Domestic service robots become increasingly prevalent and autonomous, which will make task priority conflicts more likely. The robot must be able to effectively and appropriately negotiate to gain priority if necessary. In previous human-robot interaction (HRI) studies, imitating human negotiation behavior was effective but long-term effects have not been studied. Filling this research gap, an interactive online study (\$N=103\$) with two sessions and six trials was conducted. In a conflict scenario, participants repeatedly interacted with a domestic service robot that applied three different conflict resolution strategies: appeal, command, diminution of request. The second manipulation was reinforcement (thanking) of compliance behavior (yes/no). This led to a 3×2×6 mixed-subject design. User acceptance, trust, user compliance to the robot, and self-reported compliance to a household member were assessed. The diminution of a request combined with positive reinforcement was the most effective strategy and perceived trustworthiness increased significantly over time. For this strategy only, self-reported compliance rates to the human and the robot were similar. Therefore, applying this strategy potentially seems to make a robot equally effective as a human requester. This paper contributes to the design of acceptable and effective robot conflict resolution strategies for long-term use.

Trust is a cognitive ability that can be dependent on behavioral consistency. In this paper, a partially observable Markov Decision Process (POMDP)-based computational robot-human trust model is proposed for hand-over tasks in human-robot collaborative contexts. The robot's trust in its human partner is evaluated based on the human behavior estimates and object detection during the hand-over task. The human-robot hand-over process is parameterized as a partially observable Markov Decision Process. The proposed approach is verified in real-world human-robot collaborative tasks. Results show that our approach can be successfully applied to human-robot hand-over tasks to achieve high efficiency, reduce redundant robot movements, and realize predictability and mutual understanding of the task.

For designing the interaction with robots in healthcare scenarios, understanding how trust develops in such situations characterized by vulnerability and uncertainty is important. The goal of this study was to investigate how technology-related user dispositions, anxiety, and robot characteristics influence trust. A second goal was to substantiate the association between hospital patients' trust and their intention to use a transport robot. In an online study, patients, who were currently treated in hospitals, were introduced to the concept of a transport robot with both written and video-based material. Participants evaluated the robot several times. Technology-related user dispositions were found to be essentially associated with trust and the intention to use. Furthermore, hospital patients' anxiety was negatively associated with the intention to use. This relationship was mediated by trust. Moreover, no effects of the manipulated robot characteristics were found. In conclusion, for a successful implementation of robots in hospital settings patients' individual prior learning history - e.g., in terms of existing robot attitudes - and anxiety levels should be considered during the introduction and implementation phase.

As autonomous service robots will become increasingly ubiquitous in our daily lives, human-robot conflicts will become more likely when humans and robots share the same spaces and resources. This thesis investigates the conflict resolution of robots and humans in everyday conflicts in the domestic and public context. Hereby, the acceptability, trustworthiness, and effectiveness of verbal and non-verbal strategies for the robot to solve the conflict in its favor are evaluated. Based on the assumption of the Media Equation and CASA paradigm that people interact with computers as social actors, robot conflict resolution strategies from social psychology and human-machine interaction were derived. The effectiveness, acceptability, and trustworthiness of those strategies were evaluated in online, virtual reality, and laboratory experiments. Future work includes determining the psychological processes of human-robot conflict resolution in further experimental studies.

The success of human-robot interaction is strongly affected by the people’s ability to infer others’ intentions and behaviours, and the level of people’s trust that others will abide by their same principles and social conventions to achieve a common goal. The ability of understanding and reasoning about other agents’ mental states is known as Theory of Mind (ToM). ToM and trust, therefore, are key factors in the positive outcome of human-robot interaction. We believe that a robot endowed with a ToM is able to gain people’s trust, even when this may occasionally make errors.In this work, we present a user study in the field in which participants (N=123) interacted with a robot that may or may not have a ToM, and may or may not exhibit erroneous behaviour. Our findings indicate that a robot with ToM is perceived as more reliable, and they trusted it more than a robot without a ToM even when the robot made errors. Finally, ToM results to be a key driver for tuning people’s trust in the robot even when the initial condition of the interaction changed (i.e., loss and regain of trust in a longer relationship).

