Enhancing security in ROS

In recent years, we observed a growth of cybersecurity threats, especially due to the ubiquitous of connected and autonomous devices commonly defined as Internet of Things (IoT). These devices, designed to handle basic operations, commonly lacks security measurements. In this paper we want to tackle how we could, by design, apply static and dynamic security solutions for those devices and define security measurements without degrading overall the performance

Dealing with Unreliable Agents in Dynamic Gossip

International audienceGossip describes the spread of information throughout a network of agents. It investigates how agents, each starting with a unique secret, can efficiently make peer-to-peer calls so that ultimately everyone knows all secrets. In Dynamic Gossip, agents share phone numbers in addition to secrets, which allows the network to grow at run-time. Most gossip protocols assume that all agents are reliable, but this is not given for many practical applications. We drop this assumption and study Dynamic Gossip with unreliable agents. The aim is then for agents to learn all secrets of the reliable agents and to identify the unreliable agents. We show that with unreliable agents classic results on Dynamic Gossip no longer hold. Specifically, the Learn New Secrets protocol is no longer characterised by the same class of graphs, so-called sun graphs. In addition, we show that unreliable agents that do not initiate communication are harder to identify than agents that do. This has paradoxical consequences for measures against unreliability, for example to combat the spread of fake news in social networks

S3-TM: scalable streaming short text matching

Micro-blogging services have become major venues for information creation, as well as channels of information dissemination. Accordingly, monitoring them for relevant information is a critical capability. This is typically achieved by registering content-based subscriptions with the micro-blogging service. Such subscriptions are long-running queries that are evaluated against the stream of posts. Given the popularity and scale of micro-blogging services like Twitter and Weibo, building a scalable infrastructure to evaluate these subscriptions is a challenge. To address this challenge, we present the S3-TM system for streaming short text matching. S3-TM is organized as a stream processing application, in the form of a data parallel flow graph designed to be run on a data center environment. It takes advantage of the structure of the publications (posts) and subscriptions to perform the matching in a scalable manner, without broadcasting publications or subscriptions to all of the matcher instances. The basic design of S$$^3$$3-TM uses a scoped multicast for publications and scoped anycast for subscriptions. To further improve throughput, we introduce publication routing algorithms that aim at minimizing the scope of the multicasts. First set of algorithms we develop are based on partitioning the word co-occurrence frequency graph, with the aim of routing posts that include commonly co-occurring words to a small set of matchers. While effective, these algorithms fell short in balancing the load. To address this, we develop the SALB algorithm, which provides better load balance by modeling the load more accurately using the word-to-post bipartite graph. We also develop a subscription placement algorithm, called LASP, to group together similar subscriptions, in order to minimize the subscription matching cost. Furthermore, to achieve good scalability for increasing number of nodes, we introduce techniques to handle workload skew. Finally, we introduce load shedding techniques for handling unexpected load spikes with small impact on the accuracy. Our experimental results show that S3-TM is scalable. Furthermore, the SALB algorithm provides more than 2.5× throughput compared to the baseline multicast and outperforms the graph partitioning-based approaches. © 2015, Springer-Verlag Berlin Heidelberg

RAGE Reusable Game Software Components and Their Integration into Serious Game Engines

This paper presents and validates a methodology for integrating reusable software components in diverse game engines. While conforming to the RAGE com-ponent-based architecture described elsewhere, the paper explains how the interac-tions and data exchange processes between a reusable software component and a game engine should be implemented for procuring seamless integration. To this end, a RAGE-compliant C# software component providing a difficulty adaptation routine was integrated with an exemplary strategic tile-based game “TileZero”. Implementa-tions in MonoGame, Unity and Xamarin, respectively, have demonstrated successful portability of the adaptation component. Also, portability across various delivery platforms (Windows desktop, iOS, Android, Windows Phone) was established. Thereby this study has established the validity of the RAGE architecture and its un-derlying interaction processes for the cross-platform and cross-game engine reuse of software components. The RAGE architecture thereby accommodates the large scale development and application of reusable software components for serious gaming

Performance of CMS muon reconstruction in pp collision events at sqrt(s) = 7 TeV

The performance of muon reconstruction, identification, and triggering in CMS has been studied using 40 inverse picobarns of data collected in pp collisions at sqrt(s) = 7 TeV at the LHC in 2010. A few benchmark sets of selection criteria covering a wide range of physics analysis needs have been examined. For all considered selections, the efficiency to reconstruct and identify a muon with a transverse momentum pT larger than a few GeV is above 95% over the whole region of pseudorapidity covered by the CMS muon system, abs(eta) < 2.4, while the probability to misidentify a hadron as a muon is well below 1%. The efficiency to trigger on single muons with pT above a few GeV is higher than 90% over the full eta range, and typically substantially better. The overall momentum scale is measured to a precision of 0.2% with muons from Z decays. The transverse momentum resolution varies from 1% to 6% depending on pseudorapidity for muons with pT below 100 GeV and, using cosmic rays, it is shown to be better than 10% in the central region up to pT = 1 TeV. Observed distributions of all quantities are well reproduced by the Monte Carlo simulation.Comment: Replaced with published version. Added journal reference and DO

