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Miroslav Pajic

Dickinson Family Associate Professor
Electrical and Computer Engineering

Selected Publications


Neuro-Symbolic Computing: Advancements and Challenges in Hardware-Software Co-Design

Journal Article IEEE Transactions on Circuits and Systems II: Express Briefs · March 1, 2024 The rapid progress of artificial intelligence (AI) has led to the emergence of a highly promising field known as neuro-symbolic (NeSy) computing. This approach combines the strengths of neural networks, which excel at data-driven learning, with the reasoni ... Full text Cite

At home adaptive dual target deep brain stimulation in Parkinson's disease with proportional control.

Journal Article Brain · March 1, 2024 Continuous deep brain stimulation (cDBS) of the subthalamic nucleus (STN) or globus pallidus is an effective treatment for the motor symptoms of Parkinson's disease. The relative benefit of one region over the other is of great interest but cannot usually ... Full text Link to item Cite

Athena – The NSF AI Institute for Edge Computing

Journal Article AI Magazine · March 1, 2024 The National Science Foundation (NSF) Artificial Intelligence (AI) Institute for Edge Computing Leveraging Next Generation Networks (Athena) seeks to foment a transformation in modern edge computing by advancing AI foundations, computing paradigms, network ... Full text Cite

Learning Optimal Strategies for Temporal Tasks in Stochastic Games

Journal Article IEEE Transactions on Automatic Control · January 1, 2024 Synthesis from linear temporal logic (LTL) specifications provides assured controllers for systems operating in stochastic and potentially adversarial environments. Automatic synthesis tools, however, require a model of the environment to construct control ... Full text Cite

Rigorous Evaluation of Computer Processors with Statistical Model Checking

Conference Proceedings of the 56th Annual IEEE/ACM International Symposium on Microarchitecture, MICRO 2023 · October 28, 2023 Experiments with computer processors must account for the inherent variability in executions. Prior work has shown that real systems exhibit variability, and random effects must be injected into simulators to account for it. Thus, we can run multiple execu ... Full text Cite

Demo Abstract: Edge-based Augmented Reality Guidance System for Retinal Laser Therapy via Feature Matching

Conference IPSN 2023 - Proceedings of the 2023 22nd International Conference on Information Processing in Sensor Networks · May 9, 2023 In ophthalmology, retinal laser therapy is a treatment for retinopathy that requires the use of magnifying lens to treat damaged regions of retinal landmarks, hence creating challenges of inverted magnified images and requiring prolonged training. Augmente ... Full text Cite

AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development

Conference ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023 · May 9, 2023 Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Culprits include (1) the lack of verifiability of proposed state-of-the-art AV com ... Full text Cite

Modular Platform For Collaborative, Distributed Sensor Fusion

Conference ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023 · May 9, 2023 Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few platforms exist for ... Full text Cite

Deep Reinforcement Learning-Based Approach for Efficient and Reliable Droplet Routing on MEDA Biochips

Journal Article IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems · April 1, 2023 The micro-electrode-dot-array (MEDA) architecture provides precise droplet control and real-time sensing in digital microfluidic biochips. Previous work has shown that trapped charge under microelectrodes (MCs) leads to droplets being stuck and failures in ... Full text Cite

Offline Learning of Closed-Loop Deep Brain Stimulation Controllers for Parkinson Disease Treatment.

Journal Article ArXiv · March 16, 2023 Deep brain stimulation (DBS) has shown great promise toward treating motor symptoms caused by Parkinson's disease (PD), by delivering electrical pulses to the Basal Ganglia (BG) region of the brain. However, DBS devices approved by the U.S. Food and Drug A ... Link to item Cite

IoT-Enabled Motion Control: Architectural Design Challenges and Solutions

Journal Article IEEE Transactions on Industrial Informatics · March 1, 2023 Ever-increasing demands for highly-efficient customized manufacturing are driving the development of Industry 4.0. Reconfigurable manufacturing systems based on modular, convertible, and interoperable equipment present a key enabler of the fourth industria ... Full text Cite

Stealthy Perception-based Attacks on Unmanned Aerial Vehicles

Conference Proceedings - IEEE International Conference on Robotics and Automation · January 1, 2023 In this work, we study vulnerability of unmanned aerial vehicles (UAVs) to stealthy attacks on perception-based control. To guide our analysis, we consider two specific missions: (i) ground vehicle tracking (GVT), and (ii) vertical take-off and landing (VT ... Full text Cite

Transportation-Inequalities, Lyapunov Stability and Sampling for Dynamical Systems on Continuous State Space

Conference Proceedings of Machine Learning Research · January 1, 2023 We study the concentration phenomenon for discrete-time random dynamical systems with an unbounded state space. We develop a heuristic approach towards obtaining exponential concentration inequalities for dynamical systems using an entirely functional anal ... Cite

Lightweight Verification of Hyperproperties

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2023 Hyperproperties have been widely used to express system properties like noninterference, observational determinism, conformance, robustness, etc. However, the model checking problem for hyperproperties is challenging due to its inherent complexity of verif ... Full text Cite

Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control

Conference IEEE International Conference on Intelligent Robots and Systems · January 1, 2023 Visual servoing represents a control strategy capable of driving dynamical systems from the current to the desired pose, when the only available information is the images generated at both poses. In this work, we analyze vulnerability of such systems and i ... Full text Cite

Off-Policy Evaluation for Human Feedback

Conference Advances in Neural Information Processing Systems · January 1, 2023 Off-policy evaluation (OPE) is important for closing the gap between offline training and evaluation of reinforcement learning (RL), by estimating performance and/or rank of target (evaluation) policies using offline trajectories only. It can improve the s ... Cite

Demo Abstract: Through an AR Lens: Augmented Reality Magnification through Feature Detection and Matching

Conference SenSys 2022 - Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems · November 6, 2022 Sensing and Augmented Reality (AR) can benefit a wide range of applications that involve the use of magnifying lenses. Recent developments in AR magnification provide a direct overlay of the magnified scenes in AR. However, instrumentation tasks that requi ... Full text Cite

Security Analysis for Distributed IoT-Based Industrial Automation

Journal Article IEEE Transactions on Automation Science and Engineering · October 1, 2022 Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems-a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on disc ... Full text Cite

Formal Synthesis of Adaptive Droplet Routing for MEDA Biochips

Journal Article IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems · August 1, 2022 A digital microfluidic biochip (DMFB) enables the miniaturization of immunoassays, point-of-care clinical diagnostics, and DNA sequencing. A recent generation of DMFBs uses a microelectrode-dot-array (MEDA) architecture, which provides fine-grained control ... Full text Cite

A comparison of an implanted accelerometer with a wearable accelerometer for closed-loop DBS.

