Steganography, the art of information hiding, has continually evolved across visual, auditory and linguistic domains, adapting to the ceaseless interplay between steganographic concealment and steganalytic revelation. This study seeks to extend the horizons of what constitutes a viable steganographic medium by introducing a steganographic paradigm in robotic motion control. Based on the observation of the robot's inherent sensitivity to changes in its environment, we propose a methodology to encode messages as environmental stimuli influencing the motions of the robotic agent and to decode messages from the resulting motion trajectory. The constraints of maximal robot integrity and minimal motion deviation are established as fundamental principles underlying secrecy. As a proof of concept, we conduct experiments in simulated environments across various manipulation tasks, incorporating robotic embodiments equipped with generalist multimodal policies.
Robotics, automation, and related Artificial Intelligence (AI) systems have become pervasive bringing in concerns related to security, safety, accuracy, and trust. With growing dependency on physical robots that work in close proximity to humans, the security of these systems is becoming increasingly important to prevent cyber-attacks that could lead to privacy invasion, critical operations sabotage, and bodily harm. The current shortfall of professionals who can defend such systems demands development and integration of such a curriculum. This course description includes details about seven s…
ViSTR-GP: Online Cyberattack Detection via Vision-to-State Tensor Regression and Gaussian Processes in Automated Robotic Operations
Department of Industrial and Systems Engineering, University of Washington（工业与系统工程系，华盛顿大学）；Department of Automotive Engineering, Clemson University（汽车工程系，克莱姆斯大学）；School of Computing, Clemson University（计算学院，克莱姆斯大学）
Bluerydge Cybersecurity and Technology（布鲁里奇网络安全与技术公司）；University of Canberra（堪培拉大学）；The Australian National University（澳大利亚国立大学）
Secure robotics is a multi-disciplinary endeavour for improving the cybersecurity posture of robotic and embodied Artificial Intelligence systems. The article surveys emerging concepts and ideas encapsulating the notion of secure robotics and identifies five Secure Robotics Cybersecurity Control Implementation Layers as a crucial starting point for consideration by practitioners. It also recognises the need for further studies on the relationship between Human-robot trust and the implementation of established and novel cybersecurity controls.
Blockchain Infrastructure for Intelligent Cyber--Physical--Social Systems:Post-Quantum Security, Interoperability, and Trustworthy Data Economies in the Era of Embodied AI
Hong Kong University of Science and Technology（香港理工大学）；Sun Yat-sen University（中山大学）；Amazon Web Services（亚马逊网络服务）；Duke Kunshan University（杜克昆山大学）
Institute for Bioengineering of Catalonia (IBEC)（加泰罗尼亚生物工程研究所）；Barcelona Institute of Science and Technology (BIST)（巴塞罗那科学技术研究院）；Catalan Institution for Research and Advanced Studies (ICREA)（加泰罗尼亚高级研究学院）
In the past decade, society has experienced notable growth in a variety of technological areas. However, the Fourth Industrial Revolution has not been embraced yet. Industry 4.0 imposes several challenges which include the necessity of new architectural models to tackle the uncertainty that open environments represent to cyber-physical systems (CPS). Waste Electrical and Electronic Equipment (WEEE) recycling plants stand for one of such open environments. Here, CPSs must work harmoniously in a changing environment, interacting with similar and not so similar CPSs, and adaptively collaborating …
Heriot-Watt University（赫瑞-瓦特大学）；The University of Edinburgh（爱丁堡大学）
Robotics and automation have the potential to significantly improve quality of life for people with assistive needs and their carers. Adoption of such technologies at this point in time is far from widespread. This paper presents a novel approach to the design of highly customisable robotic concepts, embracing modularity and a co-design process to increase the involvement of end-users in the development life cycle. We discuss this process within the context of an elderly care use case. Using design methodology and additive manufacturing, we outline how key stakeholders can be involved from ini…
Delta-NTU Corporate Lab for CPS（Delta-NTU企业合作CPS实验室）
