A Systematic Review on Social Robots in Public Spaces: Threat Landscape and Attack Surface

There is a growing interest in using social robots in public spaces for indoor and outdoor applications. The threat landscape is an important research area being investigated and debated by various stakeholders. Objectives: This study aims to identify and synthesize empirical research on the complete threat landscape of social robots in public spaces. Specifically, this paper identifies the potential threat actors, their motives for attacks, vulnerabilities, attack vectors, potential impacts of attacks, possible attack scenarios, and mitigations to these threats. Methods: This systematic literature review follows the guidelines by Kitchenham and Charters. The search was conducted in five digital databases, and 1469 studies were retrieved. This study analyzed 21 studies that satisfied the selection criteria. Results: Main findings reveal four threat categories: cybersecurity, social, physical, and public space. Conclusion: This study completely grasped the complexity of the transdisciplinary problem of social robot security and privacy while accommodating the diversity of stakeholders’ perspectives. Findings give researchers and other stakeholders a comprehensive view by highlighting current developments and new research directions in this field. This study also proposed a taxonomy for threat actors and the threat landscape of social robots in public spaces.publishedVersio

Security hardened remote terminal units for SCADA networks.

Remote terminal units (RTUs) are perimeter supervisory control and data acquisition (SCADA) devices that measure and control actual physical devices. Cyber security was largely ignored in SCADA for many years, and the cyber security issues that now face SCADA and DCS, specifically RTU security, are investigated in this research. This dissertation presents a new role based access control model designed specifically for RTUs and process control. The model is developed around the process control specific data element called a point, and point operations. The model includes: assignment constraints that limit the RTU operations that a specific role can be assigned and activation constraints that allow a security administrator to specify conditions when specific RTU roles or RTU permissions cannot be used. RTU enforcement of the new access control model depends on, and is supported by, the protection provided by an RTU\u27s operating system. This dissertation investigates two approaches for using minimal kernels to reduce potential vulnerabilities in RTU protection enforcement and create a security hardened RTU capable of supporting the new RTU access control model. The first approach is to reduce a commercial OS kernel to only those components needed by the RTU, removing any known or unknown vulnerabilities contained in the eliminated code and significantly reducing the size of the kernel. The second approach proposes using a microkernel that supports partitioning as the basis for an RTU specific operating system which isolates network related RTU software, the RTU attack surface, from critical RTU operational software such as control algorithms and analog and digital input and output. In experimental analysis of a prototype hardened RTU connected to real SCADA hardware, a reduction of over 50% was obtained in reducing a 2.4 Linux kernel to run on actual RTU hardware. Functional testing demonstrated that different users were able to carryout assigned tasks with the limited set of permissions provided by the security hardened RTU and a series of simulated insider attacks were prevented by the RTU role based access control system. Analysis of communication times indicated response times would be acceptable for many SCADA and DCS application areas. Investigation of a partitioning microkernel for an RTU identified the L4 microkernel as an excellent candidate. Experimental evaluation of L4 on real hardware found the IPC overhead for simulated critical RTU operations protected by L4 partitioning to be sufficiently small to warrant continued investigation of the approach

Secure Communication in Disaster Scenarios

Während Naturkatastrophen oder terroristischer Anschläge ist die bestehende Kommunikationsinfrastruktur häufig überlastet oder fällt komplett aus. In diesen Situationen können mobile Geräte mithilfe von drahtloser ad-hoc- und unterbrechungstoleranter Vernetzung miteinander verbunden werden, um ein Notfall-Kommunikationssystem für Zivilisten und Rettungsdienste einzurichten. Falls verfügbar, kann eine Verbindung zu Cloud-Diensten im Internet eine wertvolle Hilfe im Krisen- und Katastrophenmanagement sein. Solche Kommunikationssysteme bergen jedoch ernsthafte Sicherheitsrisiken, da Angreifer versuchen könnten, vertrauliche Daten zu stehlen, gefälschte Benachrichtigungen von Notfalldiensten einzuspeisen oder Denial-of-Service (DoS) Angriffe durchzuführen. Diese Dissertation schlägt neue Ansätze zur Kommunikation in Notfallnetzen von mobilen Geräten vor, die von der Kommunikation zwischen Mobilfunkgeräten bis zu Cloud-Diensten auf Servern im Internet reichen. Durch die Nutzung dieser Ansätze werden die Sicherheit der Geräte-zu-Geräte-Kommunikation, die Sicherheit von Notfall-Apps auf mobilen Geräten und die Sicherheit von Server-Systemen für Cloud-Dienste verbessert