Journal Article Annu Int Conf IEEE Eng Med Biol Soc · July 2022 Sensing technology, as well as cloud communication, is enabling the development of closed-loop deep brain stimulation (DBS) for Parkinson's disease. The accelerometer is a practical sensor that can provide information about the disease/health state of the ... Full text Link to item Cite

Neuro-Symbolic Computing: Advancements and Challenges in Hardware-Software Co-Design

Journal Article IEEE Transactions on Circuits and Systems II: Express Briefs · March 1, 2024 The rapid progress of artificial intelligence (AI) has led to the emergence of a highly promising field known as neuro-symbolic (NeSy) computing. This approach combines the strengths of neural networks, which excel at data-driven learning, with the reasoni ... Full text Cite

At home adaptive dual target deep brain stimulation in Parkinson's disease with proportional control.

Journal Article Brain · March 1, 2024 Continuous deep brain stimulation (cDBS) of the subthalamic nucleus (STN) or globus pallidus is an effective treatment for the motor symptoms of Parkinson's disease. The relative benefit of one region over the other is of great interest but cannot usually ... Full text Link to item Cite

Athena – The NSF AI Institute for Edge Computing

Journal Article AI Magazine · March 1, 2024 The National Science Foundation (NSF) Artificial Intelligence (AI) Institute for Edge Computing Leveraging Next Generation Networks (Athena) seeks to foment a transformation in modern edge computing by advancing AI foundations, computing paradigms, network ... Full text Cite

Learning Optimal Strategies for Temporal Tasks in Stochastic Games

Journal Article IEEE Transactions on Automatic Control · January 1, 2024 Synthesis from linear temporal logic (LTL) specifications provides assured controllers for systems operating in stochastic and potentially adversarial environments. Automatic synthesis tools, however, require a model of the environment to construct control ... Full text Cite

Rigorous Evaluation of Computer Processors with Statistical Model Checking

Conference Proceedings of the 56th Annual IEEE/ACM International Symposium on Microarchitecture, MICRO 2023 · October 28, 2023 Experiments with computer processors must account for the inherent variability in executions. Prior work has shown that real systems exhibit variability, and random effects must be injected into simulators to account for it. Thus, we can run multiple execu ... Full text Cite

Demo Abstract: Edge-based Augmented Reality Guidance System for Retinal Laser Therapy via Feature Matching

Conference IPSN 2023 - Proceedings of the 2023 22nd International Conference on Information Processing in Sensor Networks · May 9, 2023 In ophthalmology, retinal laser therapy is a treatment for retinopathy that requires the use of magnifying lens to treat damaged regions of retinal landmarks, hence creating challenges of inverted magnified images and requiring prolonged training. Augmente ... Full text Cite

AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development

Conference ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023 · May 9, 2023 Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Culprits include (1) the lack of verifiability of proposed state-of-the-art AV com ... Full text Cite

Modular Platform For Collaborative, Distributed Sensor Fusion

Conference ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023 · May 9, 2023 Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few platforms exist for ... Full text Cite

Deep Reinforcement Learning-Based Approach for Efficient and Reliable Droplet Routing on MEDA Biochips

Journal Article IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems · April 1, 2023 The micro-electrode-dot-array (MEDA) architecture provides precise droplet control and real-time sensing in digital microfluidic biochips. Previous work has shown that trapped charge under microelectrodes (MCs) leads to droplets being stuck and failures in ... Full text Cite

Offline Learning of Closed-Loop Deep Brain Stimulation Controllers for Parkinson Disease Treatment.

Journal Article ArXiv · March 16, 2023 Deep brain stimulation (DBS) has shown great promise toward treating motor symptoms caused by Parkinson's disease (PD), by delivering electrical pulses to the Basal Ganglia (BG) region of the brain. However, DBS devices approved by the U.S. Food and Drug A ... Link to item Cite

IoT-Enabled Motion Control: Architectural Design Challenges and Solutions

Journal Article IEEE Transactions on Industrial Informatics · March 1, 2023 Ever-increasing demands for highly-efficient customized manufacturing are driving the development of Industry 4.0. Reconfigurable manufacturing systems based on modular, convertible, and interoperable equipment present a key enabler of the fourth industria ... Full text Cite

Stealthy Perception-based Attacks on Unmanned Aerial Vehicles

Conference Proceedings - IEEE International Conference on Robotics and Automation · January 1, 2023 In this work, we study vulnerability of unmanned aerial vehicles (UAVs) to stealthy attacks on perception-based control. To guide our analysis, we consider two specific missions: (i) ground vehicle tracking (GVT), and (ii) vertical take-off and landing (VT ... Full text Cite

Transportation-Inequalities, Lyapunov Stability and Sampling for Dynamical Systems on Continuous State Space

Conference Proceedings of Machine Learning Research · January 1, 2023 We study the concentration phenomenon for discrete-time random dynamical systems with an unbounded state space. We develop a heuristic approach towards obtaining exponential concentration inequalities for dynamical systems using an entirely functional anal ... Cite

Lightweight Verification of Hyperproperties

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2023 Hyperproperties have been widely used to express system properties like noninterference, observational determinism, conformance, robustness, etc. However, the model checking problem for hyperproperties is challenging due to its inherent complexity of verif ... Full text Cite

Cyber-Attacks on Wheeled Mobile Robotic Systems with Visual Servoing Control

Conference IEEE International Conference on Intelligent Robots and Systems · January 1, 2023 Visual servoing represents a control strategy capable of driving dynamical systems from the current to the desired pose, when the only available information is the images generated at both poses. In this work, we analyze vulnerability of such systems and i ... Full text Cite

Off-Policy Evaluation for Human Feedback

Conference Advances in Neural Information Processing Systems · January 1, 2023 Off-policy evaluation (OPE) is important for closing the gap between offline training and evaluation of reinforcement learning (RL), by estimating performance and/or rank of target (evaluation) policies using offline trajectories only. It can improve the s ... Cite

Demo Abstract: Through an AR Lens: Augmented Reality Magnification through Feature Detection and Matching

Conference SenSys 2022 - Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems · November 6, 2022 Sensing and Augmented Reality (AR) can benefit a wide range of applications that involve the use of magnifying lenses. Recent developments in AR magnification provide a direct overlay of the magnified scenes in AR. However, instrumentation tasks that requi ... Full text Cite

Security Analysis for Distributed IoT-Based Industrial Automation

Journal Article IEEE Transactions on Automation Science and Engineering · October 1, 2022 Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems-a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on disc ... Full text Cite

Formal Synthesis of Adaptive Droplet Routing for MEDA Biochips

Journal Article IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems · August 1, 2022 A digital microfluidic biochip (DMFB) enables the miniaturization of immunoassays, point-of-care clinical diagnostics, and DNA sequencing. A recent generation of DMFBs uses a microelectrode-dot-array (MEDA) architecture, which provides fine-grained control ... Full text Cite

A comparison of an implanted accelerometer with a wearable accelerometer for closed-loop DBS.