Industrial cyber-physical systems (CPS) have gained enormous attention of manufacturers in recent years due to their automation and cost reduction capabilities in the fourth industrial revolution (Industry 4.0). Such an industrial network of connected cyber and physical components may consist of highly expensive components such as robots. In order to provide efficient communication in such a network, it is imperative to improve the Quality-of-Service (QoS). Software Defined Networking (SDN) has become a key technology in realizing QoS concepts in a dynamic fashion by allowing a centralized con…
Teleoperated robots are playing an increasingly important role in military actions and medical services. In the future, remotely operated surgical robots will likely be used in more scenarios such as battlefields and emergency response. But rapidly growing applications of teleoperated surgery raise the question; what if the computer systems for these robots are attacked, taken over and even turned into weapons? Our work seeks to answer this question by systematically analyzing possible cyber security attacks against Raven II, an advanced teleoperated robotic surgery system. We identify a slew …
Universität Klagenfurt（克拉根福大学）；Alias Robotics；Institute for Robotics and Mechatronics, Joanneum Research（机器人与机电一体化研究所，格拉茨研究中心）；Department of Informatics of University of Minho（米尼奥大学信息学系）；High-Assurance Software Laboratory of University of Minho（米尼奥大学高可信软件实验室）；INESC TEC；Robotics Group at University of León（莱昂大学机器人学小组）；Istituto di Informatica e Telematica, Consiglio Nazionale delle Ricerche (CNR)（意大利国家研究委员会信息与电信研究所）
The reuse of technologies and inherent complexity of most robotic systems is increasingly leading to robots with wide attack surfaces and a variety of potential vulnerabilities. Given their growing presence in public environments, security research is increasingly becoming more important than in any other area, specially due to the safety implications that robot vulnerabilities could cause on humans. We argue that security triage in robotics is still immature and that new tools must be developed to accelerate the testing-triage-exploitation cycle, necessary for prioritizing and accelerating th…
From Prompt to Physical Actuation: Holistic Threat Modeling of LLM-Enabled Robotic Systems
School of Informatics, Computing, and Cyber Systems, Northern Arizona University（信息学、计算与网络系统学院，北亚利桑那大学）；Department of Software Science, Tallinn University of Technology（软件科学系，塔林技术大学）
Cybersecurity in robotics is an emerging topic that has gained significant traction. Researchers have demonstrated some of the potentials and effects of cyber attacks on robots lately. This implies safety related adverse consequences causing human harm, death or lead to significant integrity loss clearly overcoming the privacy concerns in classical IT world. In cybersecurity research, the use of vulnerability databases is a very reliable tool to responsibly disclose vulnerabilities in software products and raise willingness of vendors to address these issues. In this paper we argue, that exist…
Robots belong to a class of Cyber-Physical Systems where complex software as a mobile device has to full tasks in a complex environment. Modeling robotics applications for analysis and code generation requires modeling languages for the logical software architecture and the system behavior. The MontiArcAutomaton modeling framework integrates six independently developed modeling languages to model robotics applications: a component & connector architecture description language, automata, I/O tables, class diagrams, OCL, and a Java DSL. We describe how we integrated these languages into MontiArc…
Manchester Metropolitan University（曼彻斯特城市大学）；The University of Sheffield（谢菲尔德大学）
Security and safety are of paramount importance to human-robot interaction, either for autonomous robots or human-robot collaborative manufacturing. The intertwined relationship between security and safety has imposed new challenges on the emerging digital twin systems of various types of robots. To be specific, the attack of either the cyber-physical system or the digital-twin system could cause severe consequences to the other. Particularly, the attack of a digital-twin system that is synchronized with a cyber-physical system could cause lateral damage to humans and other surrounding facilit…
On The Effects of The Variations In Network Characteristics In Cyber Physical Systems
Ericsson Research（爱立信研究院）；Budapest University of Technology and Economics（布达佩斯技术与经济大学）；Pernambuco Federal Institute of Education, Science, and Technology（伯南布哥联邦教育、科学与技术学院）
