1.Introduction Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century ago.Everything that we formerly electrified will now co...1.Introduction Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century ago.Everything that we formerly electrified will now cognitize”[1].AI advances are constantly pushing the frontier of what machines can do.Increased attention is being placed on AI research,as well as its development and deployment by commer-cial investors,defense strategists,and policy makers[2].展开更多
With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to prov...With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.展开更多
This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector wi...This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive measures.To detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI attack.In order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller side.With this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an alarm.The design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection rate.To minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.展开更多
基金supported in part by the Shanghai Municipal Science and Technology Major Project (2021SHZDZX0100)Shanghai Municipal Commission of Science and Technology Project (19511132101)National Natural Science Foundation of China (62088101, 61720106011, and 62173034)
文摘1.Introduction Artificial intelligence(AI)is a rapidly growing field of technol-ogy,which“will enliven inert objects,much as electricity did more than a century ago.Everything that we formerly electrified will now cognitize”[1].AI advances are constantly pushing the frontier of what machines can do.Increased attention is being placed on AI research,as well as its development and deployment by commer-cial investors,defense strategists,and policy makers[2].
基金Sponsored by Russian Foundation of Basic Research (Grant No. 97-01-00432)
文摘With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.
基金supported by the National Natural Science Foundation of China under Grant Nos.61925303,62088101,U20B2073,61720106011,and 62173002the National Key R&D Program of China under Grant No.2018YFB1700100the Beijing Natural Science Foundation under Grant No.4222045。
文摘This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive measures.To detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI attack.In order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller side.With this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an alarm.The design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection rate.To minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.