With the influx of technology use and human-robot teams, it is important to understand how swift trust is developed within these teams. Given this influx, we plan to study how surface cues (i.e., observable characteristics) and imported information (i.e., knowledge from external sources or personal experiences) effect the development of swift trust. We hypothesize that human-like surface level cues and positive imported information will yield higher swift trust. These findings will help the assignment of human robot teams in the future.

Robot co-workers, like human co-workers, make mistakes that undermine trust. Yet, trust is just as important in promoting human-robot collaboration as it is in promoting human-human collaboration. In addition, individuals can signif-icantly differ in their attitudes toward robots, which can also impact or hinder their trust in robots. To better understand how individual attitude can influence trust repair strategies, we propose a theoretical model that draws from the theory of cognitive dissonance. To empirically verify this model, we conducted a between-subjects experiment with 100 participants assigned to one of four repair strategies (apologies, denials, explanations, or promises) over three trust violations. Individual attitudes did moderate the efficacy of repair strategies and this effect differed over successive trust violations. Specifically, repair strategies were most effective relative to individual attitude during the second of the three trust violations, and promises were the trust repair strategy most impacted by an individual's attitude.

Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring (SSM) type of operation. For this, safety zones are defined in the robot's workspace following current standards for industrial collaborative robots. A deep learning-based computer vision system detects, tracks, and estimates the 3D position of operators close to the robot. The robot control system receives the operator's 3D position and generates 3D representations of them in a simulation environment. Depending on the zone where the closest operator was detected, the robot stops or changes its operating speed. Three different operation modes in which the human and robot interact are presented. Results show that the vision-based system can correctly detect and classify in which safety zone an operator is located and that the different proposed operation modes ensure that the robot's reaction and stop time are within the required time limits to guarantee safety.

Focusing on human experience of vulnerability in everyday life interaction scenarios is still a novel approach. So far, only a proof-of-concept online study has been conducted, and to extend this work, we present a follow-up online study. We consider in more detail how human experience of vulnerability caused by a trust violation through a privacy breach affects trust ratings in an interaction scenario with the PEPPER robot assisting with clothes shopping. We report the results from 32 survey responses and 11 semi-structured interviews. Our findings reveal the existence of the privacy paradox also for studying trust in HRI, which is a common observation describing a discrepancy between the stated privacy concerns by people and their behavior to safeguard it. Moreover, we reflect that participants considered only the added value of utility and entertainment when deciding whether or not to interact with the robot again, but not the privacy breach. We conclude that people might tolerate an untrustworthy robot even when they are feeling vulnerable in the everyday life situation of clothes shopping.

This paper presents a program-code mutation technique that is applied in-field to embedded systems in order to create diversity in a population of systems that are identical at the time of their deployment. With this diversity, it becomes more difficult for attackers to carry out the very popular Return-Oriented-Programming (ROP) attack in a large scale, since the gadgets in different systems are located at different program addresses after code permutation. In order to prevent the system from a system crash after a failed ROP attack, we further propose the combination of the code mutation with a return address checking. We will report the overhead in time and memory along with a security analysis.

