Tahmid Hasan Sakib, Yago Romano Martinez, Carter Brady
et al.
This paper presents a proof-of-concept supply chain attack against the Secure ROS 2 (SROS 2) framework, demonstrated on a Quanser QCar2 autonomous vehicle platform. A Trojan-infected Debian package modifies core ROS 2 security commands to exfiltrate newly generated keystore credentials via DNS in base64-encoded chunks to an attacker-controlled nameserver. Possession of these credentials enables the attacker to rejoin the SROS 2 network as an authenticated participant and publish spoofed control or perception messages without triggering authentication failures. We evaluate this capability on a secure ROS 2 Humble testbed configured for a four-stop-sign navigation routine using an Intel RealSense camera for perception. Experimental results show that control-topic injections can cause forced braking, sustained high-speed acceleration, and continuous turning loops, while perception-topic spoofing can induce phantom stop signs or suppress real detections. The attack generalizes to any data distribution service (DDS)-based robotic system using SROS 2, highlighting the need for both supply chain integrity controls and runtime semantic validation to safeguard autonomous systems against insider and impersonation threats.
Although best-fit is known to be slow, it excels at optimizing memory space utilization. Interestingly, by keeping the free memory region at the top of the memory, the process of memory allocation and deallocation becomes approximately 34.86% faster while also maintaining external fragmentation at minimum.
This paper investigates the use of OpenMP for parallel post processing in obejct detection on personal Android devices, where resources like computational power, memory, and battery are limited. Specifically, it explores various configurations of thread count, CPU affinity, and chunk size on a Redmi Note 10 Pro with an ARM Cortex A76 CPU. The study finds that using four threads offers a maximum post processing speedup of 2.3x but increases overall inference time by 2.7x. A balanced configuration of two threads achieves a 1.8x speedup in post processing and a 2% improvement in overall program performance.
This paper describes what it means for a kernel to be debuggable and proposes a kernel design with debuggability in mind. We evaluate the proposed kernel design by comparing the iterations required in cyclic debugging for different classes of bugs in a vanilla monolithic kernel to a variant enhanced with our design rules for debuggability. We discuss the trade offs involved in designing a debuggable kernel.
Persistence is the first principle of big memory systems. We comprehensively analyze the vertical and horizontal extensions of existing memory hierarchy. Networks are flattening traditional storage hierarchies. We present the state-of-the-art studies upon the big memory systems, together with design methodology and implementations. We discuss the full-stack and moving persistence. In order to achieve cost efficiency and deliver high performance, we present the speculative and deterministic persistence.
At HotOS XIX (2023), we organized a panel to discuss the future of reproducibility and replication in systems research. In this document, we highlight the key points and themes that were discussed in the panel and summarize the various opinions shared by both the panelists as well as the HotOS attendees.
A file system standard for use with write-once media such as digital compact disks is proposed. The file system is designed to work with any operating system and a variety of physical media. Although the implementation is simple, it provides a a full-featured and high-performance alternative to conventional file systems on traditional, multiple-write media such as magnetic disks.
This lengthy document often referred to as the "Lustre Book", contains a detailed outline of Lustre file system architecture, as it was created between 2001 and 2005, in accordance with the requirements from various users. Now, in 2019, most features have been implemented, but some only recently, and some along different lines of thought.
This short report raises a correctness issue in the schedulability test presented in Kato et al., "Gang EDF Scheduling of Parallel Task Systems", 30th IEEE Real-Time Systems Symposium, 2009, pp. 459-468.
In this paper, the implementation of an operating system oriented RBAC model is discussed. Firstly, on the basis of RBAC96 model, a new RBAC model named OSR is presented. Secondly, the OSR model is enforced in RFSOS kernel by the way of integrating GFAC method and Capability mechanism together. All parts of the OSR implementation are described in detail.
Analysis of the retrieval architecture of the highly influential UNIX file system (\cite{Ritchie}\cite{multicsfs}) provides insight into design methods, constraints, and possible alternatives. The basic architecture can be understood in terms of function composition and recursion by anyone with some mathematical maturity. Expertise in operating system coding or in any specialized "formal method" is not required.
The contemporary development of hardware components is a prerequisite for increasing the concentration of computing power. System software is developing at a much slower pace. To use available resources efficiently modeling is required. Formalization of elements, present in the material, provides the basis for modeling. Examples are presented to demonstrate the efficiency of the concept.
The objective of this paper is to take some aspects of disk scheduling and scheduling algorithms. The disk scheduling is discussed with a sneak peak in general and selection of algorithm in particular.
We dwell on how a definition of a theoretical concept of an operating system, suitable to be incorporated in a mathematical theory of operating systems, could look like. This is considered a valuable preparation for the development of a mathematical theory of operating systems.
This note concerns a search for publications in which one can find statements that explain the concept of an operating system, reasons for introducing operating systems, a formalization of the concept of an operating system or theory about operating systems based on such a formalization. It reports on the way in which the search has been carried out and the outcome of the search. The outcome includes not only what the search was meant for, but also some added bonuses.
In this short paper, we would like to call professional community's attention to a daring idea that is surely unhelpful, but is exciting for programmers and anyway conflicts with the trend of energy consumption in computer systems.
The multiprocessor Fixed-Job Priority (FJP) scheduling of real-time systems is studied. An important property for the schedulability analysis, the predictability (regardless to the execution times), is studied for heterogeneous multiprocessor platforms. Our main contribution is to show that any FJP schedulers are predictable on unrelated platforms. A convenient consequence is the fact that any FJP schedulers are predictable on uniform multiprocessors.
In this paper, we propose a synchronous protocol without periodicity for scheduling multi-mode real-time systems upon identical multiprocessor platforms. Our proposal can be considered to be a multiprocessor extension of the uniprocessor protocol called "Minimal Single Offset protocol".
In this ongoing work, we are interested in multiprocessor energy efficient systems, where task durations are not known in advance, but are know stochastically. More precisely, we consider global scheduling algorithms for frame-based multiprocessor stochastic DVFS (Dynamic Voltage and Frequency Scaling) systems. Moreover, we consider processors with a discrete set of available frequencies.