False Data Injection Attacks in Bilateral Teleoperation Systems

In this brief, false data injection attacks in bilateral teleoperation systems (BTOSs) are studied, where the attacker can inject false data into the states being exchanged between the master and slave robots. To demonstrate the vulnerability of BTOS, a destabilizing false data injection attack (DFDIA) is designed and experimentally implemented. To detect any general false data injection attack, including DFDIA as a special case, a physics-based detection scheme with an encoding–decoding structure is proposed. The efficacy of the proposed attack detection scheme is demonstrated in experiments.

[1]  Yilin Mo,et al.  False Data Injection Attacks in Control Systems , 2010 .

[2]  Junjie Yan,et al.  To Make a Robot Secure: An Experimental Analysis of Cyber Security Threats Against Teleoperated Surgical Robots , 2015, ArXiv.

[3]  Henrik Sandberg,et al.  Distributed Fault Detection and Isolation Resilient to Network Model Uncertainties , 2014, IEEE Transactions on Cybernetics.

[4]  Shreyas Sundaram,et al.  Distributed Function Calculation via Linear Iterative Strategies in the Presence of Malicious Agents , 2011, IEEE Transactions on Automatic Control.

[5]  Nikhil Chopra,et al.  On content modification attacks in bilateral teleoperation systems , 2016, 2016 American Control Conference (ACC).

[6]  Bhavani M. Thuraisingham,et al.  Cyberphysical systems security applied to telesurgical robotics , 2012, Comput. Stand. Interfaces.

[7]  Nikhil Chopra,et al.  Observability-based secure state encryption design for cyberphysical systems , 2018, 2018 Indian Control Conference (ICC).

[8]  Shreyas Sundaram,et al.  Resilient Asymptotic Consensus in Robust Networks , 2013, IEEE Journal on Selected Areas in Communications.

[9]  Masaru Uchiyama,et al.  Model-based space robot teleoperation of ETS-VII manipulator , 2004, IEEE Transactions on Robotics and Automation.

[10]  Antonio Bicchi,et al.  Consensus Computation in Unreliable Networks: A System Theoretic Approach , 2010, IEEE Transactions on Automatic Control.

[11]  G. Hu,et al.  Distributed Tracking Control for Multi-Agent Systems under Two Types of Attacks , 2014 .

[12]  Nicky Mouha,et al.  Report on Lightweight Cryptography , 2017 .

[13]  Rogelio Lozano,et al.  Synchronization of bilateral teleoperators with time delay , 2008, Autom..

[14]  Wang Wei,et al.  Teleoperated manipulator for leak detection of sealed radioactive sources , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[15]  Nikhil Chopra,et al.  Content modification attacks on consensus seeking multi-agent system with double-integrator dynamics. , 2016, Chaos.

[16]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..

[17]  Karl Henrik Johansson,et al.  Cyberphysical Security in Networked Control Systems: An Introduction to the Issue , 2015 .

[18]  Romeo Ortega,et al.  Position Tracking for Non-linear Teleoperators with Variable Time Delay , 2009, Int. J. Robotics Res..

[19]  Xavier Litrico,et al.  Cyber Security of Water SCADA Systems—Part I: Analysis and Experimentation of Stealthy Deception Attacks , 2013, IEEE Transactions on Control Systems Technology.

[20]  Xenofon D. Koutsoukos,et al.  Energy-based attack detection in networked control systems , 2014, HiCoNS.

[21]  Ehab Al-Shaer,et al.  On secure and resilient telesurgery communications over unreliable networks , 2011, 2011 IEEE Conference on Computer Communications Workshops (INFOCOM WKSHPS).

[22]  Francesco Bullo,et al.  Control-Theoretic Methods for Cyberphysical Security: Geometric Principles for Optimal Cross-Layer Resilient Control Systems , 2015, IEEE Control Systems.

[23]  R. P. Paul,et al.  A Symbolic Teleoperator Interface For Time-delayed Underwater Robot Manipulation , 1991, OCEANS 91 Proceedings.

[24]  Tamara Bonaci,et al.  Surgical Telerobotics Meets Information Security , 2012 .

[25]  Yen-Chen Liu,et al.  Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks. , 2017, ISA transactions.

[26]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.

[27]  Masayuki Fujita,et al.  Passivity-Based Control and Estimation in Networked Robotics , 2015 .

[28]  Jordi Artigas,et al.  A passive bilateral control scheme for a teleoperator with time-varying communication delay , 2010 .