New Container Architectures for Mobile, Drone, and Cloud Computing

Containers are increasingly used across many different types of computing to isolate and control apps while efficiently sharing computing resources. By using lightweight operating system virtualization, they can provide apps with a virtual computing abstraction while imposing minimal hardware requirements and a small footprint. My thesis is that new container architectures can provide additional functionality, better resource utilization, and stronger security for mobile, drone, and cloud computing. To demonstrate this, we introduce three new container architectures that enable new mobile app migration functionality, a new notion of virtual drones and efficient utilization of drone hardware, and stronger security for cloud computing by protecting containers against untrusted operating systems. First, we introduce Flux to support multi-surface apps, apps that seamlessly run across multiple user devices, through app migration. Flux introduces two key mechanisms to overcome device heterogeneity and residual dependencies associated with app migration to enable app migration. Selective Record/Adaptive Replay to record just those device-agnostic app calls that lead to the generation of app-specific device-dependent state in services and replay them on the target. Checkpoint/Restore in Android (CRIA) to transition an app into a state in which device-specific information the app contains can be safely discarded before checkpointing and restoring the app within a containerized environment on the new device. Second, we introduce AnDrone, a drone-as-a-service solution that makes drones accessible in the cloud. AnDrone provides a drone virtualization architecture to leverage the fact that computational costs are cheap compared to the operational and energy costs of putting a drone in the air. This enables multiple virtual drones to run simultaneously on the same physical drone at very little additional cost. To enable multiple virtual drones to run in an isolated and secure manner, each virtual drone runs its own containerized operating system instance. AnDrone introduces a new device container architecture, providing virtual drones with secure access to a full range of drone hardware devices, including sensors such as cameras and geofenced flight control. Finally, we introduce BlackBox, a new container architecture that provides fine-grain protection of application data confidentiality and integrity without the need to trust the operating system. BlackBox introduces a container security monitor, a small trusted computing base that creates separate and independent physical address spaces for each container, such that there is no direct information flow from container to operating system or other container physical address spaces. Containerized apps do not need to be modified, can still make full use of operating system services via system calls, yet their CPU and memory state are isolated and protected from other containers and the operating system

RISC-Vコンピュータシステムに基づくシリコンレベルの信頼ルートを有する信頼できる実行環境

電気通信大学202

Trusted Artificial Intelligence in Manufacturing; Trusted Artificial Intelligence in Manufacturing

The successful deployment of AI solutions in manufacturing environments hinges on their security, safety and reliability which becomes more challenging in settings where multiple AI systems (e.g., industrial robots, robotic cells, Deep Neural Networks (DNNs)) interact as atomic systems and with humans. To guarantee the safe and reliable operation of AI systems in the shopfloor, there is a need to address many challenges in the scope of complex, heterogeneous, dynamic and unpredictable environments. Specifically, data reliability, human machine interaction, security, transparency and explainability challenges need to be addressed at the same time. Recent advances in AI research (e.g., in deep neural networks security and explainable AI (XAI) systems), coupled with novel research outcomes in the formal specification and verification of AI systems provide a sound basis for safe and reliable AI deployments in production lines. Moreover, the legal and regulatory dimension of safe and reliable AI solutions in production lines must be considered as well. To address some of the above listed challenges, fifteen European Organizations collaborate in the scope of the STAR project, a research initiative funded by the European Commission in the scope of its H2020 program (Grant Agreement Number: 956573). STAR researches, develops, and validates novel technologies that enable AI systems to acquire knowledge in order to take timely and safe decisions in dynamic and unpredictable environments. Moreover, the project researches and delivers approaches that enable AI systems to confront sophisticated adversaries and to remain robust against security attacks. This book is co-authored by the STAR consortium members and provides a review of technologies, techniques and systems for trusted, ethical, and secure AI in manufacturing. The different chapters of the book cover systems and technologies for industrial data reliability, responsible and transparent artificial intelligence systems, human centered manufacturing systems such as human-centred digital twins, cyber-defence in AI systems, simulated reality systems, human robot collaboration systems, as well as automated mobile robots for manufacturing environments. A variety of cutting-edge AI technologies are employed by these systems including deep neural networks, reinforcement learning systems, and explainable artificial intelligence systems. Furthermore, relevant standards and applicable regulations are discussed. Beyond reviewing state of the art standards and technologies, the book illustrates how the STAR research goes beyond the state of the art, towards enabling and showcasing human-centred technologies in production lines. Emphasis is put on dynamic human in the loop scenarios, where ethical, transparent, and trusted AI systems co-exist with human workers. The book is made available as an open access publication, which could make it broadly and freely available to the AI and smart manufacturing communities

