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Certification through auditing allows to ensure that critical embedded systems are secure. This entails reviewing their critical components and checking for dangerous execution paths. This latter task requires the use of specialized tools which allow to explore and replay executions but are also difficult to use effectively within the context of the audit, where time and knowledge of the code are limited. Fault analysis is especially tricky as the attacker may actively influence execution, rendering some common methods unusable and increasing the number of possible execution paths exponentially. In this work, we present a new method which mitigates these issues by reducing the number of fault injection points considered to only the most relevant ones relatively to some security properties. We use fast and robust static analysis to detect injection points and assert their impactfulness. A more precise dynamic/symbolic method is then employed to validate attack paths. This way the insight required to find attacks is reduced and dynamic methods can better scale to realistically sized programs. Our method is implemented into a toolchain based on Frama-C and KLEE and validated on WooKey, a case-study proposed by the National Cybersecurity Agency of France.

Secure elements physically exposed to adversaries are frequently targeted by fault attacks. These attacks can be utilized to hijack the control-flow of software allowing the attacker to bypass security measures, extract sensitive data, or gain full code execution. In this paper, we systematically analyze the threat vector of fault-induced control-flow manipulations on the open-source OpenTitan secure element. Our thorough analysis reveals that current countermeasures of this chip either induce large area overheads or still cannot prevent the attacker from exploiting the identified threats. In this context, we introduce SCRAMBLE-CFI, an encryption-based control-flow integrity scheme utilizing existing hardware features of OpenTitan. SCRAMBLE-CFI confines, with minimal hardware overhead, the impact of fault-induced control-flow attacks by encrypting each function with a different encryption tweak at load-time. At runtime, code only can be successfully decrypted when the correct decryption tweak is active. We open-source our hardware changes and release our LLVM toolchain automatically protecting programs. Our analysis shows that SCRAMBLE-CFI complementarily enhances security guarantees of OpenTitan with a negligible hardware overhead of less than 3.97 % and a runtime overhead of 7.02 % for the Embench-IoT benchmarks.

Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems have been developed to assist surgeons in performing complex microsurgical tasks with greater precision and safety. However, the steep learning curve for robot-assisted microsurgery (RAMS) and the shortage of well-trained surgeons pose significant challenges to the widespread adoption of RAMS. Therefore, the development of a versatile training system for RAMS is necessary, which can bring tangible benefits to both surgeons and patients. In this paper, we present a Tactile Internet-Based Micromanipulation System (TIMS) based on a ROS-Django web-based architecture for microsurgical training. This system can provide tactile feedback to operators via a wearable tactile display (WTD), while real-time data is transmitted through the internet via a ROS-Django framework. In addition, TIMS integrates haptic guidance to `guide' the trainees to follow a desired trajectory provided by expert surgeons. Learning from demonstration based on Gaussian Process Regression (GPR) was used to generate the desired trajectory. User studies were also conducted to verify the effectiveness of our proposed TIMS, comparing users' performance with and without tactile feedback and/or haptic guidance.

This letter presents a self-contained system for robust deployment of autonomous aerial vehicles in environments without access to global navigation systems and with limited lighting conditions. The proposed system, application-tailored for documentation in dark areas of large historical monuments, uses a unique and reliable aerial platform with a multi-modal lightweight sensory setup to acquire data in human-restricted areas with adverse lighting conditions, especially in areas that are high above the ground. The introduced localization method relies on an easy-to-obtain 3-D point cloud of a historical building, while it copes with a lack of visible light by fusing active laser-based sensors. The approach does not rely on any external localization, or on a preset motion-capture system. This enables fast deployment in the interiors of investigated structures while being computationally undemanding enough to process data online, onboard an MAV equipped with ordinary processing resources. The reliability of the system is analyzed, is quantitatively evaluated on a set of aerial trajectories performed inside a real-world church, and is deployed onto the aerial platform in the position control feedback loop to demonstrate the reliability of the system in the safety-critical application of historical monuments documentation.

Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previous attempts to develop SRSs, many have been limited to planar movements or use wheels to achieve locomotion, which restricts their ability to imitate the full range of biological snake movements. We propose a new design for the SRSs that is wheelless and powered by pneumatics, relying solely on spatial bending to achieve its movements. We derive a kinematic model of the proposed SRS and utilize it to achieve two snake locomotion trajectories, namely sidewinding and helical rolling. These movements are experimentally evaluated under different gait parameters on our SRS prototype. The results demonstrate that the SRS can successfully mimic the proposed spatial locomotion trajectories. This is a significant improvement over the previous designs, which were either limited to planar movements or relied on wheels for locomotion. The ability of the SRS to effectively mimic the complex movements of biological snakes opens up new possibilities for its use in various applications.

Building and maintaining large AI fleets to efficiently support the fast-growing DL workloads is an active research topic for modern cloud infrastructure providers. Generating accurate benchmarks plays an essential role in the design and evaluation of rapidly evoloving software and hardware solutions in this area. Two fundamental challenges to make this process scalable are (i) workload representativeness and (ii) the ability to quickly incorporate changes to the fleet into the benchmarks. To overcome these issues, we propose Mystique, an accurate and scalable framework for production AI benchmark generation. It leverages the PyTorch execution graph (EG), a new feature that captures the runtime information of AI models at the granularity of operators, in a graph format, together with their metadata. By sourcing EG traces from the fleet, we can build AI benchmarks that are portable and representative. Mystique is scalable, with its lightweight data collection, in terms of runtime overhead and user instrumentation efforts. It is also adaptive, as the expressiveness and composability of EG format allows flexible user control over benchmark creation. We evaluate our methodology on several production AI workloads, and show that benchmarks generated with Mystique closely resemble original AI models, both in execution time and system-level metrics. We also showcase the portability of the generated benchmarks across platforms, and demonstrate several use cases enabled by the fine-grained composability of the execution graph.

Similarity search is one of the most fundamental computations that are regularly performed on ever-increasing protein datasets. Scalability is of paramount importance for uncovering novel phenomena that occur at very large scales. We unleash the power of over 20,000 GPUs on the Summit system to perform all-vs-all protein similarity search on one of the largest publicly available datasets with 405 million proteins, in less than 3.5 hours, cutting the time-to-solution for many use cases from weeks. The variability of protein sequence lengths, as well as the sparsity of the space of pairwise comparisons, make this a challenging problem in distributed memory. Due to the need to construct and maintain a data structure holding indices to all other sequences, this application has a huge memory footprint that makes it hard to scale the problem sizes. We overcome this memory limitation by innovative matrix-based blocking techniques, without introducing additional load imbalance.

Network-on-Chip (NoC) enables energy-efficient communication between numerous components in System-on-Chip architectures. The optical NoC is widely considered a key technology to overcome the bandwidth and energy limitations of traditional electrical on-chip interconnects. While optical NoC can offer high performance, they come with inherent security vulnerabilities due to the nature of optical interconnects. In this paper, we investigate the gain competition attack in optical NoCs, which can be initiated by an attacker injecting a high-power signal to the optical waveguide, robbing the legitimate signals of amplification. To the best of our knowledge, our proposed approach is the first attempt to investigate gain competition attacks as a security threat in optical NoCs. We model the attack and analyze its effects on optical NoC performance. We also propose potential attack detection techniques and countermeasures to mitigate the attack. Our experimental evaluation using different NoC topologies and diverse traffic patterns demonstrates the effectiveness of our modeling and exploration of gain competition attacks in optical NoC architectures.

Adversarial attack is a technique for deceiving Machine Learning (ML) models, which provides a way to evaluate the adversarial robustness. In practice, attack algorithms are artificially selected and tuned by human experts to break a ML system. However, manual selection of attackers tends to be sub-optimal, leading to a mistakenly assessment of model security. In this paper, a new procedure called Composite Adversarial Attack (CAA) is proposed for automatically searching the best combination of attack algorithms and their hyper-parameters from a candidate pool of \textbf{32 base attackers}. We design a search space where attack policy is represented as an attacking sequence, i.e., the output of the previous attacker is used as the initialization input for successors. Multi-objective NSGA-II genetic algorithm is adopted for finding the strongest attack policy with minimum complexity. The experimental result shows CAA beats 10 top attackers on 11 diverse defenses with less elapsed time (\textbf{6 $\times$ faster than AutoAttack}), and achieves the new state-of-the-art on $l_{\infty}$, $l_{2}$ and unrestricted adversarial attacks.