Side-channel attacks have been a constant threat to computing systems. In recent times, vulnerabilities in the architecture were discovered and exploited to mount and execute a state-of-the-art attack such as Spectre. The Spectre attack exploits a vulnerability in the Intel-based processors to leak confidential data through the covert channel. There exist some defenses to mitigate the Spectre attack. Among multiple defenses, hardware-assisted attack/intrusion detection (HID) systems have received overwhelming response due to its low overhead and efficient attack detection. The HID systems deploy machine learning (ML) classifiers to perform anomaly detection to determine whether the system is under attack. For this purpose, a performance monitoring tool profiles the applications to record hardware performance counters (HPC), utilized for anomaly detection. Previous HID systems assume that the Spectre is executed as a standalone application. In contrast, we propose an attack that dynamically generates variations in the injected code to evade detection. The attack is injected into a benign application. In this manner, the attack conceals itself as a benign application and gen-erates perturbations to avoid detection. For the attack injection, we exploit a return-oriented programming (ROP)-based code-injection technique that reuses the code, called gadgets, present in the exploited victim's (host) memory to execute the attack, which, in our case, is the CR-Spectre attack to steal sensitive data from a target victim (target) application. Our work focuses on proposing a dynamic attack that can evade HID detection by injecting perturbations, and its dynamically generated variations thereof, under the cloak of a benign application. We evaluate the proposed attack on the MiBench suite as the host. From our experiments, the HID performance degrades from 90% to 16%, indicating our Spectre-CR attack avoids detection successfully.

Control flow integrity (CFI) checks are used in desktop systems, in order to protect them from various forms of attacks, but they are rarely investigated for embedded systems, due to their introduced overhead. The contribution of this paper is an efficient software implementation of a CFI-check for ARM-and Xtensa processors. Moreover, we propose the combination of this CFI-check with another defense mechanism against return-oriented-programming (ROP). We show that by this combination the security is significantly improved. Moreover, it will also in-crease the safety of the system, since the combination can detect a failed ROP-attack and bring the system in a safe state, which is not possible when using each technique separately. We will also report on the introduced overhead in code size and run time.

Memory-based vulnerabilities are becoming more and more common in low-power and low-cost devices in IOT. We study several low-level vulnerabilities that lead to memory corruption in C and C++ programs, and how to use stack corruption and format string attack to exploit these vulnerabilities. Automatic methods for resisting memory attacks, such as stack canary and address space layout randomization ASLR, are studied. These methods do not need to change the source program. However, a return-oriented programming (ROP) technology can bypass them. Control flow integrity (CFI) can resist the destruction of ROP technology. In fact, the security design is holistic. Finally, we summarize the rules of security coding in embedded devices, and propose two novel methods of software anomaly detection process for IOT devices in the future.

This paper shows that the modern high customizable Xtensa architecture for embedded devices is exploitable by Return-Oriented Programming (ROP) attacks. We used a simple Hello-World application written with the RIOT OS as an almost minimal code basis for determining if the number of gadgets that can be found in this code base is sufficient to build a reasonably complex attack. We determined 859 found gadgets which are sufficient to create a gadget catalog for the Xtensa. Despite the code basis used being really small, the presented gadget catalog provides Turing completeness, which allows an arbitrary computation of any exploit program.

This paper proposes a control flow integrity checking method based on the LBR register: through an analysis of the static target program loaded binary modules, gain function attributes such as borders and build the initial transfer of legal control flow boundary, real-time maintenance when combined with the dynamic execution of the program flow of control transfer record, build a complete profile control flow transfer security; Get the call location of /bin/sh or system() in the program to build an internal monitor for control-flow integrity checks. In the process of program execution, on the one hand, the control flow transfer outside the outline is judged as the abnormal control flow transfer with attack threat; On the other hand, abnormal transitions across the contour are picked up by an internal detector. In this method, by identifying abnormal control flow transitions, attacks are initially detected before the attack code is executed, while some attacks that bypass the coarse-grained verification of security profile are captured by the refined internal detector of control flow integrity. This method reduces the cost of control flow integrity check by using the safety profile analysis of coarse-grained check. In addition, a fine-grained shell internal detector is inserted into the contour to improve the safety performance of the system and achieve a good balance between performance and efficiency.

