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Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots [article]

Jorge Peña Queralta, Li Qingqing, Eduardo Castelló Ferrer, Tomi Westerlund
2020 arXiv   pre-print
This paper introduces a robotic mission encoding method that serves as an end-to-end validation framework for autonomous robots.  ...  As a consequence, securing the operation of autonomous robots goes beyond securing data, from sensor input to mission instructions, towards securing the interaction with their environment.  ...  The main contributions of this work are 1) the definition of an end-to-end validation framework for autonomous robots based on encoded instruction graphs; 2) the introduction of a novel approach that encodes  ... 
arXiv:2009.01341v1 fatcat:izxt42mcdfbmvduhndfq2ya25i

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots

Jorge Pena Queralta, Li Qingqing, Eduardo Castello Ferrer, Tomi Westerlund
2022 IEEE Internet of Things Journal  
This paper introduces an encoding method and end-to-end validation framework for the missions of autonomous robots.  ...  Therefore, securing the operations of autonomous robots requires not only securing their data (e.g., sensor inputs and mission instructions) but securing their interactions with their environment.  ...  The main contributions of this work are: 1) the definition of an end-to-end validation framework for autonomous robots based on encoded instruction graphs; 2) the definition and validation of a novel approach  ... 
doi:10.1109/jiot.2022.3164545 fatcat:73gqphquwrfgnekb6yx6vuk5hy

3D Recognition Based on Sensor Modalities for Robotic Systems: A Survey

Sumaira Manzoor, Sung-Hyeon Joo, Eun-Jin Kim, Sang-Hyeon Bae, Gun-Gyo In, Jeong-Won Pyo, Tae-Yong Kuc
2021 Sensors  
3D visual recognition is a prerequisite for most autonomous robotic systems operating in the real world.  ...  as a guide to those who are interested in vision-based robotics applications.  ...  Acknowledgments: Thanks for the help of reviewers and editors. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s21217120 pmid:34770429 pmcid:PMC8587961 fatcat:qqoqlkaycbc4xk24j7j2nzqabe

Exception detection and handling in mission control for mobile robots

Thomas Timm Andersen, Nils Axel Andersen, Ole Ravn
2013 IFAC Proceedings Volumes  
It can also monitor the execution of said motion instructions and detect i.e. if the low level security function in MRC has suspended motion due to a blocking obstacle in front of the robot.  ...  Algorithms for navigation For global path planning, a graph node planner is used to calculate the most feasible path towards the goal.  ... 
doi:10.3182/20130626-3-au-2035.00060 fatcat:spytnymrtvhghh24vn2aoqmcpi

Optimizing the Performance Evaluation of Robotic Arms with the Aid of Genetic Algorithm

K. ShivaprakashReddy, PVK Perumal, B. Durgaprasad, M. A. Murtaza
2012 International Journal of Computer Applications  
In recent decades, the robotic system is becoming more and more significant and this leads the humans to perform precarious tasks at secure distances.  ...  In order to attain the optimized value for the robotic arm gear box, we considered both dynamic and static parameters.  ...  Robotics is mandatory for the secure hand of human to accomplish their progression.  ... 
doi:10.5120/8038-1346 fatcat:677ef3xwgbbbpdylp5mtzvec7a

Following route graphs in urban environments

Roderick de Nijs, Miguel Julia, Nikos Mitsou, Barbara Gonsior, Dirk Wollherr, Kolja Kuhnlenz, Martin Buss
2011 2011 RO-MAN  
In this paper, an approach is presented that allows a robot to navigate in an urban environment by following natural language route instructions.  ...  In this situation, neither maps nor GPS information are available to the robot thus it has to rely solely on the human-given route description and the observations from its sensors.  ...  However, the robot needs to be able to understand whether it has reached the end of a route graph segment in order to switch to the next route direction.  ... 
doi:10.1109/roman.2011.6005196 dblp:conf/ro-man/NijsJMGWKB11 fatcat:ix2auky7evgvtae6jci7zk3gxy

Towards Semantic Integration of Machine Vision Systems to Aid Manufacturing Event Understanding

Kaishu Xia, Clint Saidy, Max Kirkpatrick, Noble Anumbe, Amit Sheth, Ramy Harik
2021 Sensors  
Moreover, extracted signals are interpreted by Programmable Logical Controllers (PLCs) and field devices for cognitive automation towards fully autonomous industrial systems.  ...  Generally accepted roles and implementation recipes of cyber systems are expected to be standardized in the future of manufacturing industry.  ...  Acknowledgments: The authors are grateful for the software and hardware donations received from industrial partners Siemens USA, Yaskawa Motoman Robotics, and IBM.  ... 
doi:10.3390/s21134276 pmid:34206522 fatcat:qc757wsldbegvlvyh4zaug2nee

Optimizing the Performance Evaluation of Robotic Arms with the Aid of Particle Swarm Optimization

