Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at...Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.展开更多
While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous ...While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots(TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: "target tracking", "obstacle avoidance", "dynamic wall following" and "avoid robots". The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.展开更多
Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to ...Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to the infantry squad organization and is used to realize multiple mobile robots to keep formations. Simulations verify the validity of the approach to keep formation, which combines the behavior-based method and formation feedback. The effects of formation feedback on the performance of the system are analyzed.展开更多
This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Dep...This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering.Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration wasimplemented using the subsumption architecture. In an unknown dynamic indoor environment, the robotachieved real-time obstacle avoidance properties that are cruel for mobile robotics.展开更多
Two limitations of current integrity measurement architectures are pointed out:(1)a reference value is required for every measured entity to verify the system states,as is impractical however;(2)malicious user can for...Two limitations of current integrity measurement architectures are pointed out:(1)a reference value is required for every measured entity to verify the system states,as is impractical however;(2)malicious user can forge proof of inexistent system states.This paper proposes a trustworthy integrity measurement architecture,BBACIMA,through enforcing behavior-based access control for trusted platform module(TPM).BBACIMA introduces a TPM reference monitor(TPMRM)to ensure the trustworthiness of integrity measurement.TPMRM enforces behavior-based access control for the TPM and is isolated from other entities which may be malicious.TPMRM is the only entity manipulating TPM directly and all PCR(platform configuration register)operation requests must pass through the security check of it so that only trusted processes can do measurement and produce the proof of system states.Through these mechanisms malicious user can not enforce attack which is feasible in current measurement architectures.展开更多
The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sens...The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.展开更多
Cryptojacking is a type of resource embezzlement attack,wherein an attacker secretly executes the cryptocurrency mining program in the target host to gain profits.It has been common since 2017,and in fact,it once beca...Cryptojacking is a type of resource embezzlement attack,wherein an attacker secretly executes the cryptocurrency mining program in the target host to gain profits.It has been common since 2017,and in fact,it once became the greatest threat to network security.To better prove the attack ability the harm caused by cryptojacking,this paper proposes a new covert browser-based mining attack model named Delay-CJ,this model was deployed in a simulation environment for evaluation.Based on the general framework of cryptojacking,Delay-CJ adds hybrid evasion detection techniques and applies the delayed execution strategy specifically for video websites in the prototype implementation.The results show that the existing detection methods used for testing may become invalid as result of this model.In view of this situation,to achieve a more general and robust detection scheme,we built a cryptojacking detection system named CJDetector,which is based on cryptojacking process features.Specifically,it identifies malicious mining by monitoring CPU usage and analyzing the function call information.This system not only effectively detects the attack in our example but also has universal applicability.The recognition accuracy of CJDetector reaches 99.33%.Finally,we tested the web pages in Alexa 50K websites to investigate cryptojacking activity in the real network.We found that although cryptojacking is indeed on the decline,it remains a part of network security threats that cannot be ignored.展开更多
In this paper, we propose a behaviorbased path planner that can self learn in anunknown environment. A situated learning algorithm is designed which allows therobot to learn to coordinate several concurrent behaviors ...In this paper, we propose a behaviorbased path planner that can self learn in anunknown environment. A situated learning algorithm is designed which allows therobot to learn to coordinate several concurrent behaviors and improve its performanceby interacting with the environmellt. Behaviors are implemented using CMAC neuralnetworks. A simulation environment is set up and some simulation experiments arecarried out to rest our learning algorithm.展开更多
For program behavior-based anomaly detection, the only way to ensure accurate monitoring is to construct an efficient and precise program behavior model. A new program behavior-based anomaly detection model, called co...For program behavior-based anomaly detection, the only way to ensure accurate monitoring is to construct an efficient and precise program behavior model. A new program behavior-based anomaly detection model, called combined pushdown automaton (CPDA) model was proposed, which is based on static binary executable analysis. The CPDA model incorporates the optimized call stack walk and code instrumentation technique to gain complete context information. Thereby the proposed method can detect more attacks, while retaining good performance.展开更多
To detect more attacks aiming at key security data in program behavior-based anomaly detection,the data flow properties were formulated as unary and binary relations on system call arguments.A new method named two-phr...To detect more attacks aiming at key security data in program behavior-based anomaly detection,the data flow properties were formulated as unary and binary relations on system call arguments.A new method named two-phrase analysis(2PA)is designed to analyze the efficient relation dependency,and its description as well as advantages are discussed.During the phase of static analysis,a dependency graph was constructed according to the program's data dependency graph,which was used in the phase of dynamic learning to learn specified binary relations.The constructed dependency graph only stores the information of related arguments and events,thus improves the efficiency of the learning algorithm and reduces the size of learned relation dependencies.Performance evaluations show that the new method is more efficient than existing methods.展开更多
