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Hi.
Tanya L. Crenshaw
UPBOT: A Testbed for Cyber-Physical Systems
Tanya Crenshaw, assistant professor Steven Beyer, senior EE undergraduate University of Portland CSET 2010
Hi. Tanya L. Crenshaw UPBOT: A Testbed for Cyber-Physical Systems - - PowerPoint PPT Presentation
Hi. Tanya L. Crenshaw UPBOT: A Testbed for Cyber-Physical Systems - - PowerPoint PPT Presentation
Hi. Tanya L. Crenshaw UPBOT: A Testbed for Cyber-Physical Systems Tanya Crenshaw, assistant professor Steven Beyer, senior EE undergraduate University of Portland CSET 2010 October 2006 http://varma.ece.cmu.edu/cps/ cyber physical systems
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October 2006
http://varma.ece.cmu.edu/cps/
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cyber physical systems are:
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massively distributed
cyber physical systems are:
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massively distributed
cyber physical systems are:
safety-critical
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massively distributed (sensor) networks
cyber physical systems are:
safety-critical
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massively distributed (sensor) networks
cyber physical systems are:
and control systems safety-critical
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massively distributed (sensor) networks
cyber physical systems are:
and control systems and also embedded systems safety-critical
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massively distributed (sensor) networks
cyber physical systems are:
built from off-the-shelf components and control systems and also embedded systems safety-critical
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massively distributed (sensor) networks executing in open contexts
cyber physical systems are:
built from off-the-shelf components and control systems and also embedded systems safety-critical
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massively distributed (sensor) networks executing in open contexts
cyber physical systems are:
built from off-the-shelf components and control systems and also embedded systems in real time safety-critical
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massively distributed (sensor) networks executing in open contexts
cyber physical systems are:
built from off-the-shelf components and control systems and also embedded systems monitoring or regulating the physical world in real time safety-critical
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massively distributed (sensor) networks executing in open contexts in unpredictable environments
cyber physical systems are:
built from off-the-shelf components and control systems and also embedded systems monitoring or regulating the physical world in real time safety-critical
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massively distributed (sensor) networks executing in open contexts in unpredictable en
cyber physical systems are:
built from off-the-shelf components and control systems and also embedded systems monitoring or regulating the physical world in real time safety-critical
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cyber physical systems are:
networked, component-based, real-time systems that control and monitor the physical world.
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October 2006
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doing cyber-physical systems research means you are at the mercy of really busy people working at rockwell-collins.
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August 2008
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is it possible to reproduce a cyber-physical system in a meaningful way?
1.
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what features would be necessary for testing security threats and defenses?
2.
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how can it be accessible to undergraduates and useful to researchers?
3.
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August 2010
the upbot testbed
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let’s begin with the first question.
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is it possible to reproduce a cyber-physical system in a meaningful way?
1.
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key characteristics
- 1. networked control.
cyber-physical systems control the physical world, executing across multiple nodes.
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key characteristics
- 2. enforceable physical properties.
cyber-physical systems interact with unpredictable environments, yet certain physical properties must remain invariant.
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key characteristics
- 3. off-the-shelf-components.
cyber-physical systems are composed of heterogenous commodity parts with varying levels of criticality.
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the upbot testbed
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the upbot testbed
body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
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- 1. networked control.
body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
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- 2. enforceable physical properties.
body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
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- 3. off-the-shelf components.
body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
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what features would be necessary for testing security threats and defenses?
2.
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security characteristics
- 1. networked control.
➡ provides multiple points of attack by which one may test against security threats.
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security characteristics
- 2. enforceable physical properties.
➡ simulations make assumptions that can hide physical issues. A testbed eliminates some of these.
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security characteristics
- 3. off-the-shelf-components.
➡ defensive and fault-tolerant measures must be built into software solutions.
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how can it be accessible to undergraduates and useful to researchers?
3.
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undergraduate
- pportunities
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course modules
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senior design project
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5 undergraduate research projects
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research
- pportunities
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body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
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body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
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body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
Andrew Nuxoll
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Research Question 1 (ongoing): How successful is the episodic memory-based supervisor at learning how to navigate the robot through a simple maze?
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i R
- b
- t
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Research Question 2 (future work): Given that the supervisor has already learned a maze, how succesful is the supervisor at navigating the same maze in a threatening environment?
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body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
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body
drive and sense.
Physical World
sensor data
iRobot + gumstix platform Software World
nervous system creates two processes which i) communicate with the client and ii) communicate with the body. iRobot commands nerves translate high-level commands to iRobot commands; poll, format and convey sensor data. supervisor issue commands; model the perceived world.
Desktop Machine Software World
client convey commands;
- btain sensor data.
brain poll for external commands and convey to nerves; convey sensor data to supervisor.
<serial communication>
high-level commands formatted sensor data
<wireless socket communication> <shared memory locations>
high-level commands formatted sensor data
malicious commands fake sensor data
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http://kaju.dreamhosters.com
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http://kaju.dreamhosters.com
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questions and collaborators welcome!
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I do not think a bunch
- f dorky robots
compare to an F-22.
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I do think the upbot testbed
- ffers a low barrier to entry
for undergraduates and researchers in cyber- physical system security.
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thank you
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