京都大学 / 0048 / 新制・課程博士 / 博士(情報学) / 甲第19124号 / 情博第570号 / 新制||情||100(附属図書館) / 32075 / 京都大学大学院情報学研究科システム科学専攻 / (主査)教授 杉江 俊治, 教授 太田 快人, 教授 大塚 敏之, 准教授 東 俊一 / 学位規則第4条第1項該当 / Doctor of Informatics / Kyoto University / DFAM

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Performing measurements of samples that contain chemical substances is a time consuming task if the measurement instruments are small and require high precision. A single measurement session can often contain a large amount of samples, which is why it is crucial to automate this process. The solution, which is discussed in this report, is a Graphical User Interface that allows a user to control three linear motors that can move in the X-, Y-, and Z-axis. Movement of the motors results in the movement of the sampling platform, which allows a measurement instrument to be inserted and ejected from each sample with a much higher precision than a human is capable of. Automating the process does not only result in a more accurate and precise measurement process, but also a more efficient process, since the sample size can be decreased. By decreasing the sample size, it is also possible to increase the number of samples to perform measurements on. The results shows an increase in accuracy and a reduction of the required supervision over the sampling process. Moreover, our solution also reduces power consumption since the equipment used in the analyses requires less uptime. / Att utföra mätningar av prover som innehåller kemiska ämnen är en tidskrävande uppgift om mätinstrumenten är små och kräver hög precision. En enda mätsession kan ofta innehålla en stor mängd prover, därför är det väsentligt att automatisera denna process. Lösningen, som diskuteras i denna rapport, är ett grafiskt användargränssnitt som låter en användare styra tre linjära motorer som kan röra sig i X-, Y- och Z-led. Rörelse av motorerna resulterar i att provtagningsplattformen rör sig, vilket gör att ett mätinstrument kan matas in och ut från varje prov med en mycket högre precision än vad en människa är kapabel till. Att automatisera processen resulterar inte bara i en mer exakt mätprocess, utan också i en mer effektiv process, eftersom provers storlek kan minskas. Genom att minska provstorleken är det också möjligt att öka antalet prover att utföra mätningar på. Resultaten visade en betydelsefull ökning av noggrannhet och en minskning av nödvändig övervakning av systemet. Vår lösning innebär också en minskning av strömförbrukningen eftersom den utrustning som används i analyserna kräver kortare drifttid.

Plastic optical fiber (POF) for use in automotive applications is not a new concept and has been used in some vehicles for infotainment media distribution within the Media Oriented Systems Transport protocol. However, the use of POF for the control network’s physical layer is a concept that has not been implemented in automotive applications. Many aspects of a vehicle can be improved by implementing POF as the physical backbone for the control network. Currently, the Controller Area Network (CAN) is used as the primary backbone control network protocol for most automobiles as it is inexpensive and reliable. However, CAN is limited to 500 kbps in most vehicles and is easily accessible. Ethernet may provide the improvements of speed and security needed in today’s feature rich and connected vehicles. The feasibility of implementing Ethernet over POF as the control network for automotive applications is the topic of this research investigation.