Journal Article Annu Int Conf IEEE Eng Med Biol Soc · July 2022 Sensing technology, as well as cloud communication, is enabling the development of closed-loop deep brain stimulation (DBS) for Parkinson's disease. The accelerometer is a practical sensor that can provide information about the disease/health state of the ... Full text Link to item Cite

Evaluation of a deep learning supported remote diagnosis model for identification of diabetic retinopathy using wide-field Optomap

Journal Article Annals of Eye Science · June 1, 2022 Background: We test a deep learning (DL) supported remote diagnosis approach to detect diabetic retinopathy (DR) and other referable retinal pathologies using ultra-wide-field (UWF) Optomap. Methods: Prospective, non-randomized study involving diabetic pat ... Full text Cite

Attack-resilient state estimation with intermittent data authentication

Journal Article Automatica · April 1, 2022 Network-based attacks on control systems may alter sensor data delivered to the controller, effectively causing degradation in control performance. As a result, having access to accurate state estimates, even in the presence of attacks on sensor measuremen ... Full text Cite

Formal Verification of Stochastic Systems with ReLU Neural Network Controllers

Journal Article Proceedings - IEEE International Conference on Robotics and Automation · January 1, 2022 In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a predetermined confidence, th ... Full text Cite

Learning-Based Vulnerability Analysis of Cyber-Physical Systems

Journal Article Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022 · January 1, 2022 This work focuses on the use of deep learning for vulnerability analysis of cyber-physical systems (CPS). Specifically, we consider a control architecture widely used in CPS, where the low-level control is based on a feedback controller and an observer (e. ... Full text Cite

Security Analysis of Camera-LiDAR Fusion Against Black-Box Attacks on Autonomous Vehicles

Journal Article Proceedings of the 31st USENIX Security Symposium, Security 2022 · January 1, 2022 To enable safe and reliable decision-making, autonomous vehicles (AVs) feed sensor data to perception algorithms to understand the environment. Sensor fusion with multi-frame tracking is becoming increasingly popular for detecting 3D objects. Thus, in this ... Cite

Adaptive Droplet Routing for MEDA Biochips via Deep Reinforcement Learning

Conference Proceedings of the 2022 Design, Automation and Test in Europe Conference and Exhibition, DATE 2022 · January 1, 2022 Digital microfluidic biochips (DMFBs) based on a micro-electrode-dot-array (MEDA) architecture provide fine-grained control and sensing of droplets in real-time. However, excessive actuation of microelectrodes in MEDA biochips can lead to charge trapping d ... Full text Cite

Offline Policy Evaluation for Learning-based Deep Brain Stimulation Controllers

Conference Proceedings - 13th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2022 · January 1, 2022 Deep brain stimulation (DBS) is an effective procedure to treat motor symptoms caused by nervous system disorders such as Parkinson's disease (PD). Although existing implantable DBS devices can suppress PD symptoms by delivering fixed periodic stimuli to t ... Full text Cite

A Reinforcement Learning-Informed Pattern Mining Framework for Multivariate Time Series Classification

Conference IJCAI International Joint Conference on Artificial Intelligence · January 1, 2022 Multivariate time series (MTS) classification is a challenging and important task in various domains and real-world applications. Much of prior work on MTS can be roughly divided into neural network (NN)- and pattern-based methods. The former can lead to r ... Cite

Learning Monotone Dynamics by Neural Networks

Conference Proceedings of the American Control Conference · January 1, 2022 Feed-forward neural networks (FNNs) work as standard building blocks in applying artificial intelligence (AI) to the physical world. They allow learning the dynamics of unknown physical systems (e.g., biological and chemical) to predict their future behavi ... Full text Cite

Insights on Using Deep Learning to Spoof Inertial Measurement Units for Stealthy Attacks on UAVs

Conference Proceedings - IEEE Military Communications Conference MILCOM · January 1, 2022 Unmanned Aerial Vehicles (UAVs) find increasing use in mission critical tasks both in civilian and military operations. Most UAVs rely on Inertial Measurement Units (IMUs) to calculate vehicle attitude and track vehicle position. Therefore, an incorrect IM ... Full text Cite

Optimal Myopic Attacks on Nonlinear Estimation

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2022 Prior works have analyzed the security of estimation and control (E&C) for linear, time-invariant systems; however, there are few analyses of nonlinear systems despite their broad safety-critical use. We define two attack objectives on nonlinear E&C and il ... Full text Cite

Resiliency of Nonlinear Control Systems to Stealthy Sensor Attacks

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2022 In this work, we focus on analyzing vulnerability of nonlinear dynamical control systems to stealthy sensor attacks. We define the notion of stealthy attacks in the most general form by leveraging Neyman-Pearson lemma. Specifically, an attack is considered ... Full text Cite

GRADIENT IMPORTANCE LEARNING FOR INCOMPLETE OBSERVATIONS

Conference ICLR 2022 - 10th International Conference on Learning Representations · January 1, 2022 Though recent works have developed methods that can generate estimates (or imputations) of the missing entries in a dataset to facilitate downstream analysis, most depend on assumptions that may not align with real-world applications and could suffer from ... Cite

Resiliency of Perception-Based Controllers Against Attacks

Conference Proceedings of Machine Learning Research · January 1, 2022 This work focuses on resiliency of learning-enabled perception-based controllers for nonlinear dynamical systems. We consider systems equipped with an end-to-end controller, mapping the perception (e.g., camera images) and sensor measurements to control in ... Cite

Probabilistic conformance for cyber-physical systems

Journal Article ICCPS 2021 - Proceedings of the 2021 ACM/IEEE 12th International Conference on Cyber-Physical Systems (with CPS-IoT Week 2021) · May 19, 2021 In system analysis, conformance indicates that two systems simultaneously satisfy the same set of specifications of interest; thus, the results from analyzing one system automatically transfer to the other, or one system can safely replace the other in pra ... Full text Cite

Foreword to the MCPS 2021 Proceedings Message from the Chairs

Conference MCPS 2021 - Proceedings of the 2021 Medical Cyber Physical Systems and Internet of Medical Things · May 18, 2021 Cite

Automated Identification of Referable Retinal Pathology in Teleophthalmology Setting.