This paper aims to provide a design about a kind of low-cost ＂sub-mother＂ UAV small formation by using the low-cost micro-UAV as the platform. Combined with the current international situation in the UAV formation r...This paper aims to provide a design about a kind of low-cost ＂sub-mother＂ UAV small formation by using the low-cost micro-UAV as the platform. Combined with the current international situation in the UAV formation research, the modeling is based on the distributed control method and the behavior-based strategy. In this paper, some research to a few key issues has been carried out.展开更多
Recent technological advances enable firms to engage more effectively with customers who reveal their intent to churn.When consumers disclose such intentions,firms can offer targeted discounts,a form of personalized p...Recent technological advances enable firms to engage more effectively with customers who reveal their intent to churn.When consumers disclose such intentions,firms can offer targeted discounts,a form of personalized pricing,to encourage retention.Prior literature,however,shows that broad use of personalized pricing for all returning customers can intensify competition and erode profits in competitive markets.We show that these adverse effects are substantially mitigated when personalized prices are offered selectively,i.e.,only after firms identify consumers who are likely to churn.Analyzing a retention-focused personalized pricing strategy,we find three main results.First,personalized pricing increases firm profits only when the proportion of disclosers is relatively low;although it raises margins on retained customers,it also intensifies first-period competition.Second,consumer surplus and social welfare improve when the share of disclosers is high,because higher disclosure induces stronger price reductions and greater retention.Third,firms often have incentives to invest in personalized pricing capabilities,but mutual investment can generate a Prisoner’s Dilemma:Even with low investment costs,simultaneous adoption may strengthen competition and reduce industry profits.These results emphasize the importance of selective targeting and timing when deploying personalized pricing for retention and offer guidance for firms and policymakers considering such investments.展开更多
This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the...This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the characteristics of both the chain-type and the mobile self-reconfigurable robots. Multiple Sambots can autonomously move and connect with one another through self-assembly to form robotic organisms. The configuration connection state table is used to describe the configuration of the robotic structure. A directional self-assembly control model is proposed to perform the self-assembly experiments. The self-assembly process begins with one Sambot as the seed, and then the Docking Sambots use a behavior-based controller to achieve connection with the seed Sambot. The controller is independent of the target configuration. The seed and connected Sambots execute a configuration comparison algorithm to control the growth of the robotic structure. Furthermore, the simul- taneous self-assembly of multiple Sambots is discussed. For multiple configurations, self-assembly experiments are conducted in simulation platform and physical platform of Sambot. The experimental results verify the effectiveness and scalability of the self-assembly algorithms.展开更多
Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerosta...Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerostack software framework for aerial robotics, and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors(such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system(ROS) contributing to its general use, and an open-source project is integrated in the Aerostack framework. Therefore, its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems.展开更多
基金co-supported by the National Natural Science Foundation of China(No.61903350)the Ministry of Education industry-university-research innovation project,China(No.2021ZYA02002)the Beijing Institute of Technology Research Fund Program for Young Scholars,China(No.3010011182130)。
文摘Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.
文摘While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots(TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: "target tracking", "obstacle avoidance", "dynamic wall following" and "avoid robots". The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.
文摘Approaches to the study of formation keeping for multiple mobile robots are analyzed and a behavior-based robot model is built in this paper. And, a kind of coordination architecture is presented, which is similar to the infantry squad organization and is used to realize multiple mobile robots to keep formations. Simulations verify the validity of the approach to keep formation, which combines the behavior-based method and formation feedback. The effects of formation feedback on the performance of the system are analyzed.
文摘This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering.Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration wasimplemented using the subsumption architecture. In an unknown dynamic indoor environment, the robotachieved real-time obstacle avoidance properties that are cruel for mobile robotics.
基金the National High Technology Research and Development Plan of China(2007AA01Z412)the National Key Technology R&D Program of China(2006BAH02A02)the National Natural Science Foundation of China(60603017)
文摘Two limitations of current integrity measurement architectures are pointed out:(1)a reference value is required for every measured entity to verify the system states,as is impractical however;(2)malicious user can forge proof of inexistent system states.This paper proposes a trustworthy integrity measurement architecture,BBACIMA,through enforcing behavior-based access control for trusted platform module(TPM).BBACIMA introduces a TPM reference monitor(TPMRM)to ensure the trustworthiness of integrity measurement.TPMRM enforces behavior-based access control for the TPM and is isolated from other entities which may be malicious.TPMRM is the only entity manipulating TPM directly and all PCR(platform configuration register)operation requests must pass through the security check of it so that only trusted processes can do measurement and produce the proof of system states.Through these mechanisms malicious user can not enforce attack which is feasible in current measurement architectures.
文摘The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.
基金This work is partially sponsored by National Key R&D Program of China(No.2019YFB2101700)National Science Foundation of China(No.62172297,No.61902276)+1 种基金the Key Research and Development Project of Sichuan Province(No.2021YFSY0012)Tianjin Intelligent Manufacturing Special Fund Project(No.20211097,No.20201159).
