Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR

This paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system is that all the algorithms relied on the multi-resolution of the octomap for the world representation. We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements of the capability of the open-source system to run online and on-board the UAV in real-time. Our approach is compared to different reference heuristics under this simulation environment showing better performance in regards to the amount of explored space. With the proposed approach, the UAV is able to explore 93% of the search space under 30 min, generating a path without repetition that adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstaclesUnión Europea Marie Sklodowska-Curie 64215Unión Europea MULTIDRONE (H2020-ICT-731667)Uniión Europea HYFLIERS (H2020-ICT-779411

MODIS information, data and control system (MIDACS) operations concepts

The MODIS Information, Data, and Control System (MIDACS) Operations Concepts Document provides a basis for the mutual understanding between the users and the designers of the MIDACS, including the requirements, operating environment, external interfaces, and development plan. In defining the concepts and scope of the system, how the MIDACS will operate as an element of the Earth Observing System (EOS) within the EosDIS environment is described. This version follows an earlier release of a preliminary draft version. The individual operations concepts for planning and scheduling, control and monitoring, data acquisition and processing, calibration and validation, data archive and distribution, and user access do not yet fully represent the requirements of the data system needed to achieve the scientific objectives of the MODIS instruments and science teams. The teams are not yet formed; however, it is possible to develop the operations concepts based on the present concept of EosDIS, the level 1 and level 2 Functional Requirements Documents, and through interviews and meetings with key members of the scientific community. The operations concepts were exercised through the application of representative scenarios

A graph oriented approach for network forensic analysis

Network forensic analysis is a process that analyzes intrusion evidence captured from networked environment to identify suspicious entities and stepwise actions in an attack scenario. Unfortunately, the overwhelming amount and low quality of output from security sensors make it difficult for analysts to obtain a succinct high-level view of complex multi-stage intrusions. This dissertation presents a novel graph based network forensic analysis system. The evidence graph model provides an intuitive representation of collected evidence as well as the foundation for forensic analysis. Based on the evidence graph, we develop a set of analysis components in a hierarchical reasoning framework. Local reasoning utilizes fuzzy inference to infer the functional states of an host level entity from its local observations. Global reasoning performs graph structure analysis to identify the set of highly correlated hosts that belong to the coordinated attack scenario. In global reasoning, we apply spectral clustering and Pagerank methods for generic and targeted investigation respectively. An interactive hypothesis testing procedure is developed to identify hidden attackers from non-explicit-malicious evidence. Finally, we introduce the notion of target-oriented effective event sequence (TOEES) to semantically reconstruct stealthy attack scenarios with less dependency on ad-hoc expert knowledge. Well established computation methods used in our approach provide the scalability needed to perform post-incident analysis in large networks. We evaluate the techniques with a number of intrusion detection datasets and the experiment results show that our approach is effective in identifying complex multi-stage attacks

SeaWiFS calibration and validation plan, volume 3

The Sea-viewing Wide Field-of-view Sensor (SeaWiFS) will be the first ocean-color satellite since the Nimbus-7 Coastal Zone Color Scanner (CZCS), which ceased operation in 1986. Unlike the CZCS, which was designed as a proof-of-concept experiment, SeaWiFS will provide routine global coverage every 2 days and is designed to provide estimates of photosynthetic concentrations of sufficient accuracy for use in quantitative studies of the ocean's primary productivity and biogeochemistry. A review of the CZCS mission is included that describes that data set's limitations and provides justification for a comprehensive SeaWiFS calibration and validation program. To accomplish the SeaWiFS scientific objectives, the sensor's calibration must be constantly monitored, and robust atmospheric corrections and bio-optical algorithms must be developed. The plan incorporates a multi-faceted approach to sensor calibration using a combination of vicarious (based on in situ observations) and onboard calibration techniques. Because of budget constraints and the limited availability of ship resources, the development of the operational algorithms (atmospheric and bio-optical) will rely heavily on collaborations with the Earth Observing System (EOS), the Moderate Resolution Imaging Spectrometer (MODIS) oceans team, and projects sponsored by other agencies, e.g., the U.S. Navy and the National Science Foundation (NSF). Other elements of the plan include the routine quality control of input ancillary data (e.g., surface wind, surface pressure, ozone concentration, etc.) used in the processing and verification of the level-0 (raw) data to level-1 (calibrated radiances), level-2 (derived products), and level-3 (gridded and averaged derived data) products

Nanoscale mosaicity revealed in peptide microcrystals by scanning electron nanodiffraction.

Changes in lattice structure across sub-regions of protein crystals are challenging to assess when relying on whole crystal measurements. Because of this difficulty, macromolecular structure determination from protein micro and nanocrystals requires assumptions of bulk crystallinity and domain block substructure. Here we map lattice structure across micron size areas of cryogenically preserved three-dimensional peptide crystals using a nano-focused electron beam. This approach produces diffraction from as few as 1500 molecules in a crystal, is sensitive to crystal thickness and three-dimensional lattice orientation. Real-space maps reconstructed from unsupervised classification of diffraction patterns across a crystal reveal regions of crystal order/disorder and three-dimensional lattice tilts on the sub-100nm scale. The nanoscale lattice reorientation observed in the micron-sized peptide crystal lattices studied here provides a direct view of their plasticity. Knowledge of these features facilitates an improved understanding of peptide assemblies that could aid in the determination of structures from nano- and microcrystals by single or serial crystal electron diffraction

Probabilistic Modeling and Inference for Obfuscated Network Attack Sequences

Prevalent computing devices with networking capabilities have become critical network infrastructure for government, industry, academia and every-day life. As their value rises, the motivation driving network attacks on this infrastructure has shifted from the pursuit of notoriety to the pursuit of profit or political gains, leading to network attack on various scales. Facing diverse network attack strategies and overwhelming alters, much work has been devoted to correlate observed malicious events to pre-defined scenarios, attempting to deduce the attack plans based on expert models of how network attacks may transpire. We started the exploration of characterizing network attacks by investigating how temporal and spatial features of attack sequence can be used to describe different types of attack sources in real data set. Attack sequence models were built from real data set to describe different attack strategies. Based on the probabilistic attack sequence model, attack predictions were made to actively predict next possible actions. Experiments through attack predictions have revealed that sophisticated attackers can employ a number of obfuscation techniques to confuse the alert correlation engine or classifier. Unfortunately, most exiting work treats attack obfuscations by developing ad-hoc fixes to specific obfuscation technique. To this end, we developed an attack modeling framework that enables a systematical analysis of obfuscations. The proposed framework represents network attack strategies as general finite order Markov models and integrates it with different attack obfuscation models to form probabilistic graphical model models. A set of algorithms is developed to inference the network attack strategies given the models and the observed sequences, which are likely to be obfuscated. The algorithms enable an efficient analysis of the impact of different obfuscation techniques and attack strategies, by determining the expected classification accuracy of the obfuscated sequences. The algorithms are developed by integrating the recursion concept in dynamic programming and the Monte-Carlo method. The primary contributions of this work include the development of the formal framework and the algorithms to evaluate the impact of attack obfuscations. Several knowledge-driven attack obfuscation models are developed and analyzed to demonstrate the impact of different types of commonly used obfuscation techniques. The framework and algorithms developed in this work can also be applied to other contexts beyond network security. Any behavior sequences that might suffer from noise and require matching to pre-defined models can use this work to recover the most likely original sequence or evaluate quantitatively the expected classification accuracy one can achieve to separate the sequences