Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks

A coordinated team of mobile wireless sensor and actuator nodes can bring numerous benefits for various applications in the field of cooperative surveillance, mapping unknown areas, disaster management, automated highway and space exploration. This article explores the idea of mobile nodes using vehicles on wheels, augmented with wireless, sensing, and control capabilities. One of the vehicles acts as a leader, being remotely driven by the user, the others represent the followers. Each vehicle has a low-power wireless sensor node attached, featuring a 3D accelerometer and a magnetic compass. Speed and orientation are computed in real time using inertial navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader's movement pattern. We report in detail on all development phases, covering design, simulation, controller tuning, inertial sensor evaluation, calibration, scheduling, fixed-point computation, debugging, benchmarking, field experiments, and lessons learned

A multiarchitecture parallel-processing development environment

A description is given of the hardware and software of a multiprocessor test bed - the second generation Hypercluster system. The Hypercluster architecture consists of a standard hypercube distributed-memory topology, with multiprocessor shared-memory nodes. By using standard, off-the-shelf hardware, the system can be upgraded to use rapidly improving computer technology. The Hypercluster's multiarchitecture nature makes it suitable for researching parallel algorithms in computational field simulation applications (e.g., computational fluid dynamics). The dedicated test-bed environment of the Hypercluster and its custom-built software allows experiments with various parallel-processing concepts such as message passing algorithms, debugging tools, and computational 'steering'. Such research would be difficult, if not impossible, to achieve on shared, commercial systems

Dynamic and Transparent Analysis of Commodity Production Systems

We propose a framework that provides a programming interface to perform complex dynamic system-level analyses of deployed production systems. By leveraging hardware support for virtualization available nowadays on all commodity machines, our framework is completely transparent to the system under analysis and it guarantees isolation of the analysis tools running on its top. Thus, the internals of the kernel of the running system needs not to be modified and the whole platform runs unaware of the framework. Moreover, errors in the analysis tools do not affect the running system and the framework. This is accomplished by installing a minimalistic virtual machine monitor and migrating the system, as it runs, into a virtual machine. In order to demonstrate the potentials of our framework we developed an interactive kernel debugger, nicknamed HyperDbg. HyperDbg can be used to debug any critical kernel component, and even to single step the execution of exception and interrupt handlers.Comment: 10 pages, To appear in the 25th IEEE/ACM International Conference on Automated Software Engineering, Antwerp, Belgium, 20-24 September 201

ExplainIt! -- A declarative root-cause analysis engine for time series data (extended version)

We present ExplainIt!, a declarative, unsupervised root-cause analysis engine that uses time series monitoring data from large complex systems such as data centres. ExplainIt! empowers operators to succinctly specify a large number of causal hypotheses to search for causes of interesting events. ExplainIt! then ranks these hypotheses, reducing the number of causal dependencies from hundreds of thousands to a handful for human understanding. We show how a declarative language, such as SQL, can be effective in declaratively enumerating hypotheses that probe the structure of an unknown probabilistic graphical causal model of the underlying system. Our thesis is that databases are in a unique position to enable users to rapidly explore the possible causal mechanisms in data collected from diverse sources. We empirically demonstrate how ExplainIt! had helped us resolve over 30 performance issues in a commercial product since late 2014, of which we discuss a few cases in detail.Comment: SIGMOD Industry Track 201

HyBIS: Windows Guest Protection through Advanced Memory Introspection

Effectively protecting the Windows OS is a challenging task, since most implementation details are not publicly known. Windows has always been the main target of malwares that have exploited numerous bugs and vulnerabilities. Recent trusted boot and additional integrity checks have rendered the Windows OS less vulnerable to kernel-level rootkits. Nevertheless, guest Windows Virtual Machines are becoming an increasingly interesting attack target. In this work we introduce and analyze a novel Hypervisor-Based Introspection System (HyBIS) we developed for protecting Windows OSes from malware and rootkits. The HyBIS architecture is motivated and detailed, while targeted experimental results show its effectiveness. Comparison with related work highlights main HyBIS advantages such as: effective semantic introspection, support for 64-bit architectures and for latest Windows (8.x and 10), advanced malware disabling capabilities. We believe the research effort reported here will pave the way to further advances in the security of Windows OSes

Data processing model for the CDF experiment

The data processing model for the CDF experiment is described. Data processing reconstructs events from parallel data streams taken with different combinations of physics event triggers and further splits the events into datasets of specialized physics datasets. The design of the processing control system faces strict requirements on bookkeeping records, which trace the status of data files and event contents during processing and storage. The computing architecture was updated to meet the mass data flow of the Run II data collection, recently upgraded to a maximum rate of 40 MByte/sec. The data processing facility consists of a large cluster of Linux computers with data movement managed by the CDF data handling system to a multi-petaByte Enstore tape library. The latest processing cycle has achieved a stable speed of 35 MByte/sec (3 TByte/day). It can be readily scaled by increasing CPU and data-handling capacity as required.Comment: 12 pages, 10 figures, submitted to IEEE-TN

SGXIO: Generic Trusted I/O Path for Intel SGX

Application security traditionally strongly relies upon security of the underlying operating system. However, operating systems often fall victim to software attacks, compromising security of applications as well. To overcome this dependency, Intel introduced SGX, which allows to protect application code against a subverted or malicious OS by running it in a hardware-protected enclave. However, SGX lacks support for generic trusted I/O paths to protect user input and output between enclaves and I/O devices. This work presents SGXIO, a generic trusted path architecture for SGX, allowing user applications to run securely on top of an untrusted OS, while at the same time supporting trusted paths to generic I/O devices. To achieve this, SGXIO combines the benefits of SGX's easy programming model with traditional hypervisor-based trusted path architectures. Moreover, SGXIO can tweak insecure debug enclaves to behave like secure production enclaves. SGXIO surpasses traditional use cases in cloud computing and makes SGX technology usable for protecting user-centric, local applications against kernel-level keyloggers and likewise. It is compatible to unmodified operating systems and works on a modern commodity notebook out of the box. Hence, SGXIO is particularly promising for the broad x86 community to which SGX is readily available.Comment: To appear in CODASPY'1

Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior

This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by most action models used in AI planning: the temporal structure of continuous control processes, their non-deterministic effects, several modes of their interferences, and the achievement of triggering conditions in closed-loop robot plans. The main contributions of this article are: (1) PHAMs, a model of concurrent percept-driven behavior, its formalization, and proofs that the model generates probably, qualitatively accurate predictions; and (2) a resource-efficient inference method for PHAMs based on sampling projections from probabilistic action models and state descriptions. We show how PHAMs can be applied to planning the course of action of an autonomous robot office courier based on analytical and experimental results