Dr.P V, Dr.B. Durgaprasad, Dr.M.A Murtaza
2012 International Journal of Advanced Computer Science and Applications  
In this modern world, robotic evaluation plays a most important role. In secure distance, this leads the humans to execute insecure task.  ...  For consecutively attaining optimized value in our previous work, we focused on both static and dynamic parameters in the robotic arm gearbox model.  ...  The standard and existing data are obtained from [25] .In the figure 2,3,4,5 explains the general model graph for standard and the existing work amid blue color marked is how much occur in the black color  ... 
doi:10.14569/ijacsa.2012.031222 fatcat:xxtpr4zn35dovd4vrmgpo4y2sm

IoT Security and Computation Management on a Multi-Robot System for Rescue Operations Based on a Cloud Framework

Swarnabha Roy, Tony Vo, Steven Hernandez, Austin Lehrmann, Asad Ali, Stavros Kalafatis
2022 Sensors  
The usage of UAV–UGV cooperation allows for autonomous surveillance due to the high vantage field of view.  ...  In addition to these, relevant information and alerts are displayed on a website for the users.  ...  Acknowledgments: We are grateful to Stavros Kalafatis, John Lusher II, Kevin Nowka, and Wonhyeok Jang for their support and cooperation in allowing this work to be a part of the Senior Capstone project  ... 
doi:10.3390/s22155569 pmid:35898074 pmcid:PMC9330409 fatcat:j6wka5ewwjeshejrmgh7ndtmve

The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments

Andrea Bauer, Klaas Klasing, Georgios Lidoris, Quirin Mühlbauer, Florian Rohrmüller, Stefan Sosnowski, Tingting Xu, Kolja Kühnlenz, Dirk Wollherr, Martin Buss
2009 International Journal of Social Robotics  
In a recent experiment the robot managed to successfully travel a 1.5 km distance from the campus of the Technische Universität München to Marienplatz, the central square of Munich.  ...  The Autonomous City Explorer (ACE) project combines research from autonomous outdoor navigation and human-robot interaction.  ...  This work is supported in part within the DFG excellence initiative research cluster Cognition for Technical Systems -CoTeSys, see also, within the European Commission as part of the Robot  ... 
doi:10.1007/s12369-009-0011-9 fatcat:fgytamcabnhf7ko4t2bmy7nyvm

A survey on the design space of end-user-oriented languages for specifying robotic missions

Swaib Dragule, Thorsten Berger, Claudio Menghi, Patrizio Pelliccione
2021 Journal of Software and Systems Modeling  
To this end, we need to improve our empirical understanding of the current state-of-the-art of such languages and their environments. In this paper, we contribute in this direction.  ...  Since end-users usually lack such skills, many commercial robots are nowadays equipped with environments and domain-specific languages tailored for end-users.  ...  End-user-teacher A teacher has to instruct a robot development course to students with limited background in programming languages.  ... 
doi:10.1007/s10270-020-00854-x fatcat:rkqop4sykfgbnewk2z6mvjy2w4

Robotics for Occupational Therapy: Learning Upper-Limb Exercises from Demonstrations

Siyao Hu, Rochelle Mendonca, Michelle J. Johnson, Katherine J. Kuchenbecker
2021 IEEE Robotics and Automation Letters  
It needs only tens of seconds of training data from a therapist teleoperating the robot to do the task with the user.  ...  We model the robot behavior as a regression problem, inferring the desired robot effort using the end-effector's state (position and velocity).  ...  level of motor function, but more data is needed to validate this hypothesis.  ... 
doi:10.1109/lra.2021.3098945 fatcat:otibhdckdfaezjbhzc243qn5ui

D1.2 Requirements definition and analysis from vertical industries and core applications

Tilemachos Doukoglou, Marius Iordache, Uwe Herzog
2019 Zenodo  
These services although do not require 5G are more than welcome to be hosted in the Operators' 5G networks since their revenues will help shorten the payback time of the initial investment (for rolling  ...  validate their Applications and Services.  ...  In the transport area, 5G-HEART will validate autonomous/assisted/remote driving and vehicle data services.  ... 
doi:10.5281/zenodo.3628161 fatcat:jg4ppgqspbch7chjt2t3gy5jii

Vacuums in the Cloud: Analyzing Security in a Hardened IoT Ecosystem

Fabian Ullrich, Jiska Classen, Johannes Eger, Matthias Hollick
2019 Workshop on Offensive Technologies  
Vendors are aware of robots being a target of interest; they employ various security mechanisms against tampering with devices and recorded data in the cloud.  ...  Hence, they are a prime target for attacks and if compromised become a privacy and security nightmare.  ...  State Ministry for Higher Education, Research and the Arts (HMWK) under the joint grant for the National Research Center for Applied Cybersecurity.  ... 
dblp:conf/woot/UllrichCEH19 fatcat:mdcagi7x5vhh5epiuobzk62atu

"May you have a strong (-typed) foundation" why strong-typed programming languages do matter

N. Tomatis, R. Brega, G. Rivera, R. Siegwart
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
robot for the Swiss National Exhibition Expo.02.  ...  consistency and interface compliance. 1 In this paper, we argue that strong-typed programming languages and paradigms offer a valid support for the production of reliable programs.  ...  The eleven robots were produced by BlueBotics SA, a spin-off of the Autonomous Systems Lab, EPFL.  ... 
doi:10.1109/robot.2004.1308784 dblp:conf/icra/TomatisBRS04 fatcat:77p7kpuh6jaqflx2dsuni6myym
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