文摘Cryptojacking is a type of resource embezzlement attack,wherein an attacker secretly executes the cryptocurrency mining program in the target host to gain profits.It has been common since 2017,and in fact,it once became the greatest threat to network security.To better prove the attack ability the harm caused by cryptojacking,this paper proposes a new covert browser-based mining attack model named Delay-CJ,this model was deployed in a simulation environment for evaluation.Based on the general framework of cryptojacking,Delay-CJ adds hybrid evasion detection techniques and applies the delayed execution strategy specifically for video websites in the prototype implementation.The results show that the existing detection methods used for testing may become invalid as result of this model.In view of this situation,to achieve a more general and robust detection scheme,we built a cryptojacking detection system named CJDetector,which is based on cryptojacking process features.Specifically,it identifies malicious mining by monitoring CPU usage and analyzing the function call information.This system not only effectively detects the attack in our example but also has universal applicability.The recognition accuracy of CJDetector reaches 99.33%.Finally,we tested the web pages in Alexa 50K websites to investigate cryptojacking activity in the real network.We found that although cryptojacking is indeed on the decline,it remains a part of network security threats that cannot be ignored.
文摘In this paper, we propose a behaviorbased path planner that can self learn in anunknown environment. A situated learning algorithm is designed which allows therobot to learn to coordinate several concurrent behaviors and improve its performanceby interacting with the environmellt. Behaviors are implemented using CMAC neuralnetworks. A simulation environment is set up and some simulation experiments arecarried out to rest our learning algorithm.
文摘For program behavior-based anomaly detection, the only way to ensure accurate monitoring is to construct an efficient and precise program behavior model. A new program behavior-based anomaly detection model, called combined pushdown automaton (CPDA) model was proposed, which is based on static binary executable analysis. The CPDA model incorporates the optimized call stack walk and code instrumentation technique to gain complete context information. Thereby the proposed method can detect more attacks, while retaining good performance.
文摘To detect more attacks aiming at key security data in program behavior-based anomaly detection,the data flow properties were formulated as unary and binary relations on system call arguments.A new method named two-phrase analysis(2PA)is designed to analyze the efficient relation dependency,and its description as well as advantages are discussed.During the phase of static analysis,a dependency graph was constructed according to the program's data dependency graph,which was used in the phase of dynamic learning to learn specified binary relations.The constructed dependency graph only stores the information of related arguments and events,thus improves the efficiency of the learning algorithm and reduces the size of learned relation dependencies.Performance evaluations show that the new method is more efficient than existing methods.
文摘This paper aims to provide a design about a kind of low-cost ＂sub-mother＂ UAV small formation by using the low-cost micro-UAV as the platform. Combined with the current international situation in the UAV formation research, the modeling is based on the distributed control method and the behavior-based strategy. In this paper, some research to a few key issues has been carried out.
基金supported in part by the National Natural Science Foundation of China(NSFC),under Grant No.72131004.
文摘Recent technological advances enable firms to engage more effectively with customers who reveal their intent to churn.When consumers disclose such intentions,firms can offer targeted discounts,a form of personalized pricing,to encourage retention.Prior literature,however,shows that broad use of personalized pricing for all returning customers can intensify competition and erode profits in competitive markets.We show that these adverse effects are substantially mitigated when personalized prices are offered selectively,i.e.,only after firms identify consumers who are likely to churn.Analyzing a retention-focused personalized pricing strategy,we find three main results.First,personalized pricing increases firm profits only when the proportion of disclosers is relatively low;although it raises margins on retained customers,it also intensifies first-period competition.Second,consumer surplus and social welfare improve when the share of disclosers is high,because higher disclosure induces stronger price reductions and greater retention.Third,firms often have incentives to invest in personalized pricing capabilities,but mutual investment can generate a Prisoner’s Dilemma:Even with low investment costs,simultaneous adoption may strengthen competition and reduce industry profits.These results emphasize the importance of selective targeting and timing when deploying personalized pricing for retention and offer guidance for firms and policymakers considering such investments.
基金supported by the National High Technology Research and Development Program of China ("863" Program) (Grant Nos. 2009AA043901 and 2012AA041402)National Natural Science Foundation of China (Grant No. 61175079)+1 种基金Fundamental Research Funds for the Central Universities (Grant No. YWF-11-02-215)Beijing Technological New Star Project (Grant No. 2008A018)
文摘This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the characteristics of both the chain-type and the mobile self-reconfigurable robots. Multiple Sambots can autonomously move and connect with one another through self-assembly to form robotic organisms. The configuration connection state table is used to describe the configuration of the robotic structure. A directional self-assembly control model is proposed to perform the self-assembly experiments. The self-assembly process begins with one Sambot as the seed, and then the Docking Sambots use a behavior-based controller to achieve connection with the seed Sambot. The controller is independent of the target configuration. The seed and connected Sambots execute a configuration comparison algorithm to control the growth of the robotic structure. Furthermore, the simul- taneous self-assembly of multiple Sambots is discussed. For multiple configurations, self-assembly experiments are conducted in simulation platform and physical platform of Sambot. The experimental results verify the effectiveness and scalability of the self-assembly algorithms.
基金Project supported by the European Union’s Horizon 2020 Research and Innovation Program under the Project ROSIN(No.732287)
文摘Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerostack software framework for aerial robotics, and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors(such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system(ROS) contributing to its general use, and an open-source project is integrated in the Aerostack framework. Therefore, its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems.