Journal Article Transl Vis Sci Technol · May 3, 2021 PURPOSE: This study aims to meet a growing need for a fully automated, learning-based interpretation tool for retinal images obtained remotely (e.g. teleophthalmology) through different imaging modalities that may include imperfect (uninterpretable) images ... Full text Link to item Cite

Attacks on Distributed Sequential Control in Manufacturing Automation

Journal Article IEEE Transactions on Industrial Informatics · February 1, 2021 Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, mo ... Full text Cite

Formal Synthesis of Adaptive Droplet Routing for MEDA Biochips

Conference Proceedings -Design, Automation and Test in Europe, DATE · February 1, 2021 A digital microfluidic biochip (DMFB) enables the miniaturization of immunoassays, point-of-care clinical diagnostics, and DNA sequencing. A recent generation of DMFBs uses a micro-electrode-dot-array (MEDA) architecture, which provides fine-grained contro ... Full text Cite

Model-Free Reinforcement Learning for Stochastic Games with Linear Temporal Logic Objectives

Journal Article Proceedings - IEEE International Conference on Robotics and Automation · January 1, 2021 We study synthesis of control strategies from linear temporal logic (LTL) objectives in unknown environments. We model this problem as a turn-based zero-sum stochastic game between the controller and the environment, where the transition probabilities and ... Full text Cite

Secure Planning Against Stealthy Attacks via Model-Free Reinforcement Learning

Journal Article Proceedings - IEEE International Conference on Robotics and Automation · January 1, 2021 We consider the problem of security-aware planning in an unknown stochastic environment, in the presence of attacks on control signals (i.e., actuators) of the robot. We model the attacker as an agent who has the full knowledge of the controller as well as ... Full text Cite

An optimal graph-search method for secure state estimation

Journal Article Automatica · January 1, 2021 The growing complexity of modern Cyber–Physical Systems (CPS) and the frequent communication between their components make them vulnerable to malicious attacks. As a result, secure state estimation is a critical requirement for the control of these systems ... Full text Cite

Model-Free Learning of Safe yet Effective Controllers

Journal Article Proceedings of the IEEE Conference on Decision and Control · January 1, 2021 We study the problem of learning safe control policies that are also effective; i.e., maximizing the probability of satisfying a linear temporal logic (LTL) specification of a task, and the discounted reward capturing the (classic) control performance. We ... Full text Cite

Statistical Model Checking for Hyperproperties

Conference Proceedings - IEEE Computer Security Foundations Symposium · January 1, 2021 Hyperproperties have shown to be a powerful tool for expressing and reasoning about information-flow security policies. In this paper, we investigate the problem of statistical model checking (SMC) for hyperproperties. Unlike exhaustive model checking, SMC ... Full text Cite

AI-Powered IoT System at the Edge

Conference Proceedings - 2021 IEEE 3rd International Conference on Cognitive Machine Intelligence, CogMI 2021 · January 1, 2021 The proliferation of low-cost and low-power IoT devices are constantly generating gigabytes data at the network edge. Bridging AI with IoT is a natural option to unleash the data on devices. AI-powered IoT systems can boost many novel applications and serv ... Full text Cite

Extending the Lifetime of MEDA Biochips by Selective Sensing on Microelectrodes

Journal Article IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems · November 1, 2020 A digital microfluidic biochip (DMFB) enables miniaturization of immunoassays, point-of-care clinical diagnostics, and DNA sequencing. A recent generation of DMFBs uses a micro-electrode-dot-array (MEDA) architecture, which provides fine-grained control of ... Full text Cite

Distributing Sequential Control for Manufacturing Automation Systems

Journal Article IEEE Transactions on Control Systems Technology · July 1, 2020 Recent trends in manufacturing require the use of reconfigurable equipment that facilitates rapid and cost-effective change of functionality through modular design, which supports fast integration. Intelligent devices (e.g., sensors, actuators) with integr ... Full text Cite

Perfect Attackability of Linear Dynamical Systems with Bounded Noise

Conference Proceedings of the American Control Conference · July 1, 2020 This paper addresses the problem of secure state estimation in the presence of attacks on sensor measurements of a linear time invariant (LTI) system. We assume that the system is equipped with a common l0-based attack-resilient state estimator and a sound ... Full text Cite

Automated Recognition of Retinal Pigment Epithelium Cells on Limited Training Samples Using Neural Networks.

Journal Article Transl Vis Sci Technol · June 2020 PURPOSE: To develop a neural network (NN)-based approach, with limited training resources, that identifies and counts the number of retinal pigment epithelium (RPE) cells in confocal microscopy images obtained from cell culture or mice RPE/choroid flat-mou ... Full text Link to item Cite

Integrating Security in Resource-Constrained Cyber-Physical Systems

Journal Article ACM Transactions on Cyber-Physical Systems · May 1, 2020 Defense mechanisms against network-level attacks are commonly based on the use of cryptographic techniques, such as lengthy message authentication codes (MAC) that provide data integrity guarantees. However, such mechanisms require significant resources (b ... Full text Cite

Control Synthesis from Linear Temporal Logic Specifications using Model-Free Reinforcement Learning

Journal Article Proceedings - IEEE International Conference on Robotics and Automation · May 1, 2020 We present a reinforcement learning (RL) frame-work to synthesize a control policy from a given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as a Markov Decision Process (MDP). Specifically, we learn a ... Full text Cite

Hyperproperties for Robotics: Planning via HyperLTL

Journal Article Proceedings - IEEE International Conference on Robotics and Automation · May 1, 2020 There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important planning objectives, s ... Full text Cite

Deep Imitative Reinforcement Learning for Temporal Logic Robot Motion Planning with Noisy Semantic Observations

Conference Proceedings - IEEE International Conference on Robotics and Automation · May 1, 2020 In this paper, we propose a Deep Imitative Q-learning (DIQL) method to synthesize control policies for mobile robots that need to satisfy Linear Temporal Logic (LTL) specifications using noisy semantic observations of their surroundings. The robot sensing ... Full text Cite

Statistical verification of learning-based cyber-physical systems

Conference HSCC 2020 - Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control ,part of CPS-IoT Week · April 22, 2020 The use of Neural Network (NN)-based controllers has attracted significant attention in recent years. Yet, due to the complexity and non-linearity of such NN-based cyber-physical systems (CPS), existing verification techniques that employ exhaustive state- ... Full text Cite

Model-based design of closed loop deep brain stimulation controller using reinforcement learning

Conference Proceedings - 2020 ACM/IEEE 11th International Conference on Cyber-Physical Systems, ICCPS 2020 · April 1, 2020 Parkinson's disease (PD) currently Influences around one million people in the US. Deep brain stimulation (DBS) is a surgical treatment for the motor symptoms of PD that delivers electrical stimulation to the basal ganglia (BG) region of the brain. Existin ... Full text Cite

Context-Aware Temporal Logic for Probabilistic Systems

Journal Article Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2020 In this paper, we introduce the context-aware probabilistic temporal logic (CAPTL) that provides an intuitive way to formalize system requirements by a set of PCTL objectives with a context-based priority structure. We formally present the syntax and seman ... Full text Cite

Detection of Cyber-attacks in Systems with Distributed Control based on Support Vector Regression

Journal Article Telfor Journal · January 1, 2020 Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between de ... Full text Cite

Relaxing Integrity Requirements for Attack-Resilient Cyber-Physical Systems

Journal Article IEEE Transactions on Automatic Control · December 1, 2019 The increase in network connectivity has also resulted in several high-profile attacks on cyber-physical systems. An attacker that manages to access a local network could remotely affect control performance by tampering with sensor measurements delivered t ... Full text Cite

Operator Strategy Model Development in UAV Hacking Detection

Journal Article IEEE Transactions on Human-Machine Systems · December 1, 2019 An increasingly relevant security issue for unmanned aerial vehicles (UAVs, also known as drones) is the possibility of a global positioning system (GPS) spoofing attack. Given the existing problems in current GPS spoofing detection techniques and human vi ... Full text Cite