Microcontroller-based embedded systems have become ubiquitous with the emergence of IoT technology. Given its critical roles in many applications, its security is becoming increasingly important. Unfortunately, MCU devices are especially vulnerable. Code reuse attacks are particularly noteworthy since the memory address of firmware code is static. This work seeks to combat code reuse attacks, including ROP and more advanced JIT-ROP via continuous randomization. Previous proposals are geared towards full-fledged OSs with rich runtime environments, and therefore cannot be applied to MCUs. We propose the first solution for ARM-based MCUs. Our system, named HARM, comprises a secure runtime and a binary analysis tool with rewriting module. The secure runtime, protected inside the secure world, proactively triggers and performs non-bypassable randomization to the firmware running in a sandbox in the normal world. Our system does not rely on any firmware feature, and therefore is generally applicable to both bare-metal and RTOS-powered firmware. We have implemented a prototype on a development board. Our evaluation results indicate that HARM can effectively thaw code reuse attacks while keeping the performance and energy overhead low.

The spread of the Internet of Things (IoT) and the use of smart control systems in many mission-critical or safety-critical applications domains, like automotive or aeronautical, make devices attractive targets for attackers. Nowadays, several of these are mixed-criticality systems, i.e., they run both high-criticality tasks (e.g., a car control system) and low-criticality ones (e.g., infotainment). High-criticality routines often employ Real-Time Operating Systems (RTOS) to enforce hard real-time requirements, while the tasks with lower constraints can be delegated to more generic-purpose operating systems (GPOS).Much of the control code for these devices is written in memory-unsafe languages such as C and C++. This makes them susceptible to powerful binary attacks, such as the famous Return-Oriented Programming (ROP). Control-Flow Integrity (CFI) is the most investigated security technique to protect against such threats. At now, CFI solutions for real-time embedded systems are not as mature as the ones for general-purpose systems, and even more, there is a lack of in-depth studies on how different operating systems with different security requirements and timing constraints can coexist on a single multicore platform.This paper aims at drawing attention to the subject, discussing the current scientific proposal, and in turn proposing a solution for an optimized asymmetric verification system for execution integrity. By using an embedded hypervisor, predefined cores could be dedicated to only high or low-criticality tasks, with the high-priority core being monitored by the lower-criticality core, relying on offline binary instrumentation and a light exchange of information and signals at runtime. The work also presents preliminary results about a possible implementation for multicore ARM platforms, running both RTOS and GPOS, both in terms of security and performance penalties.

Soft real-time applications, including multimedia, gaming, and smart appliances, rely on specific architectural characteristics to deliver output in a time-constrained fashion. Any violation of application deadlines can lower the Quality-of-Service (QoS). The data sets associated with these applications are distributed over cores that communicate via Network-on-Chip (NoC) in multi-core systems. Accordingly, the response time of such applications depends on the worst-case latency of request/reply packets. A malicious implant such as Hardware Trojan (HT) that initiates a delay-of-service attack can tamper with the system performance. We model an HT that mounts a time-delay attack in the system by violating the path selection strategy used by the adaptive NoC router. Our analysis shows that once activated, the proposed HT increases the packet latency by 17% and degrades the system performance (IPC) by 18% over the Baseline. Furthermore, we propose an HT detection framework that uses packet traffic analysis and path monitoring to localise the HT. Experiment results show that the proposed detection framework exhibits 4.8% less power consumption and 6.4% less area than the existing technique.

The security of manycore systems has become increasingly critical. In system-on-chips (SoCs), Hardware Trojans (HTs) manipulate the functionalities of the routing components to saturate the on-chip network, degrade performance, and result in the leakage of sensitive data. Existing HT detection techniques, including runtime monitoring and state-of-the-art learning-based methods, are unable to timely and accurately identify the implanted HTs, due to the increasingly dynamic and complex nature of on-chip communication behaviors. We propose AGAPE, a novel Generative Adversarial Network (GAN)-based anomaly detection and mitigation method against HTs for secured on-chip communication. AGAPE learns the distribution of the multivariate time series of a number of NoC attributes captured by on-chip sensors under both HT-free and HT-infected working conditions. The proposed GAN can learn the potential latent interactions among different runtime attributes concurrently, accurately distinguish abnormal attacked situations from normal SoC behaviors, and identify the type and location of the implanted HTs. Using the detection results, we apply the most suitable protection techniques to each type of detected HTs instead of simply isolating the entire HT-infected router, with the aim to mitigate security threats as well as reducing performance loss. Simulation results show that AGAPE enhances the HT detection accuracy by 19%, reduces network latency and power consumption by 39% and 30%, respectively, as compared to state-of-the-art security designs.

