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보안된 UAV 통신을 위한 로봇 운영 체제 프레임워크
No full textTo perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and GCS are used. The feature of obstacle avoidance is added to the pre-existing simple waypoint missions to ensure the commercialization of UAVs. However, this feature requires additional hardware and software to recognize obstacles based on radar or lidar. The inevitable addition of components to accomplish this functionality may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of UAS. The proposed framework operates in the ROS (robot operating system) and is designed to focus on several perspectives such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a non-native and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.YⅠ. INTRODUCTION 1
Ⅱ. BACKGROUND 3
2.1 Unmanned Aerial System (UAS) 3
2.2 Robot Operating System (ROS) 5
2.3 Rosbridge 6
2.4 Safety tool of ROS 6
Ⅲ. VULNEARABILITY DEFINITION OF ROBOT OPERATING SYSTEM 9
3.1 Vulnerability in CPS 9
3.2 UAS data transmission layer model in CPS perspective 10
3.3 Model of ROS-based UAS 11
3.4 Vulnerability of ROS-based UAS 13
Ⅳ. RELATED WORK 15
Ⅴ. PROPOSED METHOD 17
5.1 Registration of a new node 18
5.2 Signature with HMAC 19
5.3 Performance and Conceptual Comparison 21
Ⅵ. TEST 23
6.1 Experiment environment of UAS 23
6.2 Experiment on native ROS attack 25
6.3 Experiment on non-native ROS attack 28
Ⅶ. CONCLUSION 32
REFERENCES 33
SUMMARY (Korean) 35본 논문은 ROS가 적용된 UAS에서의 취약점을 분석하고, 이를 방어할 수 있는 보안 프레임 워크를 제시한다. 최근 여러 상업매체 또는 군에서 동작하는 UAV 는 개별적으로 동작하는 전통적인 임베디드와 달리 컴퓨팅 시스템과 물리시스템이 밀접한 상호작용을 하며 동작한다. 이러한 특성을 갖는 UAV를 운용하는 시스템인 UAS 는 CPS 의 한 범주에 속한다. CPS 는 계산, 네트워킹, 물리적 프로세스가 하나의 피드백 루프로 통합된 시스템을 의미한다. 이 중 네트워킹을 담당하는 데이터 전송 계층은 장소, 상황, 하드웨어, 소프트웨어 등 다양한 통신 네트워크의 접근성을 갖는 CPS 의 특성으로 인해 취약한 계층이다. 이러한 사실은 CPS 의 일부인 UAS 도 같은 취약점을 갖고 있음을 의미한다. 최근 UAV 의 사용은 단순한 비행 미션 수행뿐만 아니라 군집비행, 자율비행 등의 특수한 미션을 수행한다. 해당 미션을 위해서는 컴퓨팅 능력이 있는 하드웨어 및 소프트웨어가 UAS 에 추가 되어야한다. 그 소프트웨어 중 하나로 ROS가 사용되며, 이는 보안적 요소의 부재로 공격자가 로봇 시스템을 망가뜨리는 것을 허용한다. 우리는 ROS 의 보안을 위해 기존에 연구된 내용을 조사하였으며, 해당 방법이 UAS 에 적용 가능한지 여부를 분석하였다. 우리는 시간에 민감한 UAS 에 적용할 수 있는 가벼운 오버헤드를 갖는 보안 프레임워크를 제안한다. 또한 ROS 를 활용할 수 있는 두 가지 접근법인 native ROS 와 non-native ROS 환경에서 실제 실험을 통해 보안 프레임워크의 성능을 검증한다MasterdCollectio
Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Get PDF“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Get PDFWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Dispelling the Myths Behind First-author Citation Counts
Get PDFWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
koamabayili/VECTRON-author-checklist: VECTRON author checklist
No full textWe have done our best to complete the author checklist relating to the use of animals in the hut study. Note that the objective for the hut study was to evaluate the IRS treatment applications for residual efficacy against Anopheles mosquitoes, including the local An. coluzzii mosquito population. Cows were only used to attract mosquitoes into the huts and no tests were carried out directly on the cows. The author checklist is intended for use with studies where experiments are carried out on animals, which is why we have had such difficulty in completing this for the hut study, as many of the questions do not relate to how the cows were used
Author-wise bibliometric analysis based on entropy.
No full textAuthor-wise bibliometric analysis based on entropy.</p
Author Under Sail The Imagination of Jack London, 1893-1902
No full textIn Author Under Sail, Jay Williams offers the first complete literary biography of Jack London as a professional writer engaged in the labor of writing. It examines the authorial imagination in London's work, the use of imagination in both his fiction and nonfiction, and the ways he defined imagination in the creative process in his business dealings with his publishers, editors, and agents. In this first volume of a two-volume biography, Williams traverses the years 1893 to 1902, from London's "Story of a Typhoon" to The People of the Abyss. The Jack London who emerges in the pages of Author Under Sail is a writer whose partnership with publishers, most notably his productive alliance with George Brett of Macmillan, was one of the most formative in American literary history. London pioneered many author models during the heyday of realism and naturalism, blurring the boundaries of these popular genres by focusing on absorption and theatricality and the representation of the seen and unseen. London created an impassioned, sincere, and extremely personal realism unlike that of other American writers of the time. Author Under Sail is a literary tour de force that reveals the full range of London as writer, creative citizen, and entrepreneur at the same time it sheds light on the maverick side of machine-age literature.Intro -- Title Page -- Copyright Page -- Dedication -- Contents -- Acknowledgments -- Introduction -- 1. Spirit Truth -- 2. From Absorption to Theatricality and Back Again -- 3. "I Will Build a New Present" -- 4. Sons as Authors -- 5. Fathers as Publishers -- 6. The Daughter as Author -- 7. Lovers as Authors -- 8. At Sea with the Family -- 9. Yellow News, Yellow Stories -- 10. The Return Home -- Notes -- Bibliography -- Index -- About Jay WilliamsIn Author Under Sail, Jay Williams offers the first complete literary biography of Jack London as a professional writer engaged in the labor of writing. It examines the authorial imagination in London's work, the use of imagination in both his fiction and nonfiction, and the ways he defined imagination in the creative process in his business dealings with his publishers, editors, and agents. In this first volume of a two-volume biography, Williams traverses the years 1893 to 1902, from London's "Story of a Typhoon" to The People of the Abyss. The Jack London who emerges in the pages of Author Under Sail is a writer whose partnership with publishers, most notably his productive alliance with George Brett of Macmillan, was one of the most formative in American literary history. London pioneered many author models during the heyday of realism and naturalism, blurring the boundaries of these popular genres by focusing on absorption and theatricality and the representation of the seen and unseen. London created an impassioned, sincere, and extremely personal realism unlike that of other American writers of the time. Author Under Sail is a literary tour de force that reveals the full range of London as writer, creative citizen, and entrepreneur at the same time it sheds light on the maverick side of machine-age literature.Description based on publisher supplied metadata and other sources.Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, YYYY. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries
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