The purpose of this report was to examine a method for automatic maze solving by developing a robot that can find a specific target within a maze. On this basis, a Arduino based robot was constructed. The steering mechanism was constructed in a way that supports differential steering which enables zero radius turns which is preferred in narrow spaces. The intersection detection as well as the method for defining which type of intersection occurring was based on three distance sensor mounted in front and on the left and right side of the robot. The target detection was based on a IR sensor. A feedback controller was applied on the left Ultrasonic sensor enabling the robot to keep a reference distance to the wall. The feedback system also enabled the robot to straighten up when taking to big or small turns. The robot was able to both detect and define what kind of intersection occurring as well as detect the specific target. The execution of the correct operation by detected intersection was calculated to 80% - 100% and the target was found 100% out of the test made. The definition of ”correct operation” in this report was when the robot detected a intersection, and executed the operation that was in accordance with the implemented algorithm. The rotational error, that is the quantity of degrees from the desired turn angle, occurring when the robot executed different operations was calculated to 3.5◦ - 9.5◦ . The robot started to oscillate due to angles grater than 19.5◦ when the left distance sensor was facing the wall which made the robot less able to follow a path and straighten up. / Syftet med denna rapport var att undersöka en metod för automatiserad labyrintlösning genom att utveckla en robot som kan finna ett specifikt mål i en labyrint. På dessa grunder konstruerades en arduinobaserad robot. Styrmekanismen konstruerades på sådant sätt att differentialstyrning var möjlig vilket tillät svängar utan svängradie, vilket är att föredra vid trånga utrymmen. Vägkorsningsdetekteringen samt metoden för att bestämma vilken typ av vägkorsning som förekommer baserades på tre distansmätare. Dessa var monterade på robotens front samt på höger och vänster sida. Måldetekteringen var baserad på en IR sensor. Ett system medåterkoppling implementerades på den vänstra distansmätaren för att få roboten att hålla ett referensavstånd till väggen. Detta möjliggjorde även så att vägen kunde följas på ett optimalt sätt samt att roboten kunde rätas upp vid för stora eller för små tagna svängar. Roboten lyckades både detektera samt definiera vilken typ av vägkorsning som uppstod likväl som att detektera det specifika målet. Andelen utförda korrekta operationer vid detekterande av vägkorsning beräknades till 80% - 100% av fallen och målet detekterades 100% av gångerna vid det gjorda testerna. Definitionen av ”korrekt operaton ”i denna rapport var då roboten upptäckte en vägkorsning och utförde den operation som var i enlighet med den implementerade algoritmen. Rotationsfelet, det vill säga antalet grader från den önskade svängvinkeln, som uppstod vid de olika operationerna beräknades till 3.5◦ - 9.5◦ . Roboten började att oscillera vid vinklar större än 19.5◦ då den vänstra distansmätaren var vänd mot väggen vilket gjorde roboten mindre duglig att följa väggen samt att rätas upp.

<p>The rapid expansion of intra-vehicle networks has increased the number of threats to such networks. Most modern vehicles implement various physical and data-link layer technologies. Vehicles are becoming increasingly autonomous and connected. Controller Area Network (CAN) is a serial bus system that is used to connect sensors and controllers (Electronic Control Units – ECUs) within a vehicle. ECUs vary widely in processing power, storage, memory, and connectivity. The goal of this research is to design, implement, and test an efficient and effective intrusion detection system for intra-vehicle CANs. Such a system must be capable of detecting intrusions in almost real-time with minimal resources. The research proposes a specific type of recursive neural network called Long Short-Term Memory (LSTM) to detect anomalies. It also proposes a decision engine that will use LSTM-classified anomalies to detect intrusions by using multiple contextual parameters. We have conducted multiple experiments on the optimal choice of various LSTM hyperparameters. We have tested our classification algorithm and our decision engine using data from real automobiles. We will present the results of our experiments and analyze our findings. After detailed evaluation of our intrusion detection system, we believe that we have designed a vehicle security solution that meets all the outlined requirements and goals.</p>

The introduction of programmability and dynamic protocol deployment in routers, there would be an increase in the potential vulnerabilities and attacks . The next- generation Internet promises to provide a fundamental shift in the underlying architecture to support dynamic deployment of network protocols. In this thesis, we consider the problem of detecting malicious packet drops in routers. Specifically, we focus on an attack scenario, where a router selectively drops packets destined for another node. Detecting such an attack is challenging since it requires differentiating malicious packet drops from congestion-based packet losses. We propose a controller- based malicious packet detection technique that effectively detects malicious routers using delayed sampling technique and verification of the evidence. The verification involves periodically determining congestion losses in the network and comparing the forwarding behaviors of the adjoining routers to affirm the state of a router in the network. We provide a performance analysis of the detection accuracy and quantify the communication overhead of our system. Our results show that our technique provides accurate detection with low performance overhead.

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