Attack-Resilient Supervisory Control with Intermittently Secure Communication

Conference Proceedings of the IEEE Conference on Decision and Control · December 1, 2019 In this work, we study supervisory control of discrete event systems in the presence of network-based attacks on information delivered to and from the supervisors. The attacks are modeled by finite state transducers (FSTs), having the ability to nondetermi ... Full text Cite

Supervisory Control of Discrete Event Systems in the Presence of Sensor and Actuator Attacks

Conference Proceedings of the IEEE Conference on Decision and Control · December 1, 2019 This work focuses on control of discrete event systems (DES) in the presence of attacks on their inputs and outputs. We propose to model such attacks as nondeterministic finite state transducers (FSTs) and show how FSTs can be used to capture a very wide c ... Full text Cite

Detection of cyber-attacks in electro-pneumatic positioning system with distributed control

Conference 27th Telecommunications Forum, TELFOR 2019 · November 1, 2019 Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between de ... Full text Cite

Statistical verification of hyperproperties for cyber-physical systems

Conference ACM Transactions on Embedded Computing Systems · October 1, 2019 Many important properties of cyber-physical systems (CPS) are defined upon the relationship between multiple executions simultaneously in continuous time. Examples include probabilistic fairness and sensitivity to modeling errors (i.e., parameters changes) ... Full text Cite

Synchronization of Distributed Controllers in Cyber-Physical Systems

Conference IEEE International Conference on Emerging Technologies and Factory Automation, ETFA · September 1, 2019 Due to misaligned clock sources, distributed control in Cyber-Physical Systems (CPS) requires not only synchronous execution of control algorithms on distributed system components, which we refer to as cyber-synchronization, but also appropriate generation ... Full text Cite

Security-aware synthesis of human-UAV protocols

Conference Proceedings - IEEE International Conference on Robotics and Automation · May 1, 2019 In this work, we synthesize collaboration protocols for human-unmanned aerial vehicle (H-UAV) command and control systems, where the human operator aids in securing the UAV by intermittently performing geolocation tasks to confirm its reported location. We ... Full text Cite

Message from the general and program committee co-chairs

Conference ICCPS 2019 - Proceedings of the 2019 ACM/IEEE International Conference on Cyber-Physical Systems · April 16, 2019 Cite

Reliable industrial IoT-based distributed automation

Conference IoTDI 2019 - Proceedings of the 2019 Internet of Things Design and Implementation · April 15, 2019 Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential contr ... Full text Cite

Continuous estimation using context-dependent discrete measurements

Journal Article IEEE Transactions on Automatic Control · January 1, 2019 This paper considers the problem of continuous state estimation from discrete context-based measurements. Context measurements provide binary information as obtained from the system's environment, e.g., a medical alarm indicating that a vital sign is above ... Full text Cite

LCV: A verification tool for linear controller software

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2019 In the model-based development of controller software, the use of an unverified code generator/transformer may result in introducing unintended bugs in the controller implementation. To assure the correctness of the controller software in the absence of ve ... Full text Cite

Security-Aware Synthesis Using Delayed-Action Games

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2019 Stochastic multiplayer games (SMGs) have gained attention in the field of strategy synthesis for multi-agent reactive systems. However, standard SMGs are limited to modeling systems where all agents have full knowledge of the state of the game. In this pap ... Full text Cite

Platform for Model-Based Design and Testing for Deep Brain Stimulation

Conference Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 · August 21, 2018 Deep Brain Stimulation (DBS) is effective at alleviating symptoms of neurological disorders such as Parkinson's disease. Yet, despite its safety-critical nature, there does not exist a platform for integrated design and testing of new algorithms or devices ... Full text Cite

Learning-Based Control Design for Deep Brain Stimulation

Conference Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 · August 21, 2018 By employing low-voltage electrical stimulation of the basal ganglia (BG) regions of the brain, deep brain stimulation (DBS) devices are used to alleviate the symptoms of several neurological disorders, including Parkinson's disease (PD). Recently, we have ... Full text Cite

Guest editorial: Special issue on medical cyber-physical systems

Journal Article ACM Transactions on Cyber-Physical Systems · August 1, 2018 Full text Cite

Secure State Estimation with Cumulative Message Authentication

Conference Proceedings of the IEEE Conference on Decision and Control · July 2, 2018 With network-based attacks, such as Man-in-the-Middle (MitM) attacks, the attacker can inject false data to force a closed-loop system into any undesired state, unless even intermittently integrity of delivered sensor measurements is enforced. Yet, the use ... Full text Cite

A hybrid stochastic game for secure control of cyber-physical systems

Journal Article Automatica · July 1, 2018 In this paper, we establish a zero-sum, hybrid state stochastic game model for designing defense policies for cyber-physical systems against different types of attacks. With the increasingly integrated properties of cyber-physical systems (CPS) today, secu ... Full text Cite

Efficient and Adaptive Error Recovery in a Micro-Electrode-Dot-Array Digital Microfluidic Biochip

Journal Article IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems · March 1, 2018 A digital microfluidic biochip (DMFB) is an attractive technology platform for automating laboratory procedures in biochemistry. In recent years, DMFBs based on a micro-electrode-dot-array (MEDA) architecture have been proposed. MEDA biochips can provide a ... Full text Cite

Human augmentation of UAV cyber-attack detection

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2018 Unmanned aerial vehicles (UAVs) have extensive applications in both civilian and military applications. Nevertheless, the continued development of UAVs has been accompanied by security concerns. UAV navigation systems are potentially vulnerable to maliciou ... Full text Cite

Opportunities and challenges in monitoring cyber-physical systems security

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2018 Technological advances in distributed cyber-physical systems (CPS) will fundamentally alter the way present and future human societies lead their lives. From a security or privacy perspective, a (multi-agent) cyber-physical system is a network of sensors, ... Full text Cite

Security-aware scheduling of embedded control tasks

Conference ACM Transactions on Embedded Computing Systems · September 1, 2017 In this work, we focus on securing cyber-physical systems (CPS) in the presence of network-based attacks, such as Man-in-the-Middle (MitM) attacks, where a stealthy attacker is able to compromise communication between system sensors and controllers. Standa ... Full text Cite

Synthesis of error-recovery protocols for micro-electrode-dot-array digital microfluidic biochips

Conference ACM Transactions on Embedded Computing Systems · September 1, 2017 A digital microfluidic biochip (DMFB) is an attractive technology platform for various biomedical applications. However, a conventional DMFB is limited by: (i) the number of electrical connections that can be practically realized, (ii) constraints on dropl ... Full text Cite

Network Scheduling for Secure Cyber-Physical Systems

Conference Proceedings - Real-Time Systems Symposium · July 2, 2017 Existing design techniques for providing security guarantees against network-based attacks in cyber-physical systems (CPS) are based on continuous use of standard cryptographic tools to ensure data integrity. This creates an apparent conflict with common r ... Full text Cite

