Security Protocol Specification and Verification with AnBx

Designing distributed protocols is complex and requires actions at very different levels: from the design of an interaction flow supporting the desired application-specific guarantees, to the selection of the most appropriate network-level protection mechanisms. To tame this complexity, we propose AnBx, a formal protocol specification language based on the popular Alice & Bob notation. AnBx offers channels as the main abstraction for communication, providing different authenticity and/or confidentiality guarantees for message transmission. AnBx extends existing proposals in the literature with a novel notion of forwarding channels, enforcing specific security guarantees from the message originator to the final recipient along a number of intermediate forwarding agents. We give a formal semantics of AnBx in terms of a state transition system expressed in the AVISPA Intermediate Format. We devise an ideal channel model and a possible cryptographic implementation, and we show that, under mild restrictions, the two representations coincide, thus making AnBx amenable to automated verification with different tools. We demonstrate the benefits of the declarative specification style distinctive of AnBx by revisiting the design of two existing e-payment protocols, iKP and SET

Inductive verification of cryptographic protocols based on message algebras - trace and indistinguishability properties

Since 1981, a large variety of formal methods for the analysis of cryptographic protocols has evolved. In particular, the tool-supported inductive method has been applied to many protocols. Despite several improvements, the scope of these and other approaches is basically restricted to the simple enc-dec scenario (decryption reverts encryption) and to standard properties (confidentiality and authentication). In this thesis, we broaden the scope of the inductive method to protocols with algebraically specified cryptographic primitives beyond the simple enc-dec scenario and to indistinguishability properties like resistance against offline testing. We describe an axiomatization of message structures, justified by a rewriting-based model of algebraic equations, to provide complete case distinctions and partial orders thereby allowing for the definition of recursive functions and inductive reasoning. We develop a new proof technique for confidentiality properties based on tests of regular messages. The corresponding recursive functions are provably correct wrt. to an inductively defined attacker model. We introduce generic derivations to express indistinguishability properties. A central theorem then provides necessary and sufficient conditions that can be shown by standard trace properties. The general aspects of our techniques are thoroughly discussed and emphasized, along with two fully worked out real world case studies: PACE and TC-AMP are (to be) used for the German ID cards. To the best of our knowledge TC-AMP is among the most complex algebraically specified protocols that have been formally verified. In particular, we do not know of any approaches that apply formal analysis techniques to comparable cases.Seit 1981 wurden zahlreiche formale Methoden zur Analyse kryptographischer Protokolle entwickelt und erfolgreich angewendet. Trotz vieler Verbesserungen, beschränkt sich der Anwendungsbereich gerade induktiver Verfahren auf das einfache enc-dec Szenario (Entschlüsseln hebt Verschlüsseln ab) und auf Standardeigenschaften (Vertraulichkeit und Authentifizierung). In dieser Arbeit erweitern wir den Anwendungsbereich der werkzeug-unterstützten induktiven Methode auf Protokolle mit algebraisch spezifizierten kryptografischen Primitiven und auf Ununterscheidbarkeitseigenschaften wie die Resistenz gegen Offline-Testen. Eine Axiomatisierung von Nachrichtenstrukturen, abgeleitet aus einem konstruktiven Modell (Termersetzung), liefert die Basis für die Definition rekursiver Funktionen und induktives Schließen (partielle Ordnungen, Fallunterscheidungen). Eine neue Beweistechnik für Vertraulichkeitseigenschaften verwendet rekursive Testfunktionen, die beweisbar korrekt bzgl. eines induktiv definierten Angreifermodells sind. Die Formalisierung von Ununterscheidbarkeitseigenschaften durch generische Ableitungen und ein zentrales Theorem erlauben eine Reduktion auf Trace-Eigenschaften. Die allgemeinen Aspekte unserer Techniken werden zusammen mit zwei vollständig ausgearbeiteten realen Fallstudien, PACE und TC-AMP, diskutiert, die für den deutschen Personalausweis entwickelt wurden. TC-AMP gehört sicher zu den komplexesten algebraisch spezifizierten Protokollen, die formal verifiziert wurden. Insbesondere, sind uns keine Ansätze bekannt, die vergleichbare Fälle behandeln

Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas

The main interest of this thesis consists of the study and implementation of postprocessors to adapt the toolpath generated by a Computer Aided Manufacturing (CAM) system to a complex robotic workcell of eight joints, devoted to the rapid prototyping of 3D CAD-defined products. It consists of a 6R industrial manipulator mounted on a linear track and synchronized with a rotary table. To accomplish this main objective, previous work is required. Each task carried out entails a methodology, objective and partial results that complement each other, namely: - It is described the architecture of the workcell in depth, at both displacement and joint-rate levels, for both direct and inverse resolutions. The conditioning of the Jacobian matrix is described as kinetostatic performance index to evaluate the vicinity to singular postures. These ones are analysed from a geometric point of view. - Prior to any machining, the additional external joints require a calibration done in situ, usually in an industrial environment. A novel Non-contact Planar Constraint Calibration method is developed to estimate the external joints configuration parameters by means of a laser displacement sensor. - A first control is originally done by means of a fuzzy inference engine at the displacement level, which is integrated within the postprocessor of the CAM software. - Several Redundancy Resolution Schemes (RRS) at the joint-rate level are compared for the configuration of the postprocessor, dealing not only with the additional joints (intrinsic redundancy) but also with the redundancy due to the symmetry on the milling tool (functional redundancy). - The use of these schemes is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. Two innovative fuzzy inference engines actively adjust the weight of each joint in these tasks.Andrés De La Esperanza, FJ. (2011). Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/10627Palanci

