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Title: Security in Cyber-Physical Systems: A Control Systems Perspective
演讲人：Prof. Petros Voulgaris, UIUC, Fellow of IEEE
Cyber-physical systems (CPS) have become ubiquitous in engineering and have extended the range of aerospace applications to several new domains. Unmanned Arial Vehicles (UAV) are typical examples of CPS that can execute cooperative missions of increasing complexity without constant supervision of human operators e.g., military reconnaissance and strike operations, border patrol missions, forest fire detection, police surveillance, and recovery operations to name a few. Similarly, current and future space applications such as satellite swarms and distributed spacecraft systems, autonomous and aerospace robotic systems, depend critically on the synergy of cyberspace with the physical components.
Pertinent to CPS is the notion of security, which is of paramount importance in aerospace, power, transportation, manufacturing, etc. The concept of security to malicious attacks brings an important new dimension in the design CPS. In this talk, we present some aspects of this problem related to control system security to attacks and provide some ways to enhance detection and awareness. More specifically, we elaborate on this issue from the control analysis, design and actual implementation point of view. We consider malicious attacks on actuators and sensors of a feedback system which can be modelled as additive, possibly unbounded, disturbances at the digital (cyber) part of the feedback loop. It is shown that the standard sampled data implementation can create additional vulnerabilities to stealthy attacks, and therefore, when security is at stake, it is of paramount importance to have methods to eliminate these vulnerabilities. By devising a multi-rate scheme we can guarantee that stealthy attacks are not possible. Further, we can provide precise trade-offs on performance and safety cost. Finally, we touch upon other type of attacks and their connections to switching systems and linear programming.
Professor Petros G. Voulgaris received the Diploma in Mechanical Engineering from the National Technical University, Athens, Greece, in 1986, and the S.M. and Ph.D. degrees in Aeronautics and Astronautics from the Massachusetts Institute of Technology in 1988 and 1991, respectively. Since 1991, he has been with the Department of Aerospace Engineering, University of Illinois where he is currently a Professor (also appointments with the Coordinated Science Laboratory, and the department of Electrical and Computer Engineering.) His research interests include optimal, robust and distributed control and estimation; networked control; applications of advanced control methods to engineering practice including, power systems, air-vehicle, nano-scale, robotic, and structural control systems. Dr. Voulgaris is a recipient of several awards including the NSF Research Initiation Award, the ONR Young Investigator Award and the UIUC Xerox Award for research. He has also been a Visiting ADGAS Chair Professor, Mechanical Engineering, Petroleum Institute, Abu Dhabi, UAE (2008-10). His research has been supported by several agencies including NSF, ONR, AFOSR, NASA, and Boeing totalling more than $12 million of funded projects. He is also a Fellow of IEEE.
World Robotic Sailing Championship
"The 3rd place of WRSC 2018 Micro-sailboat class goes to Zhejiang University! As first time participants, the made their boat within 2 months. Well done and congratulations!"
Congratulations to the ZMART / Sailing Group!
After several years explorations and research in robotics, we currently have new definition for ZMART, which was named in 2012 as ZJU's Micro-Aerial Robotics Team when we first attend the IARC (the International Aerial Robotics Competition).
In 2018, we organized two more groups to attend the other two exciting competitions, including the ICRA 2018 DJI RoboMaster AI Challenge Overview and the 11th World Robotic Sailing Championship.
Based on the new activities, the BLUe Lab is going to give a new meaning for the ZMART, ZJU's Micro Agents and Robotics Team. Then, ZMART / Aerial / Ground / Sailing represents different teams corresponding to IARC, DJI RoboMaster and WRSC, respectively.
News featured in the media include:
- 电视频道报道：国际空中机器人（IARC）大赛及青少年附加赛在中国教育电视台-1 频道播出，Youku链接
- College of Control Science & Engineering, Zhejiang University, "历时5年，浙大队ZMART勇夺国际空中机器人大赛世界冠军，终结第七代任务"
- China Automation Association (中国自动化学会), "【2018 IARC】国际空中机器人大赛将于8月26日在北京航空航天大学体育馆开幕！大赛背景介绍与参赛队伍简介一睹为快！"
- INTERNATIONAL AERIAL ROBOTICS COMPETITION Mission 7 (2014-2018), http://www.aerialroboticscompetition.org/mission7.php
- THE INTERNATIONAL AERIAL ROBOTICS COMPETITION'S 27 Year History, http://www.aerialroboticscompetition.org/pastmissions.php
"Mission 7 took a monumental leap by requiring autonomous aerial robots to interact with and control autonomous ground robots. Teams were tasked with developing systems to herd ground robots out one end of an arena in the absence of 3D cues such as walls. The ground robots could only be interacted with by touch. A top touch would command a 45° clockwise turn and a blocking action would result in a 180° turn. To complicate matters, the ground robots do a 180° turn every 20 seconds and add up to 15 degrees of trajectory noise every 5 seconds. The ground robots also impact one another and quickly devolve into non-deterministic travel. In the midst of the arena were four obstacle robots to complicate navigation and obstacle avoidance. The aerial robots had to dynamically determine a best course of action to keep the ground robots from exiting on three of four sides of the arena. In the top performances, which were replicated multiple times, the Zhejiang University team showed that its autonomous aerial robot could track individual ground robots, redirect them in either 45° or 180° increments while at the same time staying within the arena boundaries and avoiding the mobile obstacles circulating within the arena."
ZJU's aerial robotics team (ZMART) won the First Prize of the International Aerial Robotics Competition (IARC) this year again in 2017. ZMART received the First Prize as well in 2016, and its performance in 2016 was considered the target level for all IARC teams in 2016 to beat in 2017.
