consists of the current mainstream low-cost STM32, UBLOX NEO 6M chip, NRF24L01 chip, GPS antenna and power supply module. Each two receivers can form a differential positioning system. At present, the system in the low-speed status is, in the urban environment, basically reaching within 0.5 - 3 m of the positioning error.

关键词： Position differential positioning Low cost Error correlation GPS STM32