Performance of CMS muon reconstruction in pp collision events at sqrt(s) = 7 TeV

The performance of muon reconstruction, identification, and triggering in CMS has been studied using 40 inverse picobarns of data collected in pp collisions at sqrt(s) = 7 TeV at the LHC in 2010. A few benchmark sets of selection criteria covering a wide range of physics analysis needs have been examined. For all considered selections, the efficiency to reconstruct and identify a muon with a transverse momentum pT larger than a few GeV is above 95% over the whole region of pseudorapidity covered by the CMS muon system, abs(eta) < 2.4, while the probability to misidentify a hadron as a muon is well below 1%. The efficiency to trigger on single muons with pT above a few GeV is higher than 90% over the full eta range, and typically substantially better. The overall momentum scale is measured to a precision of 0.2% with muons from Z decays. The transverse momentum resolution varies from 1% to 6% depending on pseudorapidity for muons with pT below 100 GeV and, using cosmic rays, it is shown to be better than 10% in the central region up to pT = 1 TeV. Observed distributions of all quantities are well reproduced by the Monte Carlo simulation.Comment: Replaced with published version. Added journal reference and DO

Azimuthal anisotropy of charged particles at high transverse momenta in PbPb collisions at sqrt(s[NN]) = 2.76 TeV

The azimuthal anisotropy of charged particles in PbPb collisions at nucleon-nucleon center-of-mass energy of 2.76 TeV is measured with the CMS detector at the LHC over an extended transverse momentum (pt) range up to approximately 60 GeV. The data cover both the low-pt region associated with hydrodynamic flow phenomena and the high-pt region where the anisotropies may reflect the path-length dependence of parton energy loss in the created medium. The anisotropy parameter (v2) of the particles is extracted by correlating charged tracks with respect to the event-plane reconstructed by using the energy deposited in forward-angle calorimeters. For the six bins of collision centrality studied, spanning the range of 0-60% most-central events, the observed v2 values are found to first increase with pt, reaching a maximum around pt = 3 GeV, and then to gradually decrease to almost zero, with the decline persisting up to at least pt = 40 GeV over the full centrality range measured.Comment: Replaced with published version. Added journal reference and DO

X-ray emission from the Sombrero galaxy: discrete sources

We present a study of discrete X-ray sources in and around the bulge-dominated, massive Sa galaxy, Sombrero (M104), based on new and archival Chandra observations with a total exposure of ~200 ks. With a detection limit of L_X = 1E37 erg/s and a field of view covering a galactocentric radius of ~30 kpc (11.5 arcminute), 383 sources are detected. Cross-correlation with Spitler et al.'s catalogue of Sombrero globular clusters (GCs) identified from HST/ACS observations reveals 41 X-rays sources in GCs, presumably low-mass X-ray binaries (LMXBs). We quantify the differential luminosity functions (LFs) for both the detected GC and field LMXBs, whose power-low indices (~1.1 for the GC-LF and ~1.6 for field-LF) are consistent with previous studies for elliptical galaxies. With precise sky positions of the GCs without a detected X-ray source, we further quantify, through a fluctuation analysis, the GC LF at fainter luminosities down to 1E35 erg/s. The derived index rules out a faint-end slope flatter than 1.1 at a 2 sigma significance, contrary to recent findings in several elliptical galaxies and the bulge of M31. On the other hand, the 2-6 keV unresolved emission places a tight constraint on the field LF, implying a flattened index of ~1.0 below 1E37 erg/s. We also detect 101 sources in the halo of Sombrero. The presence of these sources cannot be interpreted as galactic LMXBs whose spatial distribution empirically follows the starlight. Their number is also higher than the expected number of cosmic AGNs (52+/-11 [1 sigma]) whose surface density is constrained by deep X-ray surveys. We suggest that either the cosmic X-ray background is unusually high in the direction of Sombrero, or a distinct population of X-ray sources is present in the halo of Sombrero.Comment: 11 figures, 5 tables, ApJ in pres

Compressed representation of a partially defined integer function over multiple arguments

In OLAP (OnLine Analitical Processing) data are analysed in an n-dimensional cube. The cube may be represented as a partially defined function over n arguments. Considering that often the function is not defined everywhere, we ask: is there a known way of representing the function or the points in which it is defined, in a more compact manner than the trivial one

Search for new physics with same-sign isolated dilepton events with jets and missing transverse energy

A search for new physics is performed in events with two same-sign isolated leptons, hadronic jets, and missing transverse energy in the final state. The analysis is based on a data sample corresponding to an integrated luminosity of 4.98 inverse femtobarns produced in pp collisions at a center-of-mass energy of 7 TeV collected by the CMS experiment at the LHC. This constitutes a factor of 140 increase in integrated luminosity over previously published results. The observed yields agree with the standard model predictions and thus no evidence for new physics is found. The observations are used to set upper limits on possible new physics contributions and to constrain supersymmetric models. To facilitate the interpretation of the data in a broader range of new physics scenarios, information on the event selection, detector response, and efficiencies is provided.Comment: Published in Physical Review Letter