With the continuous advancement of virtualization technology and the widespread adoption of 5G networks,the application of the Network Function Virtualization (NFV) architecture has become increasingly popular and pre...With the continuous advancement of virtualization technology and the widespread adoption of 5G networks,the application of the Network Function Virtualization (NFV) architecture has become increasingly popular and prevalent.While the NFV architecture brings a lot of advantages, it also introduces security challenges, including the effectiveand efficient verification of the integrity of deployed Virtual Network Functions (VNFs) and ensuring the secureoperation of VNFs. To address the challenge of efficiently conducting virtual remote attestation for VNFs and establishingtrust in virtualized environments like NFV architecture, we propose TVRAVNF, which is a highly efficientand low-cost TEE-based virtual remote attestation scheme for VNFs. The scheme we proposed ensures the securityand effectiveness of the virtual remote attestation process by leveraging TEE. Furthermore, we introduces a novellocal attestation mechanism, which not only reduces the overall overhead of the virtual remote attestation processbut also shortens the attestation interval to mitigate Time-Of-Check-Time-Of-Use attacks, thereby enhancing overallsecurity. We conduct experiments to validate the overhead of the TVRAVNF scheme and compare its performancewith that of a typical remote attestation process within a maximum unattested time interval. The experimental resultsdemonstrate that, by employing the local attestation mechanism, our solution achieves nearly an 80% significantperformance improvement with a relatively small time overhead for small to medium-sized files. This further substantiatesthe significant advantages of our approach in both security and efficiency.展开更多
This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutane...This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.展开更多
基金supported by the project“Technology Cooperation Project of Cross Network Lightweight Adaptive Trust System in ubiquitous network”,the National Key Research and Development Program of China under Grant 2023YFB3107605 and Key Laboratory of Trusted Distributed Computing and Services,Ministry of Education(Beijing University of Posts and Telecommunications).
文摘With the continuous advancement of virtualization technology and the widespread adoption of 5G networks,the application of the Network Function Virtualization (NFV) architecture has become increasingly popular and prevalent.While the NFV architecture brings a lot of advantages, it also introduces security challenges, including the effectiveand efficient verification of the integrity of deployed Virtual Network Functions (VNFs) and ensuring the secureoperation of VNFs. To address the challenge of efficiently conducting virtual remote attestation for VNFs and establishingtrust in virtualized environments like NFV architecture, we propose TVRAVNF, which is a highly efficientand low-cost TEE-based virtual remote attestation scheme for VNFs. The scheme we proposed ensures the securityand effectiveness of the virtual remote attestation process by leveraging TEE. Furthermore, we introduces a novellocal attestation mechanism, which not only reduces the overall overhead of the virtual remote attestation processbut also shortens the attestation interval to mitigate Time-Of-Check-Time-Of-Use attacks, thereby enhancing overallsecurity. We conduct experiments to validate the overhead of the TVRAVNF scheme and compare its performancewith that of a typical remote attestation process within a maximum unattested time interval. The experimental resultsdemonstrate that, by employing the local attestation mechanism, our solution achieves nearly an 80% significantperformance improvement with a relatively small time overhead for small to medium-sized files. This further substantiatesthe significant advantages of our approach in both security and efficiency.
文摘This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.
