A heuristic for finding compatible differential paths with application to HAS-160

The question of compatibility of differential paths plays a central role in second order collision attacks on hash functions. In this context, attacks typically proceed by starting from the middle and constructing the middle-steps quartet in which the two paths are enforced on the respec- tive faces of the quartet structure. Finding paths that can fit in such a quartet structure has been a major challenge and the currently known compatible paths extend over a suboptimal number of steps for hash functions such as SHA-2 and HAS-160. In this paper, we investigate a heuristic that searches for compatible differential paths. The application of the heuristic in case of HAS-160 yields a practical second order collision over all of the function steps, which is the first practical result that covers all of the HAS-160 steps. An example of a colliding quartet is provide

The cultural epigenetics of psychopathology: The missing heritability of complex diseases found?

We extend a cognitive paradigm for gene expression based on the asymptotic limit theorems of information theory to the epigenetic epidemiology of mental disorders. In particular, we recognize the fundamental role culture plays in human biology, another heritage mechanism parallel to, and interacting with, the more familiar genetic and epigenetic systems. We do this via a model through which culture acts as another tunable epigenetic catalyst that both directs developmental trajectories, and becomes convoluted with individual ontology, via a mutually-interacting crosstalk mediated by a social interaction that is itself culturally driven. We call for the incorporation of embedding culture as an essential component of the epigenetic regulation of human mental development and its dysfunctions, bringing what is perhaps the central reality of human biology into the center of biological psychiatry. Current US work on gene-environment interactions in psychiatry must be extended to a model of gene-environment-culture interaction to avoid becoming victim of an extreme American individualism that threatens to create paradigms particular to that culture and that are, indeed, peculiar in the context of the world's cultures. The cultural and epigenetic systems of heritage may well provide the 'missing' heritability of complex diseases now under so much intense discussion

Cryptanalysis of Symmetric Cryptographic Primitives

Symmetric key cryptographic primitives are the essential building blocks in modern information security systems. The overall security of such systems is crucially dependent on these mathematical functions, which makes the analysis of symmetric key primitives a goal of critical importance. The security argument for the majority of such primitives in use is only a heuristic one and therefore their respective security evaluation continually remains an open question. In this thesis, we provide cryptanalytic results for several relevant cryptographic hash functions and stream ciphers. First, we provide results concerning two hash functions: HAS-160 and SM3. In particular, we develop a new heuristic for finding compatible differential paths and apply it to the the Korean hash function standard HAS-160. Our heuristic leads to a practical second order collision attack over all of the HAS-160 function steps, which is the first practical-complexity distinguisher on this function. An example of a colliding quartet is provided. In case of SM3, which is a design that builds upon the SHA-2 hash and is published by the Chinese Commercial Cryptography Administration Office for the use in the electronic authentication service system, we study second order collision attacks over reduced-round versions and point out a structural slide-rotational property that exists in the function. Next, we examine the security of the following three stream ciphers: Loiss, SNOW 3G and SNOW 2.0. Loiss stream cipher is designed by Dengguo Feng et al. aiming to be implemented in byte-oriented processors. By exploiting some differential properties of a particular component utilized in the cipher, we provide an attack of a practical complexity on Loiss in the related-key model. As confirmed by our experimental results, our attack recovers 92 bits of the 128-bit key in less than one hour on a PC with 3 GHz Intel Pentium 4 processor. SNOW 3G stream cipher is used in 3rd Generation Partnership Project (3GPP) and the SNOW 2.0 cipher is an ISO/IEC standard (IS 18033-4). For both of these two ciphers, we show that the initialization procedure admits a sliding property, resulting in several sets of related-key pairs. In addition to allowing related-key key recovery attacks against SNOW 2.0 with 256-bit keys, the presented properties reveal non-random behavior of the primitives, yield related-key distinguishers for the two ciphers and question the validity of the security proofs of protocols based on the assumption that these ciphers behave like perfect random functions of the key-IV. Finally, we provide differential fault analysis attacks against two stream ciphers, namely, HC-128 and Rabbit. In this type of attacks, the attacker is assumed to have physical influence over the device that performs the encryption and is able to introduce random faults into the computational process. In case of HC-128, the fault model in which we analyze the cipher is the one in which the attacker is able to fault a random word of the inner state of the cipher but cannot control its exact location nor its new faulted value. Our attack requires about 7968 faults and recovers the complete internal state of HC-128 by solving a set of 32 systems of linear equations over Z2 in 1024 variables. In case of Rabbit stream cipher, the fault model in which the cipher is analyzed is the one in which a random bit of the internal state of the cipher is faulted, however, without control over the location of the injected fault. Our attack requires around 128 − 256 faults, precomputed table of size 2^41.6 bytes and recovers the complete internal state of Rabbit in about 2^38 steps

