To track moving targets undergoing unknown translational and rotational motions, a tracking controller is developed for unmanned aerial vehicles (UAVs). The main challenges are to control both the relative position and orientation between the target and the UAV to within desired values, and to guarantee that the generated control input to the UAV is feasible (i.e., below its motion capability). Moreover, the UAV is controlled to ensure that the target always remains within the field of view of the onboard camera. These control objectives were achieved by developing a nonlinear-model predictive controller, in which the future motion of the target is predicted by quadratic programming (QP). Since constraints of the feature vector and the control input are considered when solving the optimal control problem, the control inputs can be bounded and the target can remain inside the image. Three simulations were performed to compare the efficacy and performance of the developed controller with a traditional image-based visual servoing controller.
Cluster-based wireless sensor networks have advantages of scalability and efficient communication. However, a major security risk to cluster heads is a malicious code injection attack through which an adversary can completely control a cluster network to deliver fake data and obtain private data. Memory attestation scheme is an effective mechanism for attesting the firmware integrity of an embedded device. Unfortunately, existing hardware-based remote attestation scheme relying on a trusted platform module incurs a considerable storage overhead to cluster heads. Therefore, this article proposes a lightweight hardware-based remote attestation scheme that comprises two remote attestation protocols. A lightweight hardware security module without executing any complicated cryptographic computation is employed and can substantially reduce the development cost and energy consumption compared with the trusted platform module. In the proposed scheme, a base station can attest each individual cluster head while all cluster nodes can simultaneously attest their cluster head in regular intervals. Performance analysis indicates that the storage requirement for cluster heads is independent of the number of attestation sessions. Furthermore, the computational cost of cluster nodes for the proposed scheme is comparable to that of the trusted platform module-based scheme. The proposed scheme is particularly suitable for long-term applications based on lightweight cluster heads.
Wireless sensor networks (WSNs) have been deployed in various commercial, scientific, and military applications for surveillance and critical data collection. A serious threat to sensor nodes is malicious code injection attack that results in fake data delivery or private data disclosure. Memory attestation used for verifying the integrity of a device's firmware is a promising solution for detecting an infected sensor node; particularly, low-cost software-based schemes are suitable for protecting resource-constrained sensor nodes. However, a software-based attestation usually requires some additional mechanisms for providing reliable integrity evidence when the sensor nodes communicate with the verifier through a multihop setting. Alternative hardware-based attestation (e.g. trusted platform module) ensures a reliable integrity measurement that, however, is impractical for certain WSN applications primarily because of the high computational overhead and high hardware cost. The authors propose a lightweight hardware-based memory attestation scheme against the malicious code injection attack, and the proposed scheme employs a lightweight tamper-resistant hardware security module, which is free from any complicated cryptographic computation and is particularly suitable for low-cost sensor nodes. In addition, experimental results demonstrating the effectiveness of the proposed scheme are presented. Nomenclature PRV compromised prover K a, b secret key shared between a and b REQ ATS request command for memory attestation T Thres elapsed time threshold of checksum computation T Elp elapsed time of checksum computation H(⋅) cryptographic one-way hash function
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.