The Network-on-Chip (NoC) is the communication heart in Multiprocessors System-on-Chip (MPSoC). It offers an efficient and scalable interconnection platform, which makes it a focal point of potential security threats. Due to outsourcing design, the NoC can be infected with a malicious circuit, known as Hardware Trojan (HT), to leak sensitive information or degrade the system’s performance and function. An HT can form a security threat by consciously dropping packets from the NoC, structuring a Black Hole Router (BHR) attack. This paper presents an end-to-end secure interconnection network against the BHR attack. The proposed scheme is energy-efficient to detect the BHR in runtime with 1% and 2% average throughput and energy consumption overheads, respectively.

Smart Security Solutions are in high demand with the ever-increasing vulnerabilities within the IT domain. Adjusting to a Work-From-Home (WFH) culture has become mandatory by maintaining required core security principles. Therefore, implementing and maintaining a secure Smart Home System has become even more challenging. ARGUS provides an overall network security coverage for both incoming and outgoing traffic, a firewall and an adaptive bandwidth management system and a sophisticated CCTV surveillance capability. ARGUS is such a system that is implemented into an existing router incorporating cloud and Machine Learning (ML) technology to ensure seamless connectivity across multiple devices, including IoT devices at a low migration cost for the customer. The aggregation of the above features makes ARGUS an ideal solution for existing Smart Home System service providers and users where hardware and infrastructure is also allocated. ARGUS was tested on a small-scale smart home environment with a Raspberry Pi 4 Model B controller. Its intrusion detection system identified an intrusion with 96% accuracy while the physical surveillance system predicts the user with 81% accuracy.

The phenomenon known as "Internet ossification" describes the process through which certain components of the Internet’s older design have become immovable at the present time. This presents considerable challenges to the adoption of IPv6 and makes it hard to implement IP multicast services. For new applications such as data centers, cloud computing and virtualized networks, improved network availability, improved internal and external domain routing, and seamless user connectivity throughout the network are some of the advantages of Internet growth. To meet these needs, we've developed Software Defined Networking for the Future Internet (SDN). When compared to current networks, this new paradigm emphasizes control plane separation from network-forwarding components. To put it another way, this decoupling enables the installation of control plane software (such as Open Flow controller) on computer platforms that are substantially more powerful than traditional network equipment (such as switches/routers). This research describes Mininet’s routing techniques for a virtualized software-defined network. There are two obstacles to overcome when attempting to integrate SDN in an LTE/WiFi network. The first problem is that external network load monitoring tools must be used to measure QoS settings. Because of the increased demand for real-time load balancing methods, service providers cannot adopt QoS-based routing. In order to overcome these issues, this research suggests a router configuration method. Experiments have proved that the network coefficient matrix routing arrangement works, therefore it may provide an answer to the above-mentioned concerns. The Java-based SDN controller outperforms traditional routing systems by nine times on average highest sign to sound ratio. The study’s final finding suggests that the field’s future can be forecast. We must have a thorough understanding of this emerging paradigm to solve numerous difficulties, such as creating the Future Internet and dealing with its obliteration problem. In order to address these issues, we will first examine current technologies and a wide range of current and future SDN projects before delving into the most important issues in this field in depth.

