Deep Learning-based Attack Detector for Bilateral Teleoperation Systems

Abstract

A teleoperation system is referred to as a plant that is controlled remotely, and it is often composed of a human operator, a local master manipulator, and a remote slave manipulator, all connected by a communication network. Bilateral teleoperation systems (BTOS) include transmissions in both the forward and backward directions between the master and slave. This paper discusses a class of (BTOS) focusing on the security of the system after modeling the master and slave robots mathematically. The false data injection attack is examined, where the attacker may inject false data into the states that are being exchanged between the master and slave robots. The vulnerability of BTOS, where the attack destabilizes the system, is presented. A deep learning-based detection technique is proposed to detect the presence of false data injection attacks. The deep learning model with convolution neural network structure is trained and tested with considering complex attacks where the attacker has full knowledge of the system and proficiency to emanate and control the target system. The proposed model achieves 96\% validation accuracy, and the efficacy of the proposed deep learning detector is demonstrated and tested into the BTOS.

Neuro-Fuzzy Decision Support System for Optimization of the Indoor Air Quality in Operation Rooms

“…In this work, we propose an operating room air quality monitoring estimating system based on a deep-learning technique. Due to the unclear and fuzzy nature of ORs' data, as well as the relationships that exist in the decision support system models, the FIS and ANFIS are the most effective technique under deep learning-base systems [22]- [24] particularly used in the healthcare context [25][26]. According to the case study situation, the main challenge was the lack of integrity between input data due to the nature of data and the lack of a predetermined model to estimate the air condition and monitor the results during surgeries in the ORs.…”