An Empirical Analysis of Security and Privacy in Health and Medical Systems

Healthcare reform, regulation, and adoption of technology such as wearables are substantially changing both the quality of care and how we receive it. For example, health and fitness devices contain sensors that collect data, wireless interfaces to transmit data, and cloud infrastructures to aggregate, analyze, and share data. FDA-defined class III devices such as pacemakers will soon share these capabilities. While technological growth in health care is clearly beneficial, it also brings new security and privacy challenges for systems, users, and regulators. We group these concepts under health and medical systems to connect and emphasize their importance to healthcare. Challenges include how to keep user health data private, how to limit and protect access to data, and how to securely store and transmit data while maintaining interoperability with other systems. The most critical challenge unique to healthcare is how to balance security and privacy with safety and utility concerns. Specifically, a life-critical medical device must fail-open (i.e., work regardless) in the event of an active threat or attack. This dissertation examines some of these challenges and introduces new systems that not only improve security and privacy but also enhance workflow and usability. Usability is important in this context because a secure system that inhibits workflow is often improperly used or circumvented. We present this concern and our solution in its respective chapter. Each chapter of this dissertation presents a unique challenge, or unanswered question, and solution based on empirical analysis. We present a survey of related work in embedded health and medical systems. The academic and regulatory communities greatly scrutinize the security and privacy of these devices because of their primary function of providing critical care. What we find is that securing embedded health and medical systems is hard, done incorrectly, and is analogous to non-embedded health and medical systems such as hospital servers, terminals, and personally owned mobile devices. A policy called bring your own device (BYOD) allows the use and integration of mobile devices in the workplace. We perform an analysis of Apple iMessage which both implicates BYOD in healthcare and secure messaging protocols used by health and medical systems. We analyze direct memory access engines, a special-purpose piece of hardware to transfer data into and out of main memory, and show that we can chain together memory transfers to perform arbitrary computation. This result potentially affects all computing systems used for healthcare. We also examine HTML5 web workers as they provide stealthy computation and covert communication. This finding is relevant to web applications such as personal and electronic health record portals. We design and implement two novel and secure health and medical systems. One is a wearable device that addresses the problem of authenticating a user (e.g., physician) to a terminal in a usable way. The other is a light-weight and low-cost wireless device we call Beacon+. This device extends the design of Apple's iBeacon specification with unspoofable, temporal, and authenticated advertisements; of which, enables secure location sensing applications that could improve numerous healthcare processes

Dynamic reconfiguration frameworks for high-performance reliable real-time reconfigurable computing

