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This paper presents the b-it-bots RoboCup@Work team and its current hardware and functional architecture for the KUKA youBot robot.We describe the underlying software framework and the developed capabilities required for operating in industrial environments including features such as reliable and precise navigation, flexible manipulation and robust object recognition.
Competitions for Benchmarking: Task and Functionality Scoring Complete Performance Assessment
(2015)
Target meaning representations for semantic parsing tasks are often based on programming or query languages, such as SQL, and can be formalized by a context-free grammar. Assuming a priori knowledge of the target domain, such grammars can be exploited to enforce syntactical constraints when predicting logical forms. To that end, we assess how syntactical parsers can be integrated into modern encoder-decoder frameworks. Specifically, we implement an attentional SEQ2SEQ model that uses an LR parser to maintain syntactically valid sequences throughout the decoding procedure. Compared to other approaches to grammar-guided decoding that modify the underlying neural network architecture or attempt to derive full parse trees, our approach is conceptually simpler, adds less computational overhead during inference and integrates seamlessly with current SEQ2SEQ frameworks. We present preliminary evaluation results against a recurrent SEQ2SEQ baseline on GEOQUERY and ATIS and demonstrate improved performance while enforcing grammatical constraints.
RoCKIn@Work was focused on benchmarks in the domain of industrial robots. Both task and functionality benchmarks were derived from real world applications. All of them were part of a bigger user story painting the picture of a scaled down real world factory scenario. Elements used to build the testbed were chosen from common materials in modern manufacturing environments. Networked devices, machines controllable through a central software component, were also part of the testbed and introduced a dynamic component to the task benchmarks. Strict guidelines on data logging were imposed on participating teams to ensure gathered data could be automatically evaluated. This also had the positive effect that teams were made aware of the importance of data logging, not only during a competition but also during research as useful utility in their own laboratory. Tasks and functionality benchmarks are explained in detail, starting with their use case in industry, further detailing their execution and providing information on scoring and ranking mechanisms for the specific benchmark.
The BRICS component model: a model-based development paradigm for complex robotics software systems
(2013)
This paper gives necessary foundations to understand the mechanism of warning processing and summarizes the state of the art in warning development. That includes a description of tools, researchers use to work in this scientific field. In detail these are models that describes the human way of processing warnings and mental models. Both are presented detailed with relevant examples. The paper tells how these tools are connected and how they are used to improve the effectiveness of warnings.
Less is Often More: Header Whitelisting as Semantic Gap Mitigation in HTTP-Based Software Systems
(2021)
The web is the most wide-spread digital system in the world and is used for many crucial applications. This makes web application security extremely important and, although there are already many security measures, new vulnerabilities are constantly being discovered. One reason for some of the recent discoveries lies in the presence of intermediate systems—e.g. caches, message routers, and load balancers—on the way between a client and a web application server. The implementations of such intermediaries may interpret HTTP messages differently, which leads to a semantically different understanding of the same message. This so-called semantic gap can cause weaknesses in the entire HTTP message processing chain.
In this paper we introduce the header whitelisting (HWL) approach to address the semantic gap in HTTP message processing pipelines. The basic idea is to normalize and reduce an HTTP request header to the minimum required fields using a whitelist before processing it in an intermediary or on the server, and then restore the original request for the next hop. Our results show that HWL can avoid misinterpretations of HTTP messages in the different components and thus prevent many attacks rooted in a semantic gap including request smuggling, cache poisoning, and authentication bypass.
Is It Really You Who Forgot the Password? When Account Recovery Meets Risk-Based Authentication
(2024)
Components and Architecture for the Implementation of Technology-Driven Employee Data Protection
(2021)
Das Auslesen von Messdaten in elektronischer Form ermöglicht es, diese vom Ursprung bis zur Rechnungsstellung effizient und ohne Medienbruch zu erheben und zu verarbeiten. Gerade im liberalisierten Energiemarkt ist dies von Bedeutung, da eine Vielzahl von Marktteilnehmern miteinander kommunizieren muss. Das im VERNET-Programm geförderte SELMA-Projekt verfolgt das Ziel, einen Standard für den sicheren elektronischen Austausch von Messdaten zu entwickeln und zu etablieren. Eine der zentralen Anforderungen ist die Gewährleistung der Authentizität und Integrität der über offene Netze ausgelesenen Messdaten, die über die gesamte Lebensdauer der Messdaten nachprüfbar sein sollen. Die technische Umsetzung dieser Anforderungen resultiert in einer Sicherheitsarchitektur, die durch den durchgängigen Einsatz elektronischer Signaturen gekennzeichnet ist. Mit den signierten Datensätzen können die Rechnungen von den Marktteilnehmern auf ihre Authentizität und Integrität hin überprüft werden. Dieser Beitrag zeigt die gesetzgeberischen Hindernisse auf, die bei der Umsetzung der Anforderungen an qualifizierte Signaturen im elektronischen Messdatenaustausch auftreten und wie dennoch eine größtmögliche Beweiskraft für fortgeschrittene Signaturen erreicht werden kann.