Secrecy for Mobile Implementations of Security Protocols

Mobile code technology offers interesting possibilities to the practitioner, but also raises strong concerns about security. One aspect of security is secrecy, the preservation of confidential information. This thesis investigates the modelling, specification and verification of secrecy in mobile applications which access and transmit confidential information through a possibly compromised medium (e.g. the Internet). These applications can be expected to communicate secret information using a security protocol, a mechanism to guarantee that the transmitted data does not reach unauthorized entities. The central idea is therefore to relate the secrecy properties of the application to those of the protocol it implements, through the definition of a ``confidential protocol implementation'' relation. The argument takes an indirect form, showing that a confidential implementation transmits secret data only in the ways indicated by the protocol. We define the implementation relation using labelled transition semantics, bisimulations and relabelling functions. To justify its technical definition, we relate this property to a notion of noninterference for nondeterministic systems derived from Cohen's definition of Selective Independency. We also provide simple and local conditions that greatly simplify its verification, and report on our experiments on an architecture showing how the proposed formulations could be used in practice to enforce secrecy of mobile code

Particle Swarm Optimization

Particle swarm optimization (PSO) is a population based stochastic optimization technique influenced by the social behavior of bird flocking or fish schooling.PSO shares many similarities with evolutionary computation techniques such as Genetic Algorithms (GA). The system is initialized with a population of random solutions and searches for optima by updating generations. However, unlike GA, PSO has no evolution operators such as crossover and mutation. In PSO, the potential solutions, called particles, fly through the problem space by following the current optimum particles. This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field

Robot Manipulators

Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world

Kinematics and Robot Design II (KaRD2019) and III (KaRD2020)

This volume collects papers published in two Special Issues “Kinematics and Robot Design II, KaRD2019” (https://www.mdpi.com/journal/robotics/special_issues/KRD2019) and “Kinematics and Robot Design III, KaRD2020” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2020), which are the second and third issues of the KaRD Special Issue series hosted by the open access journal robotics.The KaRD series is an open environment where researchers present their works and discuss all topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. It aims at being an established reference for researchers in the field as other serial international conferences/publications are. Even though the KaRD series publishes one Special Issue per year, all the received papers are peer-reviewed as soon as they are submitted and, if accepted, they are immediately published in MDPI Robotics. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”.KaRD2019 together with KaRD2020 received 22 papers and, after the peer-review process, accepted only 17 papers. The accepted papers cover problems related to theoretical/computational kinematics, to biomedical engineering and to other design/applicative aspects

Minimum noise impact aircraft trajectories

Numerical optimization is used to compute the optimum flight paths, based upon a parametric form that implicitly includes some of the problem restrictions. The other constraints are formulated as penalties in the cost function. Various aircraft on multiple trajectores (landing and takeoff) can be considered. The modular design employed allows for the substitution of alternate models of the population distribution, aircraft noise, flight paths, and annoyance, or for the addition of other features (e.g., fuel consumption) in the cost function. A reduction in the required amount of searching over local minima was achieved through use of the presence of statistical lateral dispersion in the flight paths

Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Dynamic state estimation for mobile robots

The scientific goal of this thesis is to tackle different approaches for effective state estimation and modelling of relevant problems in the context of mobile robots. The starting point of this dissertation is the concept of probabilistic robotics, an emerging paradigm that combines state-of-the-art methods with the classic probabilistic theory, developing stochastic frameworks for understanding the uncertain nature of the interaction between a robot and its environment. This allows introducing relevant concepts which are the foundation of the localisation system implemented on the main experimental platform used on this dissertation. An accurate estimation of the position of a robot with respect to a fixed frame is fundamental for building navigation systems that can work in dynamic unstructured environments. This development also allows introducing additional contributions related with global localisation, dynamic obstacle avoidance, path planning and position tracking problems. Kinematics on generalised manipulators are characterised for dealing with complex nonlinear systems. Nonlinear formulations are needed to properly model these systems, which are not always suitable for real-time realisation, lacking analytic formulations in most cases. In this context, this thesis tackles the serial-parallel dual kinematic problem with a novel approach, demonstrating state-of-the-art accuracy and real-time performance. With a spatial decomposition method, the forward kinematics problem on parallel robots and the inverse kinematics problem on serial manipulators is solved modelling the nonlinear behaviour of the pose space using Support Vector Machines. The results are validated on different topologies with the analytic solution for such manipulators, which demonstrates the applicability of the proposed method. Modelling and control of complex dynamical systems is another relevant field with applications on mobile robots. Nonlinear techniques are usually applied to tackle problems like feature or object tracking. However, some nonlinear integer techniques applied for tasks like position tracking in mobile robots with complex dynamics have limited success when modelling such systems. Fractional calculus has demonstrated to be suitable to model complex processes like viscoelasticity or super diffusion. These tools, that take advantage of the generalization of the derivative and integral operators to a fractional order, have been applied to model and control different topics related with robotics in recent years with remarkable success. With the proposal of a fractional-order PI controller, a suitable controller design method is presented to solve the position tracking problem. This is applied to control the distance of a self-driving car with respect to an objective, which can also be applied to other tracking applications like following a navigation path. Furthermore, this thesis introduces a novel fractional-order hyperchaotic system, stabilised with a full-pseudo-state-feedback controller and a located feedback method. This theoretical contribution of a chaotic system is introduced hoping to be useful in this context. Chaos theory has recently started to be applied to study manipulators, biped robots and autonomous navigation, achieving new and promising results, highlighting the uncertain and chaotic nature which also has been found on robots. All together, this thesis is devoted to different problems related with dynamic state estimation for mobile robots, proposing specific contributions related with modelling and control of complex nonlinear systems. These findings are presented in the context of a self-driving electric car, Verdino, jointly developed in collaboration with the Robotics Group of Universidad de La Laguna (GRULL)