Sporadic data integrity for secure state estimation

Conference 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 · June 28, 2017 We consider the problem of network-based attacks, such as Man-in-the-Middle attacks, on standard state estimators. To ensure graceful control degradation in the presence of attacks, existing results impose very strict integrity requirements on the number o ... Full text Cite

WiP abstract: Platform for security-aware design of human-on-the-loop cyber-physical systems

Conference Proceedings - 2017 ACM/IEEE 8th International Conference on Cyber-Physical Systems, ICCPS 2017 (part of CPS Week) · April 18, 2017 Cyber-Physical Systems (CPS) are commonly supervisory control systems where a human-on-the-loop (HOL) supervises one or more autonomous systems, while embedded autonomy allows the operators to intermittently attend to the system and other tasks. Thus, it i ... Full text Cite

Design and Implementation of Attack-Resilient Cyberphysical Systems: With a Focus on Attack-Resilient State Estimators

Journal Article IEEE Control Systems · April 1, 2017 Recent years have witnessed a significant increase in the number of securityrelated incidents in control systems. These include high-profile attacks in a wide range of application domains, from attacks on critical infrastructure, as in the case of the Maro ... Full text Cite

Transient performance & availability modeling in high volume outpatient clinics

Conference Proceedings - Annual Reliability and Maintainability Symposium · March 29, 2017 High volume outpatient clinics such as eye care centers cannot afford excessive delays, especially when due to limited resources, time, or overhead. Modeling tools from reliability & maintainability practice may provide the means to better assess where imp ... Full text Cite

Coding Schemes for Securing Cyber-Physical Systems Against Stealthy Data Injection Attacks

Journal Article IEEE Transactions on Control of Network Systems · March 1, 2017 This paper considers a method of coding the sensor outputs in order to detect stealthy false data injection attacks. An intelligent attacker can design a sequence of data injection to sensors and actuators that pass the state estimator and statistical faul ... Full text Cite

Attack-resilient state estimation for noisy dynamical systems

Journal Article IEEE Transactions on Control of Network Systems · March 1, 2017 Several recent incidents have clearly illustrated the susceptibility of cyberphysical systems (CPS) to attacks, raising attention to security challenges in these systems. The tight interaction between information technology and the physical world has intro ... Full text Cite

Automatic verification of finite precision implementations of linear controllers

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2017 We consider the problem of verifying finite precision implementation of linear time-invariant controllers against mathematical specifications. A specification may have multiple correct implementations which are different from each other in controller state ... Full text Cite

Cyber physical production systems-an IEC 61499 perspective

Journal Article Lecture Notes in Mechanical Engineering · January 1, 2017 Recent developments in the field of cyber physical systems (CPS) and internet of things (IoT) open up new possibilities in manufacturing. CPS and IoT represent enabling means for facilitating the companies’ adaptation to the ever-changing market needs and ... Full text Cite

Cyber-physical manufacturing systems (CPMS)

Journal Article Lecture Notes in Mechanical Engineering · January 1, 2017 Increased product variety that market needs impose to manufacturers, requires high level adaptability of manufacturing systems that can be achieved through introduction of reconfigurable manufacturing systems composed of interoperable devices with ever-cha ... Full text Cite

Security of cyber-physical systems in the presence of transient sensor faults

Journal Article ACM Transactions on Cyber-Physical Systems · January 1, 2017 This article is concerned with the security of modern Cyber-Physical Systems in the presence of transient sensor faults.We consider a system with multiple sensors measuring the same physical variable, where each sensor provides an interval with all possibl ... Full text Cite

Attack-resilient sensor fusion for CPS

Chapter · January 1, 2017 Modern cyber physical systems (CPS) are a complex mixture of cyber and physical components. Although the two aspects have been analyzed individually both in terms of performance and security, ensuring the safety of systems combining the two components is a ... Full text Cite

Making the Internet-of-Things a reality: From smart models, sensing and actuation to energy-efficient architectures

Conference 2016 International Conference on Hardware/Software Codesign and System Synthesis, CODES+ISSS 2016 · November 21, 2016 Advances in the physical sciences and engineering enable the development of internet-of-things (IoT) to understand, interface / interact and engineer physical world (systems). However, the deployment of multitude of wireless sensors and agents spanning man ... Full text Cite

Error recovery in a micro-electrode-dot-array digital microfluidic biochip?

Conference IEEE/ACM International Conference on Computer-Aided Design, Digest of Technical Papers, ICCAD · November 7, 2016 A digital microfluidic biochip (DMFB) is an attractive technology platform for automating laboratory procedures in biochemistry. However, today's DMFBs suffer from several limitations: (i) constraints on droplet size and the inability to vary droplet volum ... Full text Cite

Towards Plug-n-Play numerical control for Reconfigurable Manufacturing Systems

Conference IEEE International Conference on Emerging Technologies and Factory Automation, ETFA · November 3, 2016 Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which shoul ... Full text Cite

A real-time digital-microfluidic platform for epigenetics

Conference Proceedings of the International Conference on Compilers, Architectures and Synthesis for Embedded Systems, CASES 2016 · October 1, 2016 Advances in digital-microfluidic biochips have led to miniaturized platforms that can implement biomolecular assays. However, these designs are not adequate for running multiple sample pathways because they consider unrealistic static schedules; hence runt ... Full text Cite

Estimation of Blood Oxygen Content Using Context-Aware Filtering

Conference 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems, ICCPS 2016 - Proceedings · May 25, 2016 In this paper we address the problem of estimating the blood oxygen concentration in children during surgery. Currently, the oxygen content can only be measured through invasive means such as drawing blood from the patient. In this work, we attempt to perf ... Full text Cite

Three challenges in cyber-physical systems

Conference 2016 8th International Conference on Communication Systems and Networks, COMSNETS 2016 · March 23, 2016 The tight coupling of computation, communication and control with physical systems such as actuation of closed-loop medical devices within the human body, peak power minimization by coordination of controllers across large industrial plants, and fast life- ... Full text Cite

Scalable verification of linear controller software

Conference Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) · January 1, 2016 We consider the problem of verifying software implementations of linear time-invariant controllers against mathematical specifications. Given a controller specification, multiple correct implementations may exist, each of which uses a different representat ... Full text Cite

Automatic Verification of Linear Controller Software

Conference · October 4, 2015 Featured Publication We consider the problem of verification of software implementations of linear time-invariant controllers. Commonly, different implementations use different representations of the controller’s state, for example due to optimizations in a third-party code ge ... Full text Open Access Cite

Robust Estimation Using Context-Aware Filtering

Conference · September 1, 2015 Featured Publication This paper presents the context-aware filter, an estimation technique that incorporates context measurements, in addition to the regular continuous measurements. Context measurements provide binary information about the system's context which is not ... Open Access Cite

Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions

Journal Article Assembly Automation · April 7, 2015 Featured Publication Purpose The purpose of this paper is to provide a method for the generation of information machines for part mating process diagnosis. Recognition of contact states between parts during robotized part mating represents a significant element of the system f ... Full text Cite

Recognition of Planar Segments in Point Cloud based on Wavelet Transform

Journal Article IEEE Transactions on Industrial Informatics · April 2015 Featured Publication Full text Open Access Cite

Opportunistic Control Over Shared Wireless Channels

Journal Article IEEE Transactions on Automatic Control · March 2015 Featured Publication Full text Open Access Cite

Attack-resilient state estimation in the presence of noise

Conference Proceedings of the IEEE Conference on Decision and Control · February 8, 2015 We consider the problem of attack-resilient state estimation in the presence of noise. We focus on the most general model for sensor attacks where any signal can be injected via the compromised sensors. An l0-based state estimator that can be formulated as ... Full text Cite

Design methodologies for securing cyber-physical systems.

