Ensuring the resilience of wireless sensor networks to malicious data injections through measurements inspection

Malicious data injections pose a severe threat to the systems based on \emph{Wireless Sensor Networks} (WSNs) since they give the attacker control over the measurements, and on the system's status and response in turn. Malicious measurements are particularly threatening when used to spoof or mask events of interest, thus eliciting or preventing desirable responses. Spoofing and masking attacks are particularly difficult to detect since they depict plausible behaviours, especially if multiple sensors have been compromised and \emph{collude} to inject a coherent set of malicious measurements. Previous work has tackled the problem through \emph{measurements inspection}, which analyses the inter-measurements correlations induced by the physical phenomena. However, these techniques consider simplistic attacks and are not robust to collusion. Moreover, they assume highly predictable patterns in the measurements distribution, which are invalidated by the unpredictability of events. We design a set of techniques that effectively \emph{detect} malicious data injections in the presence of sophisticated collusion strategies, when one or more events manifest. Moreover, we build a methodology to \emph{characterise} the likely compromised sensors. We also design \emph{diagnosis} criteria that allow us to distinguish anomalies arising from malicious interference and faults. In contrast with previous work, we test the robustness of our methodology with automated and sophisticated attacks, where the attacker aims to evade detection. We conclude that our approach outperforms state-of-the-art approaches. Moreover, we estimate quantitatively the WSN degree of resilience and provide a methodology to give a WSN owner an assured degree of resilience by automatically designing the WSN deployment. To deal also with the extreme scenario where the attacker has compromised most of the WSN, we propose a combination with \emph{software attestation techniques}, which are more reliable when malicious data is originated by a compromised software, but also more expensive, and achieve an excellent trade-off between cost and resilience.Open Acces

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

A Systematic Review of Data Quality in CPS and IoT for Industry 4.0

The Internet of Things (IoT) and Cyber-Physical Systems (CPS) are the backbones of Industry 4.0, where data quality is crucial for decision support. Data quality in these systems can deteriorate due to sensor failures or uncertain operating environments. Our objective is to summarize and assess the research efforts that address data quality in data-centric CPS/IoT industrial applications. We systematically review the state-of-the-art data quality techniques for CPS and IoT in Industry 4.0 through a systematic literature review (SLR) study. We pose three research questions, define selection and exclusion criteria for primary studies, and extract and synthesize data from these studies to answer our research questions. Our most significant results are (i) the list of data quality issues, their sources, and application domains, (ii) the best practices and metrics for managing data quality, (iii) the software engineering solutions employed to manage data quality, and (iv) the state of the data quality techniques (data repair, cleaning, and monitoring) in the application domains. The results of our SLR can help researchers obtain an overview of existing data quality issues, techniques, metrics, and best practices. We suggest research directions that require attention from the research community for follow-up work.acceptedVersio

Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition

This paper deals with the rotation synchronization problem, which arises in global registration of 3D point-sets and in structure from motion. The problem is formulated in an unprecedented way as a "low-rank and sparse" matrix decomposition that handles both outliers and missing data. A minimization strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against state-of-the-art algorithms on simulated and real data. The results show that R-GoDec is the fastest among the robust algorithms.Comment: The material contained in this paper is part of a manuscript submitted to CVI

Data Mining in Internet of Things Systems: A Literature Review

The Internet of Things (IoT) and cloud technologies have been the main focus of recent research, allowing for the accumulation of a vast amount of data generated from this diverse environment. These data include without any doubt priceless knowledge if could correctly discovered and correlated in an efficient manner. Data mining algorithms can be applied to the Internet of Things (IoT) to extract hidden information from the massive amounts of data that are generated by IoT and are thought to have high business value. In this paper, the most important data mining approaches covering classification, clustering, association analysis, time series analysis, and outlier analysis from the knowledge will be covered. Additionally, a survey of recent work in in this direction is included. Another significant challenges in the field are collecting, storing, and managing the large number of devices along with their associated features. In this paper, a deep look on the data mining for the IoT platforms will be given concentrating on real applications found in the literatur

Real-time detection of auditory : steady-state brainstem potentials evoked by auditory stimuli

The auditory steady-state response (ASSR) is advantageous against other hearing techniques because of its capability in providing objective and frequency specific information. The objectives are to reduce the lengthy test duration, and improve the signal detection rate and the robustness of the detection against the background noise and unwanted artefacts.Two prominent state estimation techniques of Luenberger observer and Kalman filter have been used in the development of the autonomous ASSR detection scheme. Both techniques are real-time implementable, while the challenges faced in the application of the observer and Kalman filter techniques are the very poor SNR (could be as low as −30dB) of ASSRs and unknown statistics of the noise. Dual-channel architecture is proposed, one is for the estimate of sinusoid and the other for the estimate of the background noise. Simulation and experimental studies were also conducted to evaluate the performances of the developed ASSR detection scheme, and to compare the new method with other conventional techniques. In general, both the state estimation techniques within the detection scheme produced comparable results as compared to the conventional techniques, but achieved significant measurement time reduction in some cases. A guide is given for the determination of the observer gains, while an adaptive algorithm has been used for adjustment of the gains in the Kalman filters.In order to enhance the robustness of the ASSR detection scheme with adaptive Kalman filters against possible artefacts (outliers), a multisensory data fusion approach is used to combine both standard mean operation and median operation in the ASSR detection algorithm. In addition, a self-tuned statistical-based thresholding using the regression technique is applied in the autonomous ASSR detection scheme. The scheme with adaptive Kalman filters is capable of estimating the variances of system and background noise to improve the ASSR detection rate

An Outlier Detection Algorithm Based on Cross-Correlation Analysis for Time Series Dataset

Outlier detection is a very essential problem in a variety of application areas. Many detection methods are deficient for high-dimensional time series data sets containing both isolated and assembled outliers. In this paper, we propose an Outlier Detection method based on Cross-correlation Analysis (ODCA). ODCA consists of three key parts. They are data preprocessing, outlier analysis, and outlier rank. First, we investigate a linear interpolation method to convert assembled outliers into isolated ones. Second, a detection mechanism based on the cross-correlation analysis is proposed for translating the high-dimensional data sets into 1-D cross-correlation function, according to which the isolated outlier is determined. Finally, a multilevel Otsu\u27s method is adopted to help us select the rank thresholds adaptively and output the abnormal samples at different levels. To illustrate the effectiveness of the ODCA algorithm, four experiments are performed using several high-dimensional time series data sets, which include two smallscale sets and two large-scale sets. Furthermore, we compare the proposed algorithm with the detection methods based on wavelet analysis, bilateral filtering, particle swarm optimization, auto-regression, and extreme learning machine. In addition, we discuss the robustness of the ODCA algorithm. The statistical results show that the ODCA algorithm is much better than existing mainstream methods in both effectiveness and time complexity