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in robotic manipulators in bilateral teleoperation or string instability in platoons of autonomous vehicles. This paper considers nonlinear time-delay systems representing coupled robotic agents, and proposes controllers that are robust to time-varying communication delays. We introduce approximations that allow the delays to be considered as implicit control in…
Warsaw University of Technology（华沙理工大学）；California State University, San Bernardino（加州州立大学圣贝纳迪诺分校）
The ongoing progress in networking security, together with the growing range of robot applications in many fields of everyday life, makes robotics tangible reality in our near future. Accordingly, new advanced services, depends on the interplay between the robotics and cyber security, are being an important role in robotics world. This paper addresses technological implications of security enhancement to the Internet of Thing (IoT)-aided robotics domain, where networked robots are expected to work in complex environments. The security enhancement suggested by the NIST (National Institute of St…
AI-enabled Cyber-Physical In-Orbit Factory -- AI approaches based on digital twin technology for robotic small satellite production
Zentrum für Telematik e.V.（电信中心协会）；School of Computation, Information and Technology, Technical University of Munich（慕尼黑工业大学计算、信息与技术学院）；Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（德国航空航天中心机器人与机电一体化研究所）
Alias Robotics（Alias机器人公司）；Universität Klagenfurt（克拉根福大学）；UC San Diego（加州大学圣地亚哥分校）；Ca’ Foscari University of Venice（威尼斯福斯卡里大学）；Secura Factors srls（Secura Factors有限责任公司）；NeoFarm（NeoFarm公司）
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a concern. The present work introduces SROS2, a series of developer tools and libraries that facilitate adding security to ROS 2 graphs. Focusing on a usability-centric approach in SROS2, we present a methodology for securing graphs systematically while following the DevSecOps model. We also demonstrate the use of our security tools by presenting an application…
Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber attack on mission objectives and success. This work presents a secure optimal control algorithm in the face of a cyber attack on a robot's knowledge of the environment. This work focuses on cyber attack, but the results generalize to incomplete or outdated information of an environment. This work fuses ideas from robust control, optimal control, and sensor ba…
Georgia Institute of Technology（佐治亚理工学院）；PerceptIn（普思英察）；Tsinghua University（清华大学）；Harvard University（哈佛大学）
Robotic computing has reached a tipping point, with a myriad of robots (e.g., drones, self-driving cars, logistic robots) being widely applied in diverse scenarios. The continuous proliferation of robotics, however, critically depends on efficient computing substrates, driven by real-time requirements, robotic size-weight-and-power constraints, cybersecurity considerations, and dynamically changing scenarios. Within all platforms, FPGA is able to deliver both software and hardware solutions with low power, high performance, reconfigurability, reliability, and adaptivity characteristics, servin…
Robots state of insecurity is onstage. There is an emerging concern about major robot vulnerabilities and their adverse consequences. However, there is still a considerable gap between robotics and cybersecurity domains. For the purpose of filling that gap, the present technical report presents the Robotics CTF (RCTF), an online playground to challenge robot security from any browser. We describe the architecture of the RCTF and provide 9 scenarios where hackers can challenge the security of different robotic setups. Our work empowers security researchers to a) reproduce virtual robotic scenar…
Cyberbotics Ltd. develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots. WebotsTM lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. You can equip each robot with a large number of …
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Applied Dexterity（Applied Dexterity公司）；Rush University Medical Center（拉什大学医学中心）；Massachusetts Institute of Technology（麻省理工学院）
Robotic telesurgical systems are one of the most complex medical cyber-physical systems on the market, and have been used in over 1.75 million procedures during the last decade. Despite significant improvements in design of robotic surgical systems through the years, there have been ongoing occurrences of safety incidents during procedures that negatively impact patients. This paper presents an approach for systems-theoretic safety assessment of robotic telesurgical systems using software-implemented fault-injection. We used a systemstheoretic hazard analysis technique (STPA) to identify the p…
