To achieve high-dexterity motion planning on floating-base systems, the base dynamics induced by arm motions must be treated carefully. In general, it is a significant challenge to establish a fixed-base frame during tasking due to forces and torques on the base that arise directly from arm motions (e.g. arm drag in low Reynolds environments and arm momentum in high Reynolds environments). While thrusters can in theory be used to regulate the vehicle pose, it is often insufficient to establish a stable pose for precise tasking, whether the cause be due to underactuation, modeling inaccuracy, suboptimal control parameters, or insufficient power. We propose a solution that asks the thrusters to do less high bandwidth perturbation correction by planning arm motions that induce zero perturbation on the base. We are able to cast our motion planner as a nonholonomic rapidly-exploring random tree (RRT) by representing the floating-base dynamics as pfaffian constraints on joint velocity. These constraints guide the manipulators to move on zero-perturbation manifolds (which inhabit a subspace of the tangent space of the internal configuration space). To invoke this representation (termed a perturbation map) we assume the body velocity (perturbation) of the base to be a joint-defined linear mapping of joint velocity and describe situations where this assumption is realistic (including underwater, aerial, and orbital environments). The core insight of this work is that when perturbation of the floating-base has affine structure with respect to joint velocity, it provides the system a class of kinematic reduction that permits the use of sample-based motion planners (specifically a nonholonomic RRT). We show that this allows rapid, exploration-geared motion planning for high degree of freedom systems in obstacle rich environments, even on floating-base systems with nontrivial dynamics.

A building information model (BIM) is an electronic repository of structured, three-dimensional data that captures both the physical and dynamic functional characteristics of a facility. In addition to its more traditional function as a tool to aid design and construction, a BIM can be used throughout the life cycle of a facility, functioning as a living database that places resources contained within the building in their spatial and temporal context. Through its comprehension of spatial relationships, a BIM can meaningfully represent and integrate previously isolated control and management systems and processes, and thereby provide a more intuitive interface to users. By placing processes in a spatial context, decision-making can be improved, with positive flow-on effects for security and efficiency. In this article, we systematically analyse the authorization requirements involved in the use of BIMs. We introduce the concept of using a BIM as a graphical tool to support spatial access control configuration and management (including physical access control). We also consider authorization requirements for regulating access to the structured data that exists within a BIM as well as to external systems and data repositories that can be accessed via the BIM interface. With a view to addressing these requirements we present a survey of relevant spatiotemporal access control models, focusing on features applicable to BIMs and highlighting capability gaps. Finally, we present a conceptual authorization framework that utilizes BIMs.

In dynamic and uncertain environments, where the needs of security and information availability are difficult to balance, an access control approach based on a static policy will be suboptimal regardless of how comprehensive it is. Risk-based approaches to access control attempt to address this problem by allocating a limited budget to users, through which they pay for the exceptions deemed necessary. So far the primary focus has been on how to incorporate the notion of budget into access control rather than what or if there is an optimal amount of budget to allocate to users. In this paper we discuss the problems that arise from a sub-optimal allocation of budget and introduce a generalised characterisation of an optimal budget allocation function that maximises organisations expected benefit in the presence of self-interested employees and costly audit.

In dynamic and uncertain environments such as healthcare, where the needs of security and information availability are difficult to balance, an access control approach based on a static policy will be suboptimal regardless of how comprehensive it is. The uncertainty stems from the unpredictability of users' operational needs as well as their private incentives to misuse permissions. In Role Based Access Control (RBAC), a user's legitimate access request may be denied because its need has not been anticipated by the security administrator. Alternatively, even when the policy is correctly specified an authorised user may accidentally or intentionally misuse the granted permission. This paper introduces a novel approach to access control under uncertainty and presents it in the context of RBAC. By taking insights from the field of economics, in particular the insurance literature, we propose a formal model where the value of resources are explicitly defined and an RBAC policy (entailing those predictable access needs) is only used as a reference point to determine the price each user has to pay for access, as opposed to representing hard and fast rules that are always rigidly applied.

US state-based data breach notification laws have unveiled serious corporate and government failures regarding the security of personal information. These laws require organisations to notify persons who may be affected by an unauthorized acquisition of their personal information. Safe harbours to notification exist if personal information is encrypted. Three types of safe harbour have been identified in the literature: exemptions, rebuttable presumptions and factors. The underlying assumption of exemptions is that encrypted personal information is secure and therefore unauthorized access does not pose a risk. However, the viability of this assumption is questionable when examined against data breaches involving encrypted information and the demanding practical requirements of effective encryption management. Recent recommendations by the Australian Law Reform Commission (ALRC) would amend the Privacy Act 1988 (Cth) to implement a data breach scheme that includes a different type of safe harbour, factor based analysis. The authors examine the potential capability of the ALRC's proposed encryption safe harbour in relation to the US experience at the state legislature level.

Distance-bounding protocols have been proposed as a means of detecting relay attacks, also known as mafia fraud. In this paper we present the first symmetric key based distance-bounding protocol that is also resistant to so-called terrorist fraud, a variant of mafia fraud. Distance-bounding protocols require a communication channel that can exchange single bits with extremely low latency. This unconventional communication requirement has prompted Hancke and Kuhn to assert in a recent publication that ultra wide band (UWB) radio is necessary to achieve a useful distance-bounding resolution for RF security devices (contactless smart cards, RFID tags and the like). We analyse this assertion and present an alternative, novel communication approach that leverages the phenomena of side channel leakage to deliver a low latency channel. Our proposal is capable of detecting sophisticated relay attacks without resorting to the considerable expense and complexity of UWB radio. We present experimental results to support our arguments.