GNSS Signal Authentication via Power and Distortion Monitoring

We propose a simple low-cost technique that enables civil Global Positioning System (GPS) receivers and other civil global navigation satellite system (GNSS) receivers to reliably detect carry-off spoofing and jamming. The technique, which we call the Power-Distortion detector, classifies received signals as interference-free, multipath-afflicted, spoofed, or jammed according to observations of received power and correlatio n function distortion. It does not depend on external hardware or a network connection and can be readily implemented on many receivers via a firmware update. Crucially, the detector can with high probability distinguish low-power spoofing from ordinary multipath. In testing against over 25 high-quality empirical data sets yielding over 900,000 separate detection tests, the detector correctly alarms on all malicious spoofing or jamming attack s while maintaining a <0.5% single-channel false alarm rate.Aerospace Engineering and Engineering Mechanic

A Survey of Air-to-Ground Propagation Channel Modeling for Unmanned Aerial Vehicles

In recent years, there has been a dramatic increase in the use of unmanned aerial vehicles (UAVs), particularly for small UAVs, due to their affordable prices, ease of availability, and ease of operability. Existing and future applications of UAVs include remote surveillance and monitoring, relief operations, package delivery, and communication backhaul infrastructure. Additionally, UAVs are envisioned as an important component of 5G wireless technology and beyond. The unique application scenarios for UAVs necessitate accurate air-to-ground (AG) propagation channel models for designing and evaluating UAV communication links for control/non-payload as well as payload data transmissions. These AG propagation models have not been investigated in detail when compared to terrestrial propagation models. In this paper, a comprehensive survey is provided on available AG channel measurement campaigns, large and small scale fading channel models, their limitations, and future research directions for UAV communication scenarios

Discovering Evolutionary Stepping Stones through Behavior Domination

Behavior domination is proposed as a tool for understanding and harnessing the power of evolutionary systems to discover and exploit useful stepping stones. Novelty search has shown promise in overcoming deception by collecting diverse stepping stones, and several algorithms have been proposed that combine novelty with a more traditional fitness measure to refocus search and help novelty search scale to more complex domains. However, combinations of novelty and fitness do not necessarily preserve the stepping stone discovery that novelty search affords. In several existing methods, competition between solutions can lead to an unintended loss of diversity. Behavior domination defines a class of algorithms that avoid this problem, while inheriting theoretical guarantees from multiobjective optimization. Several existing algorithms are shown to be in this class, and a new algorithm is introduced based on fast non-dominated sorting. Experimental results show that this algorithm outperforms existing approaches in domains that contain useful stepping stones, and its advantage is sustained with scale. The conclusion is that behavior domination can help illuminate the complex dynamics of behavior-driven search, and can thus lead to the design of more scalable and robust algorithms.Comment: To Appear in Proceedings of the Genetic and Evolutionary Computation Conference (GECCO 2017

Optical flow sensing and the inverse perception problem for flying bats

The movements of birds, bats, and other flying species are governed by complex sensorimotor systems that allow the animals to react to stationary environmental features as well as to wind disturbances, other animals in nearby airspace, and a wide variety of unexpected challenges. The paper and talk will describe research that analyzes the three-dimensional trajectories of bats flying in a habitat in Texas. The trajectories are computed with stereoscopic methods using data from synchronous thermal videos that were recorded with high temporal and spatial resolution from three viewpoints. Following our previously reported work, we examine the possibility that bat trajectories in this habitat are governed by optical flow sensing that interpolates periodic distance measurements from echolocation. Using an idealized geometry of bat eyes, we introduce the concept of time-to-transit, and recall some research that suggests that this quantity is computed by the animals' visual cortex. Several steering control laws based on time-to-transit are proposed for an idealized flight model, and it is shown that these can be used to replicate the observed flight of what we identify as typical bats. Although the vision-based motion control laws we propose and the protocols for switching between them are quite simple, some of the trajectories that have been synthesized are qualitatively bat-like. Examination of the control protocols that generate these trajectories suggests that bat motions are governed both by their reactions to a subset of key feature points as well by their memories of where these feature points are located

Adaptive locomotion of artificial microswimmers

Bacteria can exploit mechanics to display remarkable plasticity in response to locally changing physical and chemical conditions. Compliant structures play a striking role in their taxis behavior, specifically for navigation inside complex and structured environments. Bioinspired mechanisms with rationally designed architectures capable of large, nonlinear deformation present opportunities for introducing autonomy into engineered small-scale devices. This work analyzes the effect of hydrodynamic forces and rheology of local surroundings on swimming at low Reynolds number, identifies the challenges and benefits of utilizing elastohydrodynamic coupling in locomotion, and further develops a suite of machinery for building untethered microrobots with self-regulated mobility. We demonstrate that coupling the structural and magnetic properties of artificial microswimmers with the dynamic properties of the fluid leads to adaptive locomotion in the absence of on-board sensors

Agents, Bookmarks and Clicks: A topical model of Web traffic

Analysis of aggregate and individual Web traffic has shown that PageRank is a poor model of how people navigate the Web. Using the empirical traffic patterns generated by a thousand users, we characterize several properties of Web traffic that cannot be reproduced by Markovian models. We examine both aggregate statistics capturing collective behavior, such as page and link traffic, and individual statistics, such as entropy and session size. No model currently explains all of these empirical observations simultaneously. We show that all of these traffic patterns can be explained by an agent-based model that takes into account several realistic browsing behaviors. First, agents maintain individual lists of bookmarks (a non-Markovian memory mechanism) that are used as teleportation targets. Second, agents can retreat along visited links, a branching mechanism that also allows us to reproduce behaviors such as the use of a back button and tabbed browsing. Finally, agents are sustained by visiting novel pages of topical interest, with adjacent pages being more topically related to each other than distant ones. This modulates the probability that an agent continues to browse or starts a new session, allowing us to recreate heterogeneous session lengths. The resulting model is capable of reproducing the collective and individual behaviors we observe in the empirical data, reconciling the narrowly focused browsing patterns of individual users with the extreme heterogeneity of aggregate traffic measurements. This result allows us to identify a few salient features that are necessary and sufficient to interpret the browsing patterns observed in our data. In addition to the descriptive and explanatory power of such a model, our results may lead the way to more sophisticated, realistic, and effective ranking and crawling algorithms.Comment: 10 pages, 16 figures, 1 table - Long version of paper to appear in Proceedings of the 21th ACM conference on Hypertext and Hypermedi