We propose a novel high-force/high-precision interaction control framework of a dual-arm robot system on a flexible base, with one arm holding, or making contact with, a supporting surface, while the other arm can exert any arbitrary wrench in a certain polytope through a desired pose against environments or objects. Our proposed framework can achieve high-force/precision tasks by utilizing the supporting surface just as we humans do while taking into account various important constraints (e.g., system stability, joint angle/torque limits, friction-cone constraint, etc.) and the passive compliance of the flexible base. We first design the control as a combination of: 1) nominal control; 2) active stiffness control; and 3) feedback wrench control. We then sequentially perform optimizations of the nominal configuration (and its related wrenches) and the active stiffness control gain. We also design the proportional–integral type feedback wrench control to improve the robustness and precision of the control. The key theoretical enabler for our framework is a novel stiffness analysis of the dual-arm system with flexibility, which, when combined with certain constraints, provides some peculiar relations, that can effectively be used to significantly simplify the optimization problem-solving and to facilitate the feedback wrench control design by manifesting the compliance relation at the interaction port. The efficacy of the theory is then validated and demonstrated through simulations and experiments.

Photoelectric sensors are utilized in a range of safety-critical applications, such as medical devices and autonomous vehicles. However, the public exposure of the input channel of a photoelectric sensor makes it vulnerable to malicious inputs. Several studies have suggested possible attacks on photoelectric sensors by injecting malicious signals. While a few defense techniques have been proposed against such attacks, they could be either bypassed or used for limited purposes. In this study, we propose Lightbox, a novel defense system to detect sensor attacks on photoelectric sensors based on signal fingerprinting. Lightbox uses the spectrum of the received light as a feature to distinguish the attacker’s malicious signals from the authentic signal, which is a signal from the sensor’s light source. We evaluated Lightbox against (1) a saturation attacker, (2) a simple spoofing attacker, and (3) a sophisticated attacker who is aware of Lightbox and can combine multiple light sources to mimic the authentic light source. Lightbox achieved the overall accuracy over 99% for the saturation attacker and simple spoofing attacker, and robustness against a sophisticated attacker. We also evaluated Lightbox considering various environments such as transmission medium, background noise, and input waveform. Finally, we demonstrate the practicality of Lightbox with experiments using a single-board computer after further reducing the training time.

Over the last six years, several papers demonstrated how intentional analog interference based on acoustics, RF, lasers, and other physical modalities could induce faults, influence, or even control the output of sensors. Damage to the availability and integrity of sensor output carries significant risks to safety-critical systems that make automated decisions based on trusted sensor measurement. Established signal processing models use transfer functions to express reliability and dependability characteristics of sensors, but existing models do not provide a deliberate way to express and capture security properties meaningfully.Our work begins to fill this gap by systematizing knowledge of analog attacks against sensor circuitry and defenses. Our primary contribution is a simple sensor security model such that sensor engineers can better express analog security properties of sensor circuitry without needing to learn significantly new notation. Our model introduces transfer functions and a vector of adversarial noise to represent adversarial capabilities at each stage of a sensor's signal conditioning chain. The primary goals of the systematization are (1) to enable more meaningful quantification of risk for the design and evaluation of past and future sensors, (2) to better predict new attack vectors, and (3) to establish defensive design patterns that make sensors more resistant to analog attacks.

Fire alarm and signaling systems are a networked system of fire detectors, fire control units, automated fire extinguishers, and fire notification appliances. Malfunction of these safety-critical cyber-physical systems may lead to chaotic evacuations, property damage, and even loss of human life. Therefore, reliability is one of the most crucial factors for fire detectors. Indeed, even a single report of a fire cannot be ignored, considering the importance of early fire detection and suppression. In this article, we show that wide-area smoke detectors, which are globally installed in critical infrastructures such as airports, sports facilities, and auditoriums, have significant vulnerabilities in terms of reliability; one can remotely and stealthily induce false fire alarms and suppress real fire alarms with a minimal attacker capability using simple equipment. The practicality and generalizability of these vulnerabilities has been assessed based on the demonstration of two types of sensor attacks on two commercial off-the-shelf optical beam smoke detectors from different manufacturers. Further, the practical considerations of building stealthy attack equipment has been analyzed, and an extensive survey of almost all optical beam smoke detectors on the market has been conducted. In addition, we show that the current standards of the fire alarm network connecting the detector and a control unit exacerbate the problem, making it impossible or very difficult to mitigate the threats we found. Finally, we discuss hardware- and software-based possible countermeasures for both wide-area smoke detectors and the fire alarm network; the effectiveness of one of the countermeasures is experimentally evaluated.

The consumer drone market is booming. Consumer drones are predominantly used for aerial photography; however, their use has been expanding because of their autopilot technology. Unfortunately, terrorists have also begun to use consumer drones for kamikaze bombing and reconnaissance. To protect against such threats, several companies have started “anti-drone” services that primarily focus on disrupting or incapacitating drone operations. However, the approaches employed are inadequate, because they make any drone that has intruded stop and remain over the protected area. We specify this issue by introducing the concept of safe-hijacking , which enables a hijacker to expel the intruding drone from the protected area remotely. As a safe-hijacking strategy, we investigated whether consumer drones in the autopilot mode can be hijacked via adaptive GPS spoofing. Specifically, as consumer drones activate GPS fail-safe and change their flight mode whenever a GPS error occurs, we performed black- and white-box analyses of GPS fail-safe flight mode and the following behavior after GPS signal recovery of existing consumer drones. Based on our analyses results, we developed a taxonomy of consumer drones according to these fail-safe mechanisms and designed safe-hijacking strategies for each drone type. Subsequently, we applied these strategies to four popular drones: DJI Phantom 3 Standard, DJI Phantom 4, Parrot Bebop 2, and 3DR Solo. The results of field experiments and software simulations verified the efficacy of our safe-hijacking strategies against these drones and demonstrated that the strategies can force them to move in any direction with high accuracy.

IEEE 802.15.4 is widely used as lower layers for not only wellknown wireless communication standards such as ZigBee, 6LoWPAN, and WirelessHART, but also customized protocols developed by manufacturers, particularly for various Internet of Things (IoT) devices. Customized protocols are not usually publicly disclosed nor standardized. Moreover, unlike textual protocols (e.g., HTTP, SMTP, POP3.), customized protocols for IoT devices provide no clues such as strings or keywords that are useful for analysis. Instead, they use bits or bytes to represent header and body information in order to save power and bandwidth. On the other hand, they often do not employ encryption, fragmentation, or authentication to save cost and effort in implementations. In other words, their security relies only on the confidentiality of the protocol itself.