The RoCKIn@Work Challenge
(2014)
We present a universal modular robot architecture. A robot consists of the following intelligent modules: central control unit (CCU), drive, actuators, a vision unit and sensor input unit. Software and hardware of the robot fit into this structure. We define generic interface protocols between these units. If the robot has to solve a new application and is equipped with a different drive, new actuators and different sensors, only the program for the new application has to be loaded into the CCU. The interfaces to the drive, the vision unit and the other sensors are plug-and-play interfaces. The only constraint for the CCU-program is the set of commands for the actuators.
This work introduces Grid computing, showsits use in eHealth environments and elicits trends towards the integration of custodians in eHealth Grids. It considers security and privacy requirements for the use of Grid computing in eHealth scenariosand discusses the possible integration of different types of data custodians. Finally the paper concludes and gives an outlook on the development and deployment of eHealth Gridsinthe near future.
Usable Security und Privacy
(2010)
RPSL meets lightning: A model-based approach to design space exploration of robot perception systems
(2017)
Today’s computer systems face a vast array of severe threats that are posed by automated attacks performed by malicious software as well as manual attacks by individual humans. These attacks not only differ in their technical implementation but may also be location-dependent. Consequentially, it is necessary to join the information from heterogeneous and distributed attack sensors in order to acquire comprehensive information on current ongoing cyber attacks.
Multi-hop Netze sind seit vielen Jahren Forschungsthema. Seit einigen Jahren gibt es auch erste Realisierungen solcher Netze. Sie ermöglichen es, ohne feste Infrastruktur sich selbst organisierende Netze zu realisieren. Dies macht sie für vielfältige zivile wie taktische Szenarien interessant. In der vorliegenden Arbeit liegt der Fokus auf taktischen Szenarien, wie Szenarien der öffentlichen Sicherheit, militärischen oder Katastrophenszenarien. In solchen Szenarien kann für die Kommunikation auf der letzten Meile nicht von existierender Kommunikationsinfrastruktur ausgegangen werden. Taktische multi-hop Netze stellen eine Möglichkeit dar, die Kommunikation auf der letzen Meile trotzdem zu realisieren.
The usage of link quality based routing metrics significantly improves the quality of the chosen paths and by that the performance of the network. But, attackers may try to exploit link qualities for their purposes. Especially in tactical multi-hop networks, routing may fall prey to an attacker. Such routing attacks are a serious threat to communication. TOGBAD is a centralised approach, using topology graphs to detect routing attacks. In this paper, we enhance TOGBAD with the capability to detect fake link qualities. We use a Challenge/Response method to estimate the link qualities in the network. Based on this, we perform plausibility checks for the link qualities propagated by the nodes in the network. Furthermore, we study the impact of attackers propagating fake link qualities and present simulation results showing TOGBAD's detection rate.
Routing Attacks are a serious threat to communication in tactical MANETs. TOGBAD is a centralised approach, using topology graphs to detect such attacks. In this paper, we present TOGBAD's newly added wormhole detection capability. It is an adaptation of a wormhole detection method developed by Hu et al. This method is based on nodes' positions. We adapted it to the specific properties of tactical environments. Furthermore, we present simulation results which show TOGBAD's performance regarding the detection of wormhole attacks.
We present a systematization of usable security principles, guidelines and patterns to facilitate the transfer of existing knowledge to researchers and practitioners. Based on a literature review, we extracted 23 principles, 11 guidelines and 47 patterns for usable security and identified their interconnection. The results indicate that current research tends to focus on only a subset of important principles. The fact that some principles are not yet addressed by any design patterns suggests that further work on refining these patterns is needed. We developed an online repository, which stores the harmonized principles, guidelines and patterns. The tool enables users to search for relevant guidance and explore it in an interactive and programmatic manner. We argue that both the insights presented in this article and the web-based repository will be highly valuable for students to get a good overview, practitioners to implement usable security and researchers to identify areas of future research.
