Detecting cyber-physical threats in an autonomous robotic vehicle using Bayesian Networks

Robotic vehicles and especially autonomous robotic vehicles can be attractive targets for attacks that cross the cyber-physical divide, that is cyber attacks or sensory channel attacks affecting the ability to navigate or complete a mission. Detection of such threats is typically limited to knowledge-based and vehicle-specific methods, which are applicable to only specific known attacks, or methods that require computation power that is prohibitive for resource-constrained vehicles. Here, we present a method based on Bayesian Networks that can not only tell whether an autonomous vehicle is under attack, but also whether the attack has originated from the cyber or the physical domain. We demonstrate the feasibility of the approach on an autonomous robotic vehicle built in accordance with the Generic Vehicle Architecture specification and equipped with a variety of popular communication and sensing technologies. The results of experiments involving command injection, rogue node and magnetic interference attacks show that the approach is promising

A Survey of Positioning Systems Using Visible LED Lights

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.As Global Positioning System (GPS) cannot provide satisfying performance in indoor environments, indoor positioning technology, which utilizes indoor wireless signals instead of GPS signals, has grown rapidly in recent years. Meanwhile, visible light communication (VLC) using light devices such as light emitting diodes (LEDs) has been deemed to be a promising candidate in the heterogeneous wireless networks that may collaborate with radio frequencies (RF) wireless networks. In particular, light-fidelity has a great potential for deployment in future indoor environments because of its high throughput and security advantages. This paper provides a comprehensive study of a novel positioning technology based on visible white LED lights, which has attracted much attention from both academia and industry. The essential characteristics and principles of this system are deeply discussed, and relevant positioning algorithms and designs are classified and elaborated. This paper undertakes a thorough investigation into current LED-based indoor positioning systems and compares their performance through many aspects, such as test environment, accuracy, and cost. It presents indoor hybrid positioning systems among VLC and other systems (e.g., inertial sensors and RF systems). We also review and classify outdoor VLC positioning applications for the first time. Finally, this paper surveys major advances as well as open issues, challenges, and future research directions in VLC positioning systems.Peer reviewe

A Heterogeneous Communications Network for Smart Grid by Using the Cost Functions

Smart Grids (SG) is an intelligent power grid in which the different SG node types with different communication requirements communicates different types of information with Control Stations (CS). Radio Access Technologies (RATs) due to its advantages are considered as the main access method to be used in order to have bidirectional data transferring between different node types and CS. Besides, spectrum is a rare source and its demand is increasing significantly. Elaborating a heterogeneous in order to fulfill different SG node types communication requirements effectively, is a challenging issue. To find a method to define desirability value of different RAT to support certain node types based on fitness degree between RAT communication characteristics and node type communication requirements is an appropriate solution. This method is implemented by using a comprehensive Cost Function (CF) including a communication CF (CCF) in combination with Energy CF (ECF). The Key Point Indicators which are used in the CCF are SG node type communication requirements. The existing trade of between Eb/N0 and spectral efficiency is considered as ECF. Based on the achieved CCF and ECF and their tradeoffs, SG node types are assigned to different RATs. The proposed assigning method is sensitive to the SG node types densities. The numerical results are achieved by using MATLAB simulation. The other different outcomes of the research output such as cognitive radio in SG and collectors effect number on data aggregation are discussed as well

Energy Efficient Hierarchical Clustering Approaches in Wireless Sensor Networks: A Survey

Wireless sensor networks (WSN) are one of the significant technologies due to their diverse applications such as health care monitoring, smart phones, military, disaster management, and other surveillance systems. Sensor nodes are usually deployed in large number that work independently in unattended harsh environments. Due to constraint resources, typically the scarce battery power, these wireless nodes are grouped into clusters for energy efficient communication. In clustering hierarchical schemes have achieved great interest for minimizing energy consumption. Hierarchical schemes are generally categorized as cluster-based and grid-based approaches. In cluster-based approaches, nodes are grouped into clusters, where a resourceful sensor node is nominated as a cluster head (CH) while in grid-based approach the network is divided into confined virtual grids usually performed by the base station. This paper highlights and discusses the design challenges for cluster-based schemes, the important cluster formation parameters, and classification of hierarchical clustering protocols. Moreover, existing cluster-based and grid-based techniques are evaluated by considering certain parameters to help users in selecting appropriate technique. Furthermore, a detailed summary of these protocols is presented with their advantages, disadvantages, and applicability in particular cases