A path planning and path-following control framework for a general 2-trailer with a car-like tractor

Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path planning and path-following control solution that can be used to automatically plan and execute difficult parking and obstacle avoidance maneuvers by combining backward and forward motion. A lattice-based path planning framework is developed in order to generate kinematically feasible and collision-free paths and a path-following controller is designed to stabilize the lateral and angular path-following error states during path execution. To estimate the vehicle state needed for control, a nonlinear observer is developed which only utilizes information from sensors that are mounted on the car-like tractor, making the system independent of additional trailer sensors. The proposed path planning and path-following control framework is implemented on a full-scale test vehicle and results from simulations and real-world experiments are presented.Comment: Preprin

Inferring Regulatory Networks by Combining Perturbation Screens and Steady State Gene Expression Profiles

Reconstructing transcriptional regulatory networks is an important task in functional genomics. Data obtained from experiments that perturb genes by knockouts or RNA interference contain useful information for addressing this reconstruction problem. However, such data can be limited in size and/or are expensive to acquire. On the other hand, observational data of the organism in steady state (e.g. wild-type) are more readily available, but their informational content is inadequate for the task at hand. We develop a computational approach to appropriately utilize both data sources for estimating a regulatory network. The proposed approach is based on a three-step algorithm to estimate the underlying directed but cyclic network, that uses as input both perturbation screens and steady state gene expression data. In the first step, the algorithm determines causal orderings of the genes that are consistent with the perturbation data, by combining an exhaustive search method with a fast heuristic that in turn couples a Monte Carlo technique with a fast search algorithm. In the second step, for each obtained causal ordering, a regulatory network is estimated using a penalized likelihood based method, while in the third step a consensus network is constructed from the highest scored ones. Extensive computational experiments show that the algorithm performs well in reconstructing the underlying network and clearly outperforms competing approaches that rely only on a single data source. Further, it is established that the algorithm produces a consistent estimate of the regulatory network.Comment: 24 pages, 4 figures, 6 table

Path Planning and Energy Efficiency of Heterogeneous Mobile Robots Using Cuckoo–Beetle Swarm Search Algorithms with Applications in UGV Obstacle Avoidance

In this paper, a new meta-heuristic path planning algorithm, the cuckoo–beetle swarm search (CBSS) algorithm, is introduced to solve the path planning problems of heterogeneous mobile robots. Traditional meta-heuristic algorithms, e.g., genetic algorithms (GA), particle swarm search (PSO), beetle swarm optimization (BSO), and cuckoo search (CS), have problems such as the tenancy to become trapped in local minima because of premature convergence and a weakness in global search capability in path planning. Note that the CBSS algorithm imitates the biological habits of cuckoo and beetle herds and thus has good robustness and global optimization ability. In addition, computer simulations verify the accuracy, search speed, energy efficiency and stability of the CBSS algorithm. The results of the real-world experiment prove that the proposed CBSS algorithm is much better than its counterparts. Finally, the CBSS algorithm is applied to 2D path planning and 3D path planning in heterogeneous mobile robots. In contrast to its counterparts, the CBSS algorithm is guaranteed to find the shortest global optimal path in different sizes and types of maps