Conference Proceedings of the 10th International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS) · 2015 Featured Publication Full text Open Access Cite

Sensor attack detection in the presence of transient faults.

Conference Proceedings of the 6th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS) · 2015 Featured Publication Full text Cite

Attack-resilient minimum mean-squared error estimation

Conference American Control Conference (ACC), 2014 · June 2014 This work addresses the design of resilient estimators for stochastic systems. To this end, we introduce a minimum mean-squared error resilient (MMSE-R) estimator whose conditional mean squared error from the state remains finitely bounded and is independe ... Full text Cite

Closed-loop verification of medical devices with model abstraction and refinement

Journal Article International Journal on Software Tools for Technology Transfer · April 1, 2014 Featured Publication The design and implementation of software for medical devices is challenging due to the closed-loop interaction with the patient, which is a stochastic physical environment. The safety-critical nature and the lack of existing industry standards for verific ... Full text Cite

Robustness of attack-resilient state estimators

Conference Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on · April 2014 Featured Publication The interaction between information technology and phys ical world makes Cyber-Physical Systems (CPS) vulnerable to malicious attacks beyond the standard cyber attacks. This has motivated the need for attack-resilient state estimation. Yet, the existing st ... Full text Open Access Cite

Opportunistic scheduling of control tasks over shared wireless channels

Conference Cyber-Physical Systems (ICCPS), 2014 ACM/IEEE International Conference on · April 2014 Featured Publication We consider a wireless networked control system with multiple loops closing over a shared wireless medium. To avoid interferences a centralized scheduler decides which control task accesses the channel at each time step, opportunistically based on the rand ... Full text Cite

Attack-resilient sensor fusion

Conference Design, Automation and Test in Europe Conference and Exhibition (DATE), 2014 · March 2014 Featured Publication This work considers the problem of attack-resilient sensor fusion in an autonomous system where multiple sensors measure the same physical variable. A malicious attacker may corrupt a subset of these sensors and send wrong measurements to the controller on ... Full text Cite

Safety-critical medical device development using the UPP2SF model translation tool

Journal Article Transactions on Embedded Computing Systems · January 1, 2014 Featured Publication Software-based control of life-critical embedded systems has become increasingly complex, and to a large extent has come to determine the safety of the human being. For example, implantable cardiac pacemakers have over 80,000 lines of code which are respon ... Full text Open Access Cite

Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly

Journal Article Journal of Intelligent Manufacturing · January 1, 2014 This paper presents a methodology for generating a fuzzy inference mechanism (FIM) for recognizing contact states within robotic part mating using active compliant motion. In the part mating process, significant uncertainties are inherently present. As a r ... Full text Cite

Resilient Multidimensional Sensor Fusion Using Measurement History

Conference Proceedings of the 3rd International Conference on High Confidence Networked Systems · 2014 Full text Cite

Stabilizability over deterministic relay networks

Conference Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on · December 2013 Featured Publication We consider the problem of linear system stabilization using a set of decentralized controllers that communicate with the plant’s sensors over a network that employs linear network coding. Our analysis is built upon an existing algebraic description of det ... Full text Cite

Power-aware communication for wireless sensor-actuator systems

Conference Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on · December 2013 This paper considers the design of power-aware communication protocols for a sensor transmitting plant state measurements over a wireless Markov fading channel to a receiver/controller. Communication requires power consumption at transmission adapted to ch ... Full text Cite

Demo abstract: Synthesis of platform-aware attack-resilient vehicular systems

Conference 2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013 · October 15, 2013 Full text Cite

Distributed control for cyber-physical systems

Journal Article Journal of the Indian Institute of Science · July 1, 2013 Networked Cyber-Physical Systems (CPS) are fundamentally constrained by the tight coupling and closed-loop control and actuation of physical processes. To address actuation in such closed-loop wireless control systems there is a strong need to re-think the ... Cite

Topological conditions for in-network stabilization of dynamical systems

Journal Article IEEE Journal on Selected Areas in Communications · April 4, 2013 Featured Publication We study the problem of stabilizing a linear system over a wireless network using a simple in-network computation method. Specifically, we study an architecture called the Wireless Control Network (WCN), where each wireless node maintains a state, and peri ... Full text Open Access Cite

Towards Synthesis of Platform-aware Attack-resilient Control Systems: Extended Abstract

Conference Proceedings of the 2Nd ACM International Conference on High Confidence Networked Systems · 2013 Full text Cite

Robust architectures for embedded wireless network control and actuation

Journal Article Transactions on Embedded Computing Systems · December 1, 2012 Featured Publication Networked cyber-physical systems are fundamentally constrained by the tight coupling and closed-loop control of physical processes. To address actuation in such closed-loop wireless control systems there is a strong need to rethink the communication archit ... Full text Cite

Model-Driven Safety Analysis of Closed-Loop Medical Systems.

Journal Article IEEE transactions on industrial informatics · October 2012 Featured Publication In modern hospitals, patients are treated using a wide array of medical devices that are increasingly interacting with each other over the network, thus offering a perfect example of a cyber-physical system. We study the safety of a medical device system f ... Full text Open Access Cite

Demo abstract: Model-based testing of implantable cardiac devices

Conference Proceedings - 2012 IEEE/ACM 3rd International Conference on Cyber-Physical Systems, ICCPS 2012 · May 31, 2012 The heart is the most important natural realtime system and its interaction with an implantable artificial pacemaker make for a perfect example of a Cyber-Physical System. The increasing complexity in implantable cardiac device software has been responsibl ... Full text Cite

From Verification to Implementation: A Model Translation Tool and a Pacemaker Case Study

Conference Real-Time and Embedded Technology and Applications Symposium (RTAS), 2012 IEEE 18th · April 2012 Featured Publication Model-Driven Design (MDD) of cyber-physical systems advocates for design procedures that start with formal modeling of the real-time system, followed by the model’s verification at an early stage. The verified model must then be translated to a more detail ... Full text Cite

The Oral Iron Chelator Deferiprone Protects Against Retinal Degeneration Induced through Diverse Mechanisms.

