Current control flow integrity (CFI) enforcement approaches either require instrumenting application executables and even shared libraries, or are unable to defend against sophisticated attacks due to relaxed security policies, or both; many of them also incur high runtime overhead. This paper observes that the main obstacle of providing transparent and strong defense against sophisticated adversaries is the lack of sufficient runtime control flow information. To this end, this paper describes FlowGuard, a lightweight, transparent CFI enforcement approach by a novel reuse of Intel Processor Trace (IPT), a recent hardware feature that efficiently captures the entire runtime control flow. The main challenge is that IPT is designed for offline performance analysis and software debugging such that decoding collected control flow traces is prohibitively slow on the fly. FlowGuard addresses this challenge by reconstructing applications' conservative control flow graphs (CFG) to be compatible with the compressed encoding format of IPT, and labeling the CFG edges with credits in the help of fuzzing-like dynamic training. At runtime, FlowGuard separates fast and slow paths such that the fast path compares the labeled CFGs with the IPT traces for fast filtering, while the slow path decodes necessary IPT traces for strong security. We have implemented and evaluated FlowGuard on a commodity Intel Skylake machine with IPT support. Evaluation results show that FlowGuard is effective in enforcing CFI for several applications, while introducing only small performance overhead. We also show that, with minor hardware extensions, the performance overhead can be further reduced.

In this paper, the robot force control scheme is suggested for open robot controller, which combines the force control and collision avoidance algorithms. The adaptive fuzzy control approach is selected to realize force tracking when the environment parameters are unknown and vary considerably. We design the RobForce class derived from the open robot class with C++ language. In this robot force class, we cite the virtual force approach and transform collision avoidance into the force control problem and unite it with the force control in the RobForce class. Based on the robot class library, the user can develop his/hers own robot force control system. In addition we design a software to verify the scheme and the simulation demonstrates that the robot force control scheme is simple, universal for position based robot, and is capable of force tracking regardless of wide parameter variations.