Task planning using physics-based heuristics on manipulation actions

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.In order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in order to plan the tasks in a more realistic way. In the present paper, a task and motion planning framework is proposed based on a modified version of the Fast-Forward task planner that is guided by physics-based knowledge. The proposal uses manipulation knowledge for reasoning on symbolic literals (both in offline and online modes) taking into account geometric information in order to evaluate the applicability as well as feasibility of actions while evaluating the heuristic cost. It results in an efficient search of the state space and in the obtention of low-cost physically-feasible plans. The proposal has been implemented and is illustrated with a manipulation problem consisting of a mobile robot and some fixed and manipulatable objects.Peer ReviewedPostprint (author's final draft

Kerncraft: A Tool for Analytic Performance Modeling of Loop Kernels

Achieving optimal program performance requires deep insight into the interaction between hardware and software. For software developers without an in-depth background in computer architecture, understanding and fully utilizing modern architectures is close to impossible. Analytic loop performance modeling is a useful way to understand the relevant bottlenecks of code execution based on simple machine models. The Roofline Model and the Execution-Cache-Memory (ECM) model are proven approaches to performance modeling of loop nests. In comparison to the Roofline model, the ECM model can also describes the single-core performance and saturation behavior on a multicore chip. We give an introduction to the Roofline and ECM models, and to stencil performance modeling using layer conditions (LC). We then present Kerncraft, a tool that can automatically construct Roofline and ECM models for loop nests by performing the required code, data transfer, and LC analysis. The layer condition analysis allows to predict optimal spatial blocking factors for loop nests. Together with the models it enables an ab-initio estimate of the potential benefits of loop blocking optimizations and of useful block sizes. In cases where LC analysis is not easily possible, Kerncraft supports a cache simulator as a fallback option. Using a 25-point long-range stencil we demonstrate the usefulness and predictive power of the Kerncraft tool.Comment: 22 pages, 5 figure

Techniques for the reverse engineering of banking malware

Malware attacks are a significant and frequently reported problem, adversely affecting the productivity of organisations and governments worldwide. The well-documented consequences of malware attacks include financial loss, data loss, reputation damage, infrastructure damage, theft of intellectual property, compromise of commercial negotiations, and national security risks. Mitiga-tion activities involve a significant amount of manual analysis. Therefore, there is a need for automated techniques for malware analysis to identify malicious behaviours. Research into automated techniques for malware analysis covers a wide range of activities. This thesis consists of a series of studies: an anal-ysis of banking malware families and their common behaviours, an emulated command and control environment for dynamic malware analysis, a technique to identify similar malware functions, and a technique for the detection of ransomware. An analysis of the nature of banking malware, its major malware families, behaviours, variants, and inter-relationships are provided in this thesis. In doing this, this research takes a broad view of malware analysis, starting with the implementation of the malicious behaviours through to detailed analysis using machine learning. The broad approach taken in this thesis differs from some other studies that approach malware research in a more abstract sense. A disadvantage of approaching malware research without domain knowledge, is that important methodology questions may not be considered. Large datasets of historical malware samples are available for countermea-sures research. However, due to the age of these samples, the original malware infrastructure is no longer available, often restricting malware operations to initialisation functions only. To address this absence, an emulated command and control environment is provided. This emulated environment provides full control of the malware, enabling the capabilities of the original in-the-wild operation, while enabling feature extraction for research purposes. A major focus of this thesis has been the development of a machine learn-ing function similarity method with a novel feature encoding that increases feature strength. This research develops techniques to demonstrate that the machine learning model trained on similarity features from one program can find similar functions in another, unrelated program. This finding can lead to the development of generic similar function classifiers that can be packaged and distributed in reverse engineering tools such as IDA Pro and Ghidra. Further, this research examines the use of API call features for the identi-fication of ransomware and shows that a failure to consider malware analysis domain knowledge can lead to weaknesses in experimental design. In this case, we show that existing research has difficulty in discriminating between ransomware and benign cryptographic software. This thesis by publication, has developed techniques to advance the disci-pline of malware reverse engineering, in order to minimize harm due to cyber-attacks on critical infrastructure, government institutions, and industry.Doctor of Philosoph

Sciunits: Reusable Research Objects

Science is conducted collaboratively, often requiring knowledge sharing about computational experiments. When experiments include only datasets, they can be shared using Uniform Resource Identifiers (URIs) or Digital Object Identifiers (DOIs). An experiment, however, seldom includes only datasets, but more often includes software, its past execution, provenance, and associated documentation. The Research Object has recently emerged as a comprehensive and systematic method for aggregation and identification of diverse elements of computational experiments. While a necessary method, mere aggregation is not sufficient for the sharing of computational experiments. Other users must be able to easily recompute on these shared research objects. In this paper, we present the sciunit, a reusable research object in which aggregated content is recomputable. We describe a Git-like client that efficiently creates, stores, and repeats sciunits. We show through analysis that sciunits repeat computational experiments with minimal storage and processing overhead. Finally, we provide an overview of sharing and reproducible cyberinfrastructure based on sciunits gaining adoption in the domain of geosciences