The sheer hardware-based computational performance and programming flexibility offered by reconfigurable hardware like Field-Programmable Gate Arrays (FPGAs) make them attractive for computing in applications that require high performance, availability, reliability, real-time processing, and high efficiency. Fueled by fabrication process scaling, modern reconfigurable devices come with ever greater quantities of on-chip resources, allowing a more complex variety of applications to be developed. Thus, the trend is that technology giants like Microsoft, Amazon, and Baidu now embrace reconfigurable computing devices likes FPGAs to meet their critical computing needs. In addition, the capability to autonomously reprogramme these devices in the field is being exploited for reliability in application domains like aerospace, defence, military, and nuclear power stations. In such applications, real-time computing is important and is often a necessity for reliability. As such, applications and algorithms resident on these devices must be implemented with sufficient considerations for real-time processing and reliability. Often, to manage a reconfigurable hardware device as a computing platform for a multiplicity of homogenous and heterogeneous tasks, reconfigurable operating systems (ROSes) have been proposed to give a software look to hardware-based computation. The key requirements of a ROS include partitioning, task scheduling and allocation, task configuration or loading, and inter-task communication and synchronization. Existing ROSes have met these requirements to varied extents. However, they are limited in reliability, especially regarding the flexibility of placing the hardware circuits of tasks on device’s chip area, the problem arising more from the partitioning approaches used. Indeed, this problem is deeply rooted in the static nature of the on-chip inter-communication among tasks, hampering the flexibility of runtime task relocation for reliability. This thesis proposes the enabling frameworks for reliable, available, real-time, efficient, secure, and high-performance reconfigurable computing by providing techniques and mechanisms for reliable runtime reconfiguration, and dynamic inter-circuit communication and synchronization for circuits on reconfigurable hardware. This work provides task configuration infrastructures for reliable reconfigurable computing. Key features, especially reliability-enabling functionalities, which have been given little or no attention in state-of-the-art are implemented. These features include internal register read and write for device diagnosis; configuration operation abort mechanism, and tightly integrated selective-area scanning, which aims to optimize access to the device’s reconfiguration port for both task loading and error mitigation. In addition, this thesis proposes a novel reliability-aware inter-task communication framework that exploits the availability of dedicated clocking infrastructures in a typical FPGA to provide inter-task communication and synchronization. The clock buffers and networks of an FPGA use dedicated routing resources, which are distinct from the general routing resources. As such, deploying these dedicated resources for communication sidesteps the restriction of static routes and allows a better relocation of circuits for reliability purposes. For evaluation, a case study that uses a NASA/JPL spectrometer data processing application is employed to demonstrate the improved reliability brought about by the implemented configuration controller and the reliability-aware dynamic communication infrastructure. It is observed that up to 74% time saving can be achieved for selective-area error mitigation when compared to state-of-the-art vendor implementations. Moreover, an improvement in overall system reliability is observed when the proposed dynamic communication scheme is deployed in the data processing application. Finally, one area of reconfigurable computing that has received insufficient attention is security. Meanwhile, considering the nature of applications which now turn to reconfigurable computing for accelerating compute-intensive processes, a high premium is now placed on security, not only of the device but also of the applications, from loading to runtime execution. To address security concerns, a novel secure and efficient task configuration technique for task relocation is also investigated, providing configuration time savings of up to 32% or 83%, depending on the device; and resource usage savings in excess of 90% compared to state-of-the-art

Enabling Usable and Performant Trusted Execution

A plethora of major security incidents---in which personal identifiers belonging to hundreds of millions of users were stolen---demonstrate the importance of improving the security of cloud systems. To increase security in the cloud environment, where resource sharing is the norm, we need to rethink existing approaches from the ground-up. This thesis analyzes the feasibility and security of trusted execution technologies as the cornerstone of secure software systems, to better protect users' data and privacy. Trusted Execution Environments (TEE), such as Intel SGX, has the potential to minimize the Trusted Computing Base (TCB), but they also introduce many challenges for adoption. Among these challenges are TEE's significant impact on applications' performance and non-trivial effort required to migrate legacy systems to run on these secure execution technologies. Other challenges include managing a trustworthy state across a distributed system and ensuring these individual machines are resilient to micro-architectural attacks. In this thesis, I first characterize the performance bottlenecks imposed by SGX and suggest optimization strategies. I then address two main adoption challenges for existing applications: managing permissions across a distributed system and scaling the SGX's mechanism for proving authenticity and integrity. I then analyze the resilience of trusted execution technologies to speculative execution, micro-architectural attacks, which put cloud infrastructure at risk. This analysis revealed a devastating security flaw in Intel's processors which is known as Foreshadow/L1TF. Finally, I propose a new architectural design for out-of-order processors which defeats all known speculative execution attacks.PHDComputer Science & EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/155139/1/oweisse_1.pd