Quota from the last sentence of the 2016 IARC Technology Readiness Level: The team demonstrating this level of performance in 2016 was Zhejiang University. .... Zhejiang University has currently set the performance level for all IARC teams to beat in 2017.
According to Robert Michaelson (the creator of the IARC from Georgia Tech), ZMART created the best record of IARC Mission 7 since it was released in 2014. ZMART was successfully to build a fully autonomous drone (shepherd) to drive three ground vehicles (sheep) back the safety region (sheepfold). Comparing to last year, ZMART's drone showed a great improvement in broad region vision and perception capability, machine decision, etc.
ZMART featured in media, including,
Chao Xu (许超), TRUTH Associate Professor of control science & engineering at Zhejiang University, was recently selected to attend the 2017 China-America Frontiers of Engineering (CAFOE) symposium held on June 22 - 24 in Shanghai.
Sixty of the most promising engineers under the age of 45 from China and the United States met for an intensive 2-1/2 day symposium on developments at the cutting edge of engineering technology in four areas: Intelligent Transportation, Electrochemical Energy Storage, Synthetic Biology, and Robots Everywhere.
Xu was invited to deliver a plenary talk during the CAFOE 2017 on Intelligent Robotic Locomotion: From Dynamic Walking to Autonomous Flight.
The event is intended to facilitate international and cross-disciplinary research collaboration, promote the transfer of new techniques and approaches across disparate engineering fields, and encourage the creation of a transpacific network of world-class engineers. CAFOE is carried out in cooperation with the Chinese Academy of Engineering.
About the Chinese Academy of Engineering（中国工程院）
The Academy is a national and independent organization composed of elected members with the highest honor in the community of engineering and technological sciences of the nation. Its missions are to initiate and conduct strategic studies, provide consultancy services for decision-making of nation’s key issues in engineering and technological sciences and promote the development of the undertaking of engineering and technological sciences in China and devote itself to the benefit and welfare of the society.
中国工程院（Chinese Academy of Engineering）于1994年6月3日在北京成立，是中国工程技术界最高荣誉性、咨询性学术机构，国务院直属事业单位。
About the NAE（美国工程院）
The National Academy of Engineering is a private, independent, nonprofit institution that provides engineering leadership in service to the nation. The mission of the Academy is to advance the well being of the nation by promoting a vibrant engineering profession and by marshaling the expertise and insights of eminent engineers to provide independent advice to the federal government on matters involving engineering and technology. The NAE is part of the National Academies of Sciences, Engineering, and Medicine.
What can we do with a quantum liquid?
- 时 间：2017年6月29日（星期四）14：30 - 15：30
- 地 点：玉泉校区邵逸夫科学馆 117报告厅
Quantum liquids are physical systems which display the effects not only of quantum mechanics but also those of quantum statistics that is of the characteristic indistinguishability of elementary particles. The most spectacular manifestations of quantum statistics are the phenomenon of Bose-Einstein condensation and the closely related one of Cooper pairing; in both cases a finite fraction of all the particles in the system are forced to all do exactly the same thing at the same time, and as a result effects which would normally be obscured by thermal noise may become visible, sometimes spectacularly so.
Cyber-Systems & Control Forum | Robotics & Artificial Intelligence, November 19 - 20, 2016
- Yong Liu, Associate Professor, Email: firstname.lastname@example.org
- Wei Jiang, Associate Professor, Email: email@example.com
- Dr. Tong Zhang, the founder of Hover Camera, PhD in Mechanical Engineering, Stanford University
- Dr. Xinqiang Ma, Key Laboratory of Machine Vision and Intelligent Information System, Chongqing University of Arts and Sciences, College of Computer Science & Technology, Guizhou University, China
|9:10~9:50||张通（老师）||Hover Camera 小黑侠跟拍无人机的从零到一|
|9:50~10:10||周卫国||3D time-of-flight cameras for mobile robotics|
|10:50~11:10||高飞||Online Quadrotor Trajectory Generation and Autonomous Navigation on Point Clouds|
|11:10~11:30||裘科杰||Model-based global localization for aerial robots|
|15:10~15:30||邰磊||Towards Cognitive Exploration through Deep Reinforcement Learning for Mobile Robots|
|16:00~16:20||高赫佳||Fuzzy Control of a Single-Link Flexible Robotic Manipulator Using Assumed Mode Method|
|16:20~16:40||项韦杰||Boundary Control of a Single Point Mooring System with Input Saturation in Three-Dimensional Space|
|16:40:17:00||黄羿||Learning Disjunctive Logic Programs from Interpretation Transition|
|9:30~9:50||闫子晨||Adaptive Neural Network Control of a Constrained Robotic Manipulator with Flexible Joints|
|9:50~10:10||黄海丰||Adaptive Neural Network Control of a Robotic Manipulator with Time-Varying Output Constraints|
实验室参观路线包括：机器人实验室（The Robotics Laboratories, CSC-104, 105）、飞行智能体控制实验室（Flying Agent Control Laboratory, CSC-304）
6日，论坛在智控所223室进行。来自澳大利亚 Curtin University 的副教授 Ryan Loxton 率先作了题为：“Mine shutdown scheduling: A case study on research commercialization”的主题演讲，向大家展示了将最优控制方法应用到实际工业生产中去的一个成功案例。他精彩的报告引发了大家积极踊跃的提问与深入讨论，现场气氛非常活跃。这也引起了与会人员尤其是刚刚开始科研之路的博士生们对于本次分论坛主题的思考：优化技术如何得到真正意义上的应用。随后，来自国内各个高校的优秀博士生们依次作了报告，分别介绍了各自的研究课题与科研中取得的突破。在报告中，博士生们将控制优化技术运用于航空航天、欠驱动系统、网络化物理系统、复杂工业过程、流体控制等各个领域。大家互相学习，既开拓了视野，又丰富了专业知识，收获颇丰。