A Survey on Wireless Sensor Network Security

Wireless sensor networks (WSNs) have recently attracted a lot of interest in the research community due their wide range of applications. Due to distributed nature of these networks and their deployment in remote areas, these networks are vulnerable to numerous security threats that can adversely affect their proper functioning. This problem is more critical if the network is deployed for some mission-critical applications such as in a tactical battlefield. Random failure of nodes is also very likely in real-life deployment scenarios. Due to resource constraints in the sensor nodes, traditional security mechanisms with large overhead of computation and communication are infeasible in WSNs. Security in sensor networks is, therefore, a particularly challenging task. This paper discusses the current state of the art in security mechanisms for WSNs. Various types of attacks are discussed and their countermeasures presented. A brief discussion on the future direction of research in WSN security is also included.Comment: 24 pages, 4 figures, 2 table

Collaborative autonomy in heterogeneous multi-robot systems

As autonomous mobile robots become increasingly connected and widely deployed in different domains, managing multiple robots and their interaction is key to the future of ubiquitous autonomous systems. Indeed, robots are not individual entities anymore. Instead, many robots today are deployed as part of larger fleets or in teams. The benefits of multirobot collaboration, specially in heterogeneous groups, are multiple. Significantly higher degrees of situational awareness and understanding of their environment can be achieved when robots with different operational capabilities are deployed together. Examples of this include the Perseverance rover and the Ingenuity helicopter that NASA has deployed in Mars, or the highly heterogeneous robot teams that explored caves and other complex environments during the last DARPA Sub-T competition. This thesis delves into the wide topic of collaborative autonomy in multi-robot systems, encompassing some of the key elements required for achieving robust collaboration: solving collaborative decision-making problems; securing their operation, management and interaction; providing means for autonomous coordination in space and accurate global or relative state estimation; and achieving collaborative situational awareness through distributed perception and cooperative planning. The thesis covers novel formation control algorithms, and new ways to achieve accurate absolute or relative localization within multi-robot systems. It also explores the potential of distributed ledger technologies as an underlying framework to achieve collaborative decision-making in distributed robotic systems. Throughout the thesis, I introduce novel approaches to utilizing cryptographic elements and blockchain technology for securing the operation of autonomous robots, showing that sensor data and mission instructions can be validated in an end-to-end manner. I then shift the focus to localization and coordination, studying ultra-wideband (UWB) radios and their potential. I show how UWB-based ranging and localization can enable aerial robots to operate in GNSS-denied environments, with a study of the constraints and limitations. I also study the potential of UWB-based relative localization between aerial and ground robots for more accurate positioning in areas where GNSS signals degrade. In terms of coordination, I introduce two new algorithms for formation control that require zero to minimal communication, if enough degree of awareness of neighbor robots is available. These algorithms are validated in simulation and real-world experiments. The thesis concludes with the integration of a new approach to cooperative path planning algorithms and UWB-based relative localization for dense scene reconstruction using lidar and vision sensors in ground and aerial robots

Image Robust Hashing for Malware Detection

This research is focused on a novel approach to detect malware based on static analysis of executable files. Specifically, we treat each executable file as a twodimensional image and use robust hashing techniques to identify whether a given executable belongs to a particular family or not. The hashing stage comprises two steps, namely, feature extraction, and compression. We compare our robust hashing approach to other machine learning-based techniques

Data hiding in multimedia - theory and applications

Multimedia data hiding or steganography is a means of communication using subliminal channels. The resource for the subliminal communication scheme is the distortion of the original content that can be tolerated. This thesis addresses two main issues of steganographic communication schemes: 1. How does one maximize the distortion introduced without affecting fidelity of the content? 2. How does one efficiently utilize the resource (the distortion introduced) for communicating as many bits of information as possible? In other words, what is a good signaling strategy for the subliminal communication scheme? Close to optimal solutions for both issues are analyzed. Many techniques for the issue for maximizing the resource, viz, the distortion introduced imperceptibly in images and video frames, are proposed. Different signaling strategies for steganographic communication are explored, and a novel signaling technique employing a floating signal constellation is proposed. Algorithms for optimal choices of the parameters of the signaling technique are presented. Other application specific issues like the type of robustness needed are taken into consideration along with the established theoretical background to design optimal data hiding schemes. In particular, two very important applications of data hiding are addressed - data hiding for multimedia content delivery, and data hiding for watermarking (for proving ownership). A robust watermarking protocol for unambiguous resolution of ownership is proposed