A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering

The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud Robotics model in terms of privacy, security, latency, bandwidth, and reliability. In this paper, we present a `Fog Robotics' approach to deep robot learning that distributes compute, storage and networking resources between the Cloud and the Edge in a federated manner. Deep models are trained on non-private (public) synthetic images in the Cloud; the models are adapted to the private real images of the environment at the Edge within a trusted network and subsequently, deployed as a service for low-latency and secure inference/prediction for other robots in the network. We apply this approach to surface decluttering, where a mobile robot picks and sorts objects from a cluttered floor by learning a deep object recognition and a grasp planning model. Experiments suggest that Fog Robotics can improve performance by sim-to-real domain adaptation in comparison to exclusively using Cloud or Edge resources, while reducing the inference cycle time by 4\times to successfully declutter 86% of objects over 213 attempts.Comment: IEEE International Conference on Robotics and Automation, ICRA, 201

Does The Cloud Need Stabilizing?

The last decade has witnessed rapid proliferation of cloud computing. While even the smallest distributed programs (with 3-5 actions) produce many unanticipated error cases due to concurrency involved, it seems short of a miracle these web-services are able to operate at those vast scales. In this paper, we explore the factors that contribute most to the high-availability of cloud computing services and examine where self-stabilization could fit in that picture

Trends toward real-time network data steganography

Network steganography has been a well-known covert data channeling method for over three decades. The basic set of techniques and implementation tools have not changed significantly since their introduction in the early 1980's. In this paper, we review the predominant methods of classical network steganography, describing the detailed operations and resultant challenges involved in embedding data in the network transport domain. We also consider the various cyber threat vectors of network steganography and point out the major differences between classical network steganography and the widely known end-point multimedia embedding techniques, which focus exclusively on static data modification for data hiding. We then challenge the security community by introducing an entirely new network dat hiding methodology, which we refer to as real-time network data steganography. Finally we provide the groundwork for this fundamental change of covert network data embedding by forming a basic framework for real-time network data operations that will open the path for even further advances in computer network security.Comment: 20 pages introducing the concept of real-time network steganograph

Web Standards as Standard Pieces in Robotics

Modern robotics often involves the use of web technologies as a means to cope with the complexity of design and operation. Many of these technologies have been formalized into standards, which are often avoided by those in robotics and controls because of a sometimes warranted fear that "the web" is too slow, or too uncertain for meaningful control applications. In this work we argue that while web technologies may not be applicable for all control, they should not be dismissed outright because they can provide critical help with system integration. Web technologies have also advanced significantly over the past decade. We present the details of an application of a web server to perform open and close-loop control (between 3Hz and 1kHz) over a variety of different network topologies. In our study we also consider the impact of a web browser to implement the control of the plant. Our results confirm that meaningful control can be performed using web technologies, and also highlight design choices that can limit their applicability.Comment: 9th Annual IEEE International Conference on Automation Science and Engineering (IEEE CASE 2013

Privacy and Anonymity

Since the beginning of the digital area, privacy and anonymity have been impacted drastically (both, positively and negatively), by the different technologies developed for communications purposes. The broad possibilities that the Internet offers since its conception, makes it a mandatory target for those entities that are aiming to know and control the different channels of communication and the information that flows through. In this paper, we address the current threats against privacy and anonymity on the Internet, together with the methods applied against them. In addition, we enumerate the publicly known entities behind those threats and their motivations. Finally, we analyze the state of the art concerning the protection of the privacy and anonymity on the Internet; introducing future lines of research

Making BREAD: Biomimetic strategies for Artificial Intelligence Now and in the Future