Public Evaluation on Potential Social Impacts of Fully Autonomous Cybernetic Avatars for Physical Support in Daily-Life Environments: Large-Scale Demonstration and Survey at Avatar Land
Due to the new advancements in automation using Artificial Intelligence, Robotics and Internet of Things it has become crucial to pay attention to possible vulnerabilities in order to avoid cyber attack and hijacking that can occur which can be catastrophic. There have been many consequences of disasters due to vulnerabilities in Robotics, these vulnerabilities need to be analyzed to target the severe ones before they cause cataclysm. This paper aims to highlight the areas and severity of each type of vulnerability by analyzing issues categorized under the type of vulnerability. This we achiev…
Aristotle University of Thessaloniki（塞萨洛尼基亚里士多德大学）
The communication and collaboration of Cyber-Physical Systems, including machines and robots, among themselves and with humans, is expected to attract researchers' interest for the years to come. A key element of the new revolution is the Internet of Things (IoT). IoT infrastructures enable communication between different connected devices using internet protocols. The integration of robots in an IoT platform can improve robot capabilities by providing access to other devices and resources. In this paper we present an IoT-enabled application including a NAO robot which can communicate through …
Robotic platforms are highly programmable, scalable and versatile to complete several tasks including Inspection, Maintenance and Repair (IMR). Mobile robotics offer reduced restrictions in operating environments, resulting in greater flexibility; operation at height, dangerous areas and repetitive tasks. Cyber physical infrastructures have been identified by the UK Robotics Growth Partnership as a key enabler in how we utilize and interact with sensors and machines via the virtual and physical worlds. Cyber Physical Systems (CPS) allow for robotics and artificial intelligence to adapt and rep…
Environment-Grounded Multi-Agent Workflow for Autonomous Penetration Testing
JOANNEUM RESEARCH Forschungsgesellschaft mbH, DIGITAL – Institute for Digital Technologies（JOANNEUM RESEARCH 研究所，DIGITAL – 数字技术研究所）；TU Graz, Institute for Technical Informatics（格拉茨技术大学，技术信息研究所）；Jamk University of Applied Sciences, Institute of Information Technology（贾马克应用科学大学，信息技术研究所）
WheelArm-Sim: A Manipulation and Navigation Combined Multimodal Synthetic Data Generation Simulator for Unified Control in Assistive Robotics
Aerospace and Mechanical Engineering Department, Saint Louis University（圣路易斯大学航空航天与机械工程系）；Computer Science Department, Saint Louis University（圣路易斯大学计算机科学系）
Proceedings of the The First Workshop on Verification and Validation of Cyber-Physical Systems
Reykjavík, Iceland（冰岛雷克雅未克）；MITL Specification Debugging for Monitoring of Cyber-Physical Systems（网络物理系统监控的MITL规格调试）；Automatic Synthesis of Controllers from Specifications using Control Certificates（使用控制证书从规范自动合成控制器）；A Compositional Framework for Preference-Aware Agents（偏好感知代理的组合框架）；Output Feedback Controller Design with Symbolic Observers for Cyber-physical Systems（网络物理系统符号观测器输出反馈控制器设计）；Towards an Approximate Conformance Relation for Hybrid I/O Automata（混合I/O自动机近似一致性关系）；On Nonlinear Prices in Timed Automata（时序自动机中的非线性价格）；Towards the Verification of Safety-critical Autonomous Systems in Dynamic Environments（动态环境中安全关键自主系统的验证）
Swinburne University of Technology（斯威本科技大学）；CSIRO（澳大利亚联邦科学与工业研究组织）；Engineering Institute of Technology (EIT)（工程技术学院）；South China University of Technology（华南理工大学）；University of Manitoba（曼尼托巴大学）
Robotic applications nowadays are widely adopted to enhance operational automation and performance of real-world Cyber-Physical Systems (CPSs) including Industry 4.0, agriculture, healthcare, and disaster management. These applications are composed of latency-sensitive, data-heavy, and compute-intensive tasks. The robots, however, are constrained in the computational power and storage capacity. The concept of multi-agent cloud robotics enables robot-to-robot cooperation and creates a complementary environment for the robots in executing large-scale applications with the capability to utilize t…
