SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems

The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques. This trend makes it challenging to provide strong design-time certification of correct operation. To address these challenges, we present SOTER, a robotics programming framework with two key components: (1) a programming language for implementing and testing high-level reactive robotics software and (2) an integrated runtime assurance (RTA) system that helps enable the use of uncertified components, while still providing safety guarantees. SOTER provides language primitives to declaratively construct a RTA module consisting of an advanced, high-performance controller (uncertified), a safe, lower-performance controller (certified), and the desired safety specification. The framework provides a formal guarantee that a well-formed RTA module always satisfies the safety specification, without completely sacrificing performance by using higher performance uncertified components whenever safe. SOTER allows the complex robotics software stack to be constructed as a composition of RTA modules, where each uncertified component is protected using a RTA module. To demonstrate the efficacy of our framework, we consider a real-world case-study of building a safe drone surveillance system. Our experiments both in simulation and on actual drones show that the SOTER-enabled RTA ensures the safety of the system, including when untrusted third-party components have bugs or deviate from the desired behavior

Advancing Hardware Security Using Polymorphic and Stochastic Spin-Hall Effect Devices

Protecting intellectual property (IP) in electronic circuits has become a serious challenge in recent years. Logic locking/encryption and layout camouflaging are two prominent techniques for IP protection. Most existing approaches, however, particularly those focused on CMOS integration, incur excessive design overheads resulting from their need for additional circuit structures or device-level modifications. This work leverages the innate polymorphism of an emerging spin-based device, called the giant spin-Hall effect (GSHE) switch, to simultaneously enable locking and camouflaging within a single instance. Using the GSHE switch, we propose a powerful primitive that enables cloaking all the 16 Boolean functions possible for two inputs. We conduct a comprehensive study using state-of-the-art Boolean satisfiability (SAT) attacks to demonstrate the superior resilience of the proposed primitive in comparison to several others in the literature. While we tailor the primitive for deterministic computation, it can readily support stochastic computation; we argue that stochastic behavior can break most, if not all, existing SAT attacks. Finally, we discuss the resilience of the primitive against various side-channel attacks as well as invasive monitoring at runtime, which are arguably even more concerning threats than SAT attacks.Comment: Published in Proc. Design, Automation and Test in Europe (DATE) 201