Journal Article Transl Vis Sci Technol · 2012 PURPOSE: To investigate the effect of the iron chelator deferiprone (DFP) on sodium iodate (NaIO3)-induced retinal degeneration and on the hereditary retinal degeneration caused by the rd6 mutation. METHODS: Retinas from NaIO3-treated C57BL/6J mice, with o ... Full text Link to item Cite

Cyber-Physical Modeling of Implantable Cardiac Medical Devices

Journal Article Proceedings of the IEEE · January 2012 Featured Publication Full text Cite

Closing the Loop: A Simple Distributed Method for Control over Wireless Networks

Conference Proceedings of the 11th International Conference on Information Processing in Sensor Networks · 2012 Featured Publication Full text Cite

Modeling and Verification of a Dual Chamber Implantable Pacemaker

Conference Proceedings of the 18th International Conference on Tools and Algorithms for the Construction and Analysis of Systems · 2012 Featured Publication Full text Cite

Network synthesis for dynamical system stabilization

Conference Signals, Systems and Computers (ASILOMAR), 2011 Conference Record of the Forty Fifth Asilomar Conference on · November 2011 We present our recent results in the area of distributed control over wireless networks. In our previous work, we introduced the concept of a Wireless Control Network (WCN), where the network acts as a decentralized structured controller. In this case the ... Full text Cite

The wireless control network: A new approach for control over networks

Journal Article IEEE Transactions on Automatic Control · October 1, 2011 Featured Publication We present a method to stabilize a plant with a network of resource constrained wireless nodes. As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller (perhaps performing some encodin ... Full text Open Access Cite

Architecture for a fully distributed Wireless Control Network

Conference Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, IPSN'11 · June 23, 2011 We demonstrate a distributed scheme for control over wireless networks. In our previous work, we introduced the concept of a Wireless Control Network (WCN), where the network itself, with no centralized node, acts as the controller. In this demonstration, ... Cite

Demo abstract: Closed-loop testing for implantable cardiac pacemakers

Conference Proceedings of the 10th ACM/IEEE International Conference on Information Processing in Sensor Networks, IPSN'11 · June 23, 2011 The increasing complexity of software in implantable medical devices such as cardiac pacemakers and defibrillators accounts for over 40% of device recalls. Testing remains the principal means of verification in the medical device certification regime. Trad ... Cite

Model-Based Closed-Loop Testing of Implantable Pacemakers

Conference Cyber-Physical Systems (ICCPS), 2011 IEEE/ACM International Conference on · April 2011 The increasing complexity of software in implantable medical devices such as cardiac pacemakers and defibrillators accounts for over 40% of device recalls. Testing remains the principal means of verification in the medical device certification regime. Trad ... Full text Cite

Topological conditions for wireless control networks

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2011 We study the problem of stabilizing a linear system over a wireless control network. We propose a scheme where each wireless node maintains a scalar state, and periodically updates it as a linear combination of neighboring plant outputs and node states. We ... Full text Cite

The Wireless Control Network: Synthesis and robustness

Conference Decision and Control (CDC), 2010 49th IEEE Conference on · December 2010 We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply rou ... Full text Cite

The wireless control network: Monitoring for malicious behavior

Conference Decision and Control (CDC), 2010 49th IEEE Conference on · December 2010 We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. In a companion paper, we developed a protocol where each node repeatedly transmits an appropriate (stabilizing) linear combination of the values in its ne ... Full text Cite

Demo abstract: A platform for implantable medical device validation

Conference Proceedings - Wireless Health 2010, WH'10 · December 1, 2010 We present the design of an integrated modeling platform to investigate efficient methodologies for certifying medical device software. The outcome of this research has the potential to expedite medical device software certification for safer operation. Ou ... Full text Cite

A platform for implantable medical device validation

Conference Proceedings of the 9th ACM/IEEE International Conference on Information Processing in Sensor Networks, IPSN '10 · July 16, 2010 Designing bug-free medical device software is difficult, especially in complex implantable devices that may be used in unanticipated contexts. In the 20-year period from 1985 to 2005, the US Food and Drug Administration's (FDA) Maude database records almos ... Full text Cite

Spatio-temporal techniques for anti-jamming in embedded wireless networks

Journal Article Eurasip Journal on Wireless Communications and Networking · June 18, 2010 Electromagnetic jamming results in a loss of link reliability, increased energy consumption and packet delays. In the context of energy-constrained wireless networks, nodes are scheduled to maximize the common sleep duration and coordinate communication to ... Full text Cite

Embedded Virtual Machines for Robust Wireless Control and Actuation

Conference Real-Time and Embedded Technology and Applications Symposium (RTAS), 2010 16th IEEE · April 2010 Embedded wireless networks have largely focused on open-loop sensing and monitoring. To address actuation in closed-loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination ... Full text Cite

Demo abstract: Embedded virtual machines for wireless industrial automation

Conference 2009 International Conference on Information Processing in Sensor Networks, IPSN 2009 · November 16, 2009 The factory of the future is the Wireless Factory - fully programmable, nimble and adaptive to planned mode changes and unplanned faults. Today automotive assembly lines loose over $22,000 per minute of downtime. The systems are rigid, difficult to maintai ... Cite

Embedded Virtual Machines for Robust Wireless Control Systems

Conference Distributed Computing Systems Workshops, 2009. ICDCS Workshops ’09. 29th IEEE International Conference on · June 2009 Embedded wireless networks have largely focused on open loop sensing and monitoring. To address actuation in closed loop wireless control systems there is a strong need to re-think the communication architectures and protocols for reliability, coordination ... Full text Cite

Anti-jamming for embedded wireless networks

Conference Information Processing in Sensor Networks, 2009. IPSN 2009. International Conference on · April 2009 Resilience to electromagnetic jamming and its avoidance are difficult problems. It is often both hard to distinguish malicious jamming from congestion in the broadcast regime and a challenge to conceal the activity patterns of the legitimate communication ... Cite

FPGA design of arbitrary down-sampler

Conference Microelectronics, 2008. MIEL 2008. 26th International Conference on · May 2008 This paper describes the FPGA design of an arbitrary down-sampler. The arbitrary down-sampler performs decimation of the input signal, adjusting its sample rate to the requirements on the system output. The solution presented in this paper introduces the d ... Full text Cite

Real-Time QRD-Based Beamforming on an FPGA Platform

Conference Signals, Systems and Computers, 2006. ACSSC ’06. Fortieth Asilomar Conference on · October 2006 This paper describes the architecture, design flow and verification process for the FPGA implementation of a realtime beamformer. One of the challenges in realizing this class of processing is in the implementation of the linear algebra operations required ... Full text Cite

Attack-Resilient Sensor Fusion for Safety-Critical Cyber-Physical Systems

Journal Article ACM Transactions on Embedded Computing Systems Featured Publication Open Access Cite

Attack-Resilient State Estimation in the Presence of Noise

Conference Featured Publication We consider the problem of attack-resilient state estimation in the presence of noise. We focus on the most general model for sensor attacks where {any} signal can be injected via the compromised sensors. An $l_0$-based state estimator that can be formulat ... Open Access Cite