The Artificial Intelligence (AI) revolution foretold of during the 1960s is well underway in the second decade of the 21st century. Its period of phenomenal growth likely lies ahead. Still, we believe, there are crucial lessons that biology can offer that will enable a prosperous future for AI. For machines in general, and for AI's especially, operating over extended periods or in extreme environments will require energy usage orders of magnitudes more efficient than exists today. In many operational environments, energy sources will be constrained. Any plans for AI devices operating in a challenging environment must begin with the question of how they are powered, where fuel is located, how energy is stored and made available to the machine, and how long the machine can operate on specific energy units. Hence, the materials and technologies that provide the needed energy represent a critical challenge towards future use-scenarios of AI and should be integrated into their design. Here we make four recommendations for stakeholders and especially decision makers to facilitate a successful trajectory for this technology. First, that scientific societies and governments coordinate Biomimetic Research for Energy-efficient, AI Designs (BREAD); a multinational initiative and a funding strategy for investments in the future integrated design of energetics into AI. Second, that biomimetic energetic solutions be central to design consideration for future AI. Third, that a pre-competitive space be organized between stakeholder partners and fourth, that a trainee pipeline be established to ensure the human capital required for success in this area

Satellite Navigation for the Age of Autonomy

Global Navigation Satellite Systems (GNSS) brought navigation to the masses. Coupled with smartphones, the blue dot in the palm of our hands has forever changed the way we interact with the world. Looking forward, cyber-physical systems such as self-driving cars and aerial mobility are pushing the limits of what localization technologies including GNSS can provide. This autonomous revolution requires a solution that supports safety-critical operation, centimeter positioning, and cyber-security for millions of users. To meet these demands, we propose a navigation service from Low Earth Orbiting (LEO) satellites which deliver precision in-part through faster motion, higher power signals for added robustness to interference, constellation autonomous integrity monitoring for integrity, and encryption / authentication for resistance to spoofing attacks. This paradigm is enabled by the 'New Space' movement, where highly capable satellites and components are now built on assembly lines and launch costs have decreased by more than tenfold. Such a ubiquitous positioning service enables a consistent and secure standard where trustworthy information can be validated and shared, extending the electronic horizon from sensor line of sight to an entire city. This enables the situational awareness needed for true safe operation to support autonomy at scale.Comment: 11 pages, 8 figures, 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS

Multiple Access for 5G New Radio: Categorization, Evaluation, and Challenges

Next generation wireless networks require massive uplink connections as well as high spectral efficiency. It is well known that, theoretically, it is not possible to achieve the sum capacity of multi-user communications with orthogonal multiple access. To meet the challenging requirements of next generation networks, researchers have explored non-orthogonal and overloaded transmission technologies-known as new radio multiple access (NR-MA) schemes-for fifth generation (5G) networks. In this article, we discuss the key features of the promising NR-MA schemes for the massive uplink connections. The candidate schemes of NR-MA can be characterized by multiple access signatures (MA-signatures), such as codebook, sequence, and interleaver/scrambler. At the receiver side, advanced multi-user detection (MUD) schemes are employed to extract each user's data from non-orthogonally superposed data according to MA-signatures. Through link-level simulations, we compare the performances of NR-MA candidates under the same conditions. We further evaluate the sum rate performances of the NR-MA schemes using a 3-dimensional (3D) ray tracing tool based system-level simulator by reflecting realistic environments. Lastly, we discuss the tips for system operations as well as call attention to the remaining technical challenges.Comment: 9 pages, 4 figures, 2 table

The DARPA Quantum Network

A team from BBN Technologies, Boston University, and Harvard University has recently built and begun to operate the world's first Quantum Key Distribution (QKD)network under DARPA sponsorship. The DARPA Quantum Network became fully operational on October 23, 2003 in BBN's laboratories, and in June 2004 was fielded through dark fiber under the streets of Cambridge, Mass., to link our campuses with non-stop quantum cryptography, twenty-four hours per day. As of December 2004, it consists of six nodes. Four are 5 MHz, BBN-built BB84 systems designed for telecommunications fiber and inter-connected by a photonic switch. Two are the electronics subsystems for a high speed free-space system designed and built by NIST. This paper describes the motivation for our work, the current status of the DARPA Quantum Network, its unique optical switching and key relay protocols, and our future plans.Comment: 34 pages, 11 figures, preprint of book chapte