Kontemporäre Service-orientierte Systeme sind hochgradig vernetzt und haben zudem die Eigenschaft massiv-skalierbar zu sein. Diese Charakteristiken stellen im besonderen Maße Anforderungen an die Datensicherheit der Anwender solcher Systeme und damit primär an alle Stakeholder der Softwareentwicklung, die in der Verantwortung sind, passgenaue Sicherheitsmechanismen effektiv in die Softwareprodukte zu bringen. Die Effektivität von Sicherheitsarchitekturen in service-orientierten Systemen hängt maßgeblich von der richtigen Nutzung und Integration von Security-APIs durch eine heterogene Gruppe von Softwareentwicklern ab, bei der nicht per se ein fundiertes Hintergrundwissen über komplexe digitale Sicherheitsmechanismen vorausgesetzt werden kann. Die Diskrepanz zwischen komplexen und in der Anwendung fehleranfälligen APIs und einem fehlenden Verständnis für die zugrundeliegenden Sicherheitskonzepte auf Seiten der Nutzer begünstigt in der Praxis unsichere Softwaresysteme. Aus diesem Grund ist die Gebrauchstauglichkeit von Security-APIs besonders relevant, damit Programmierer den benötigten Funktionsumfang effektiv, effizient und zufriedenstellend verwenden können. Abgeleitet von dieser Problemstellung, konzentriert sich das Dissertationsvorhaben auf die gebrauchstaugliche Ausgestaltung von Security-APIs und den Herausforderungen die sich aus den Methoden zur Evaluation der Usability in typischen Umgebungen der Softwareentwicklung ergeben.
Listen to Developers! A Participatory Design Study on Security Warnings for Cryptographic APIs
(2020)
Application Programming Interfaces (APIs) are a vital link between software components as well as between software and developers. Security APIs deliver crucial functionalities for programmers who see themselves in the increasing need for integrating security services into their software products. The ignorant or incorrect use of Security APIs leads to critical security flaws, as has been revealed by recent security studies. One major reason for this is rooted in usability issues. API Usability research has been deriving recommendations for designing usable APIs in general. Facing the growing relevance of Security APIs, the question arises, whether the observed usability aspects in the general space are already sufficient enough for building usable Security APIs. The currently available findings in the API Usability domain are selective fragments only, though. This still emerging field has not produced a comprehensive model yet. As a consequence, a first contribution of this paper is such a model that provides a consolidated view on the current research coverage of API Usability. On this baseline, the paper continues by conducting an analysis of relevant security studies, which give insights on usability problems developers had, when using Security APIs. This analysis leads to a proposal of eleven specific usability characteristics relevant for Security APIs. These have to be followed up by usability studies in order to evaluate how Security APIs need to be designed in a usable way and which potential trade-offs have to be balanced.
Computer-Sicherheitswarnungen – Benutzerzentrierte Entwurfsansätze der Usable Security-Forschung
(2017)
Der dritte und letzte Teil der Artikel-Serie in dieser Ausgabe zum Thema Usable Security zeigt exemplarisch, wie Softwareentwickler mit den im Rahmen des USecureD-Projekts entwickelten Werkzeugen arbeiten können. Der Beitrag konzentriert sich dabei auf Prinzipien, Richtlinien und Patterns, die bei der Ausgestaltung gebrauchstauglicher Computer-Sicherheitswarnungen berücksichtigt werden sollten. Anhand dieser sehr ubiquitären Bestandteile eines jeden digitalen Produkts kann anschaulich gezeigt werden, wie aktuelle wissenschaftliche Erkenntnisse auf dem Gebiet der Usable Security praxisnah für Softwarearchitekturen und Programmierer verfügbar und anwendbar gemacht werden können.
Dieses Buch führt Sie umfassend in die WebSocket-Technik und die damit einhergehenden neuen Entwicklungsmöglichkeiten ein. Unter den zahlreichen exemplarischen Anwendungen finden sich Beispiele auf Basis von Node.js, Vert.x, und JSR 356, als Programmiersprachen werden Java und JavaScript eingesetzt.
SOA-Readiness of REST
(2014)
Service Security Revisited
(2014)
Web of Services Security
(2015)
Damit IT-gestützte Produkte und Systeme vor unbefugter oder missbräuchlicher Nutzung wirksam geschützt sind, müssen sie mit Sicherheitsfunktionen ausgestattet sein, die benutzerfreundlich sind. Hierfür sind seitens der Entwickler sowohl Security- als auch Usability-Kenntnisse erforderlich. Da insbesondere Entwickler in kleinen und mittleren Unternehmen (KMU) oft nicht über tiefer gehende Kenntnisse in beiden Bereichen verfügen, bedürfen sie einer Unterstützung, z. B. in Form geeigneter Methoden und Werkzeuge. In diesem Beitrag werden ein Lösungsweg und eine Werkzeugsammlung vorgestellt, die Entwicklern in KMU dabei helfen, auf systematische Weise digitale Produkte und Systeme mit dem Qualitätsmerkmal Usable Security herzustellen.
Cryptographic API misuse is responsible for a large number of software vulnerabilities. In many cases developers are overburdened by the complex set of programming choices and their security implications. Past studies have identified significant challenges when using cryptographic APIs that lack a certain set of usability features (e.g. easy-to-use documentation or meaningful warning and error messages) leading to an especially high likelihood of writing functionally correct but insecure code.
To support software developers in writing more secure code, this work investigates a novel approach aimed at these hard-to-use cryptographic APIs. In a controlled online experiment with 53 participants, we study the effectiveness of API-integrated security advice which informs about an API misuse and places secure programming hints as guidance close to