Kinematic Control of Serial Manipulators Under False Data Injection Attack

With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.

KRT74基因变异致脱发一例

患儿男,14岁,因“生后毛发少,脱发4年”于2019年9月就诊于重庆医科大学附属儿童医院风湿免疫科,患儿自出生起全身毛发稀少,10岁开始出现脱发,全身皮肤无汗毛、腋毛及胡须生长,伴有指、趾甲发育不良。既往有甲状腺炎。基因检测发现KRT74基因变异(c.373delC),可致毛发稀少及青春期脱发症状,尚未见报道。