Abstract
In recent years, the robots, especially heavy-duty robots, have become the hardest-hit areas for targeted attacks. These attacks come from both the cyber-domain and the physical-domain. In order to improve the security of heavy-duty robots, this paper proposes a detection and mitigation mechanism which based on improved deep belief networks (IDBN) and dynamic model. The detection mechanism consists of two parts: (1) IDBN security checks, which can detect targeted attacks from the cyber-domain; (2) Dynamic model and security detection, used to detect the targeted attacks which can possibly lead to a physical-domain damage. The mitigation mechanism was established on the base of the detection mechanism and could mitigate transient and discontinuous attacks. Moreover, a test platform was established to carry out the performance evaluation test for the proposed mechanism. The results show that, the detection accuracy for the attack of the cyber-domain of IDBN reaches 96.2%, and the detection accuracy for the attack of physical-domain control commands reaches 94%. The performance evaluation test has verified the reliability and high efficiency of the proposed detection and mitigation mechanism for heavy-duty robots.
Highlights
In the global industry, heavy-duty robots play an irreplaceable in many fields, such as heavy equipment manufacturing, hoisting, and fine assembly
The system component and targeted attacks of heavy-duty robots are analyzed; The detection and mitigation mechanism based on improved deep belief networks (IDBN) and dynamic model are established; and, The performance evaluation test is carried out to test the performance of established mechanism
We establish the intrusion detection and mitigation mechanism based on IDBN
Summary
Heavy-duty robots play an irreplaceable in many fields, such as heavy equipment manufacturing, hoisting, and fine assembly They have become an essential equipment for solving heavy-duty operation problems, which can improve work efficiency and reduce labor costs [1,2]. This is the reason why we conducted tests in the laboratory environment. This paper attempts to solve the security problem of heavy-duty robots through the IDBN and dynamic model detection system. The main contributions of this paper are summarized as follows: The system component and targeted attacks of heavy-duty robots are analyzed; The detection and mitigation mechanism based on IDBN and dynamic model are established; and, The performance evaluation test is carried out to test the performance of established mechanism.
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