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Computer Engineering Commons

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Computer Sciences

CPS Embedded Control

2014

Articles 1 - 6 of 6

Full-Text Articles in Computer Engineering

Architecture-Centric Software Development For Cyber-Physical Systems, Oleg Sokolsky, Miroslav Pajic, Nicola Bezzo, Insup Lee Oct 2014

Architecture-Centric Software Development For Cyber-Physical Systems, Oleg Sokolsky, Miroslav Pajic, Nicola Bezzo, Insup Lee

Departmental Papers (CIS)

We discuss the problem of high-assurance development of cyber-physical systems. Specifically, we concentrate on the interaction between the development of the control system layer and platform-specific software engineering for system components. We argue that an architecture-centric approach allows us to streamline the development and increase the level of assurance for the resulting system. The case study of an unmanned ground vehicle illustrates the approach.


Towards Assurance Cases For Resilient Control Systems, James Weimer, Oleg Sokolsky, Nicola Bezzo, Insup Lee Aug 2014

Towards Assurance Cases For Resilient Control Systems, James Weimer, Oleg Sokolsky, Nicola Bezzo, Insup Lee

Departmental Papers (CIS)

The paper studies the problem of constructing assurance cases for embedded control systems developed using a model-based approach. Assurance cases aim to provide a convincing argument that the system delivers certain guarantees, based on the evidence obtained during the design and evaluation of the system. We suggest an argument strategy centered around properties of models used in the development and properties of tools that manipulate these models. The paper presents the case study of a resilient speed estimator for an autonomous ground vehicle and takes the reader through a detailed assurance case arguing that the estimator computes speed estimates with ...


Attack-Resilient Minimum Mean-Squared Error Estimation, James Weimer, Nicola Bezzo, Miroslav Pajic, Oleg Sokolsky, Insup Lee Jun 2014

Attack-Resilient Minimum Mean-Squared Error Estimation, James Weimer, Nicola Bezzo, Miroslav Pajic, Oleg Sokolsky, Insup Lee

Departmental Papers (CIS)

This work addresses the design of resilient estimators for stochastic systems. To this end, we introduce a minimum mean-squared error resilient (MMSE-R) estimator whose conditional mean squared error from the state remains finitely bounded and is independent of additive measurement attacks. An implementation of the MMSE-R estimator is presented and is shown as the solution of a semidefinite programming problem, which can be implemented efficiently using convex optimization techniques. The MMSE-R strategy is evaluated against other competing strategies representing other estimation approaches in the presence of small and large measurement attacks. The results indicate that the MMSE-R estimator significantly outperforms ...


Robustness Of Attack-Resilient State Estimators, Miroslav Pajic, James Weimer, Nicola Bezzo, Paulo Tabuada, Oleg Sokolsky, Insup Lee, George Pappas Apr 2014

Robustness Of Attack-Resilient State Estimators, Miroslav Pajic, James Weimer, Nicola Bezzo, Paulo Tabuada, Oleg Sokolsky, Insup Lee, George Pappas

Departmental Papers (CIS)

The interaction between information technology and physical world makes Cyber-Physical Systems (CPS) vulnerable to malicious attacks beyond the standard cyber attacks. This has motivated the need for attack-resilient state estimation. Yet, the existing state-estimators are based on the non-realistic assumption that the exact system model is known. Consequently, in this work we present a method for state estimation in presence of attacks, for systems with noise and modeling errors. When the the estimated states are used by a state-based feedback controller, we show that the attacker cannot destabilize the system by exploiting the difeerence between the model used for the ...


Resilient Multidimensional Sensor Fusion Using Measurement History, Radoslav Ivanov, Miroslav Pajic, Insup Lee Feb 2014

Resilient Multidimensional Sensor Fusion Using Measurement History, Radoslav Ivanov, Miroslav Pajic, Insup Lee

Departmental Papers (CIS)

This work considers the problem of performing resilient sensor fusion using past sensor measurements. In particular, we consider a system with n sensors measuring the same physical variable where some sensors might be attacked or faulty. We consider a setup in which each sensor provides the controller with a set of possible values for the true value. Here, more precise sensors provide smaller sets. Since a lot of modern sensors provide multidimensional measurements (e.g., position in three dimensions), the sets considered in this work are multidimensional polyhedra.

Given the assumption that some sensors can be attacked or faulty, the ...


Attack-Resilient Sensor Fusion, Radoslav Ivanov, Miroslav Pajic, Insup Lee Feb 2014

Attack-Resilient Sensor Fusion, Radoslav Ivanov, Miroslav Pajic, Insup Lee

Departmental Papers (CIS)

This work considers the problem of attack-resilient sensor fusion in an autonomous system where multiple sensors measure the same physical variable. A malicious attacker may corrupt a subset of these sensors and send wrong measurements to the controller on their behalf, potentially compromising the safety of the system. We formalize the goals and constraints of such an attacker who also wants to avoid detection by the system. We argue that the attacker’s capabilities depend on the amount of information she has about the correct sensors’ measurements. In the presence of a shared bus where messages are broadcast to all ...