624 research outputs found
Mitigation of Hardware Trojan Attacks on Networks-on-Chip
The Integrated Circuit (IC) design flow follows a global business model. A global business means that the processes in the IC design flow could be outsourced, and consequently security threats have been introduced. Security threats on hardware include side channel analysis, reverse engineering, information leakage, counterfeit chips, and hardware Trojans (HTs).This work mainly focuses on HT attacks, which execute a malicious operation on the system when a trigger condition is met. Networks-on-Chip (NoCs) are a popular communications infrastructure for many-core systems, which have proved to be a more scalable option over the traditional bus interface. However, the high scalability and modularity provided by NoCs have introduced new vulnerabilities in the design, leading to hardware Trojans capable of causing several Denial of Service (DoS) attacks on the network.
A 4x4 Mesh-topology NoC with a more robust router microarchitecture is presented with several innovations relative to the baseline. A collaborative dynamic permutation and flow unit (flit) integrity check method is proposed to thwart an attacker from maliciously modifying the flit content in the routers of a NoC. Our method complements other HT detection approaches for the NoC network interfaces. Moreover, we exploit the Physical Unclonable Function (PUF) structure and the traffic routing history to generate a unique key vector for each router to select one of the multiple permutation configurations. Simulation and Field Programmable Gate Array (FPGA) results are compared between the proposed NoC microarchitecture and four other existing solutions found in literature, and it was shown that the proposed method outperforms all of the existing security methods
The Release: A Thesis
Possessing elements of both dark comedy and dramatic suspense, The Release is the story of Sean Coleman, a young, idealistic documentary filmmaker, who, in fighting for his film\u27s release, discovers that his beliefs may not be as strong as his desire to get what he wants. This paper will examine the total production process that went into the development, creation and finalization of this film
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity
well is crucial to achieve robust operation in real-world environments. When
ambiguous measurements arise, conservatism often mandates that the measurement
is discarded or a new landmark is initialized rather than risking an incorrect
association. To address the inevitable `duplicate' landmarks that arise, we
present an efficient map-merging framework to detect duplicate constellations
of landmarks, providing a high-confidence loop-closure mechanism well-suited
for object-level SLAM. This approach uses an incrementally-computable
approximation of landmark uncertainty that only depends on local information in
the SLAM graph, avoiding expensive recovery of the full system covariance
matrix. This enables a search based on geometric consistency (GC) (rather than
full joint compatibility (JC)) that inexpensively reduces the search space to a
handful of `best' hypotheses. Furthermore, we reformulate the commonly-used
interpretation tree to allow for more efficient integration of clique-based
pairwise compatibility, accelerating the branch-and-bound max-cardinality
search. Our method is demonstrated to match the performance of full JC methods
at significantly-reduced computational cost, facilitating robust object-based
loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Complexity Analysis and Efficient Measurement Selection Primitives for High-Rate Graph SLAM
Sparsity has been widely recognized as crucial for efficient optimization in
graph-based SLAM. Because the sparsity and structure of the SLAM graph reflect
the set of incorporated measurements, many methods for sparsification have been
proposed in hopes of reducing computation. These methods often focus narrowly
on reducing edge count without regard for structure at a global level. Such
structurally-naive techniques can fail to produce significant computational
savings, even after aggressive pruning. In contrast, simple heuristics such as
measurement decimation and keyframing are known empirically to produce
significant computation reductions. To demonstrate why, we propose a
quantitative metric called elimination complexity (EC) that bridges the
existing analytic gap between graph structure and computation. EC quantifies
the complexity of the primary computational bottleneck: the factorization step
of a Gauss-Newton iteration. Using this metric, we show rigorously that
decimation and keyframing impose favorable global structures and therefore
achieve computation reductions on the order of and , respectively,
where is the pruning rate. We additionally present numerical results
showing EC provides a good approximation of computation in both batch and
incremental (iSAM2) optimization and demonstrate that pruning methods promoting
globally-efficient structure outperform those that do not.Comment: Pre-print accepted to ICRA 201
Gauss-Newton Runge-Kutta Integration for Efficient Discretization of Optimal Control Problems with Long Horizons and Least-Squares Costs
This work proposes an efficient treatment of continuous-time optimal control
problem (OCP) with long horizons and nonlinear least-squares costs. The
Gauss-Newton Runge-Kutta (GNRK) integrator is presented which provides a
high-order cost integration. Crucially, the Hessian of the cost terms required
within an SQP-type algorithm is approximated with a Gauss-Newton Hessian.
