Towards explainability in robotics: A performance analysis of a cloud accountability system

[EN] Understanding why a robot's behaviour was triggered is a growing concern to get human-acceptable social robots. Every action, expected and unexpected, should be able to be explained and audited. The formal model proposed here deals with different information levels, from low-level data, such as sensors' data logging; to high-level data that provide an explanation of the robot's behaviour. This study examines the impact on the robot system of a custom log engine based on a custom ROS logging node and investigates pros and cons when used together with a NoSQL database locally and in a cloud environment. Results allow to characterize these alternatives and explore the best strategy for offering a fully log-based accountability engine that maximizes the mapping between robot behaviour and robot logs.SIInstituto Nacional de CiberseguridadMinisterio de Ciencia e Innovació

SoK: A Systematic Review of TEE Usage for Developing Trusted Applications

Trusted Execution Environments (TEEs) are a feature of modern central processing units (CPUs) that aim to provide a high assurance, isolated environment in which to run workloads that demand both confidentiality and integrity. Hardware and software components in the CPU isolate workloads, commonly referred to as Trusted Applications (TAs), from the main operating system (OS). This article aims to analyse the TEE ecosystem, determine its usability, and suggest improvements where necessary to make adoption easier. To better understand TEE usage, we gathered academic and practical examples from a total of 223 references. We summarise the literature and provide a publication timeline, along with insights into the evolution of TEE research and deployment. We categorise TAs into major groups and analyse the tools available to developers. Lastly, we evaluate trusted container projects, test performance, and identify the requirements for migrating applications inside them.Comment: In The 18th International Conference on Availability, Reliability and Security (ARES 2023), August 29 -- September 01, 2023, Benevento, Italy. 15 page