Global traffic data are proliferating, including in Indonesia. The number of internet users in Indonesia reached 205 million in January 2022. This data means that 73.7% of Indonesia’s population has used the internet. The median internet speed for mobile phones in Indonesia is 15.82 Mbps, while the median internet connection speed for Wi-Fi in Indonesia is 20.13 Mbps. As predicted by many, real-time traffic such as multimedia streaming dominates more than 79% of traffic on the internet network. This condition will be a severe challenge for the internet network, which is required to improve the Quality of Experience (QoE) for user mobility, such as reducing delay, data loss, and network costs. However, IP-based networks are no longer efficient at managing traffic. Named Data Network (NDN) is a promising technology for building an agile communication model that reduces delays through a distributed and adaptive name-based data delivery approach. NDN replaces the ‘where’ paradigm with the concept of ‘what’. User requests are no longer directed to a specific IP address but to specific content. This paradigm causes responses to content requests to be served by a specific server and can also be served by the closest device to the requested data. NDN router has CS to cache the data, significantly reducing delays and improving the internet network’s quality of Service (QoS). Motivated by this, in 2019, we began intensive research to achieve a national flagship product, an NDN router with different functions from ordinary IP routers. NDN routers have cache, forwarding, and routing functions that affect data security on name-based networks. Designing scalable NDN routers is a new challenge as NDN requires fast hierarchical name-based lookups, perpackage data field state updates, and large-scale forward tables. We have a research team that has conducted NDN research through simulation, emulation, and testbed approaches using virtual machines to get the best NDN router design before building a prototype. Research results from 2019 show that the performance of NDN-based networks is better than existing IP-based networks. The tests were carried out based on various scenarios on the Indonesian network topology using NDNsimulator, MATLAB, Mininet-NDN, and testbed using virtual machines. Various network performance parameters, such as delay, throughput, packet loss, resource utilization, header overhead, packet transmission, round trip time, and cache hit ratio, showed the best results compared to IP-based networks. In addition, NDN Testbed based on open source is free, and the flexibility of creating topology has also been successfully carried out. This testbed includes all the functions needed to run an NDN network. The resource capacity on the server used for this testbed is sufficient to run a reasonably complex topology. However, bugs are still found on the testbed, and some features still need improvement. The following exploration of the NDN testbed will run with more new strategy algorithms and add Artificial Intelligence (AI) to the NDN function. Using AI in cache and forwarding strategies can make the system more intelligent and precise in making decisions according to network conditions. It will be a step toward developing NDN router products by the Bandung Institute of Technology (ITB) Indonesia.

Volumetric Distributed Denial of Service attacks forcefully disrupt the availability of online services by congesting network links with arbitrary high-volume traffic. This brute force approach has collateral impact on the upstream network infrastructure, making early attack traffic removal a key objective. To reduce infrastructure load and maintain service availability, we introduce ReCEIF, a topology-independent mitigation strategy for early, rule-based ingress filtering leveraging deep reinforcement learning. ReCEIF utilizes hierarchical heavy hitters to monitor traffic distribution and detect subnets that are sending high-volume traffic. Deep reinforcement learning subsequently serves to refine hierarchical heavy hitters into effective filter rules that can be propagated upstream to discard traffic originating from attacking systems. Evaluating all filter rules requires only a single clock cycle when utilizing fast ternary content-addressable memory, which is commonly available in software defined networks. To outline the effectiveness of our approach, we conduct a comparative evaluation to reinforcement learning-based router throttling.

DDoS attacks are usually accompanied by IP spoofing, but the availability of existing DDoS defense systems for high-speed networks decreases when facing DDoS attacks with IP spoofing. Although IP traceback technologies are proposed to focus on IP spoofing in DDoS attacks, there are problems in practical application such as the need to change existing protocols and extensive infrastructure support. To defend against DDoS attacks under IP spoofing in high-speed networks, we propose a novel DDoS defense system, IM-Shield. IM-Shield uses the address pair consisting of the upper router interface MAC address and the destination IP address for DDoS attack detection. IM-Shield implements fine-grained defense against DDoS attacks under IP spoofing by filtering the address pairs of attack traffic without requiring protocol and infrastructure extensions to be applied on the Internet. Detection experiments using the public dataset show that in a 10Gbps high-speed network, the detection precision of IM-Shield for DDoS attacks under IP spoofing is higher than 99.9%; and defense experiments simulating real-time processing in a 10Gbps high-speed network show that IM-Shield can effectively defend against DDoS attacks under IP spoofing.