Moreover, L2 penalty formulations for constraints are shown to be particularly
effective for optimization with GNRK. An efficient implementation of GNRK is
provided in the open-source software framework acados. We demonstrate the
effectiveness of the proposed approach and its implementation on an
illustrative example showing a reduction of relative suboptimality by a factor
greater than 10 while increasing the runtime by only 10 %.Comment: 7 pages, 3 Figures, submitted to ECC 202
Finite Elements with Switched Detection for Direct Optimal Control of Nonsmooth Systems with Set-Valued Step Functions
This paper extends the Finite Elements with Switch Detection (FESD) method
[Nurkanovi\'c et al., 2022] to optimal control problems with nonsmooth systems
involving set-valued step functions. Logical relations and common nonsmooth
functions within a dynamical system can be expressed using linear and nonlinear
expressions of the components of the step function. A prominent subclass of
these systems are Filippov systems. The set-valued step function can be
expressed by the solution map of a linear program, and using its KKT conditions
allows one to transform the initial system into an equivalent dynamic
complementarity system (DCS). Standard Runge-Kutta (RK) methods applied to DCS
have only first-order accuracy. The FESD discretization makes the step sizes
degrees of freedom and adds further constraints that ensure exact switch
detection to recover the high-accuracy properties that RK methods have for
smooth ODEs. All methods and examples in this paper are implemented in the
open-source software package NOSNOC.Comment: submitted to CDC202
Frenet-Cartesian Model Representations for Automotive Obstacle Avoidance within Nonlinear MPC
In recent years, nonlinear model predictive control (NMPC) has been
extensively used for solving automotive motion control and planning tasks. In
order to formulate the NMPC problem, different coordinate systems can be used
with different advantages. We propose and compare formulations for the NMPC
related optimization problem, involving a Cartesian and a Frenet coordinate
frame (CCF/ FCF) in a single nonlinear program (NLP). We specify costs and
collision avoidance constraints in the more advantageous coordinate frame,
derive appropriate formulations and compare different obstacle constraints.
With this approach, we exploit the simpler formulation of opponent vehicle
constraints in the CCF, as well as road aligned costs and constraints related
to the FCF. Comparisons to other approaches in a simulation framework highlight
the advantages of the proposed approaches
Collision Probabilities for Continuous-Time Systems Without Sampling [with Appendices]
Demand for high-performance, robust, and safe autonomous systems has grown
substantially in recent years. Fulfillment of these objectives requires
accurate and efficient risk estimation that can be embedded in core
decision-making tasks such as motion planning. On one hand, Monte-Carlo (MC)
and other sampling-based techniques can provide accurate solutions for a wide
variety of motion models but are cumbersome to apply in the context of
continuous optimization. On the other hand, "direct" approximations aim to
compute (or upper-bound) the failure probability as a smooth function of the
decision variables, and thus are widely applicable. However, existing
approaches fundamentally assume discrete-time dynamics and can perform
unpredictably when applied to continuous-time systems operating in the real
world, often manifesting as severe conservatism. State-of-the-art attempts to
address this within a conventional discrete-time framework require additional
Gaussianity approximations that ultimately produce inconsistency of their own.
In this paper we take a fundamentally different approach, deriving a risk
approximation framework directly in continuous time and producing a lightweight
estimate that actually improves as the discretization is refined. Our
approximation is shown to significantly outperform state-of-the-art techniques
in replicating the MC estimate while maintaining the functional and
computational benefits of a direct method. This enables robust, risk-aware,
continuous motion-planning for a broad class of nonlinear, partially-observable
systems.Comment: To appear at RSS 202
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