CPS: Breakthrough: Secure Telerobotics

CPS：突破：安全远程机器人

• 批准号: 1329751
• 负责人: Howard Chizeck
• 金额: $ 50万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-10-01 至 2017-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1329751&HistoricalAwards=false
• 关键词: CPS; Breakthrough; Secure; Telerobotics

In telerobotic applications, human operators interact with robots through a computer network. This project is developing tools to prevent security threats in telerobotics, by monitoring and detecting malicious activities and correcting for them. To develop tools to prevent and mitigate security threats against telerobotic systems, this project adapts cybersecurity methods and extends them to cyber-physical systems. Knowledge about physical constraints and interactions between the cyber and physical components of the system are leveraged for security. A monitoring system is developed which collects operator commands and robot feedback information to perform real-time verification of the operator. Timely and reliable detection of any discrepancy between real and spoofed operator movements enables quick detection of adversarial activities. The results are evaluated on the UW-developed RAVEN surgical robot.This project brings together research in robotics, computer and network security, control theory and machine learning, in order to gain better understanding of complex teleoperated robotic systems and to engineer telerobotic systems that provide strict safety, security and privacy guarantees. The results are relevant and applicable to a wide range of applications, including telerobotic surgery, search and rescue missions, military operations, underwater infrastructure and repair, cleanup and repair in hazardous environments, mining, as well as manipulation/inspections of objects in low earth orbit. The project algorithms, software and hardware are being made available to the non-profit cyber-physical research community. Graduate and undergraduate students are being trained in cyber-physical systems security topics, and K-12, community college students and under-represented minority students are being engaged.

在远程机器人应用中，人类操作员通过计算机网络与机器人进行交互。该项目正在开发工具，以防止远程机器人的安全威胁，通过监测和检测恶意活动，并纠正他们。为了开发工具来预防和减轻远程机器人系统的安全威胁，该项目采用了网络安全方法，并将其扩展到网络物理系统。关于系统的网络和物理组件之间的物理约束和交互的知识被用于安全性。开发了一个监控系统，它收集操作员的命令和机器人的反馈信息，以执行操作员的实时验证。及时可靠地检测真实的和欺骗的操作员运动之间的任何差异，使得能够快速检测对抗性活动。该项目汇集了机器人技术，计算机和网络安全，控制理论和机器学习方面的研究，以更好地了解复杂的远程操作机器人系统，并设计提供严格安全，安全和隐私保证的远程机器人系统。研究结果具有相关性，适用于广泛的应用，包括远程机器人手术、搜索和救援任务、军事行动、水下基础设施和维修、危险环境中的清理和维修、采矿以及近地轨道物体的操纵/检查。该项目的算法、软件和硬件正在提供给非营利的网络物理研究界。研究生和本科生正在接受网络物理系统安全主题的培训，K-12，社区学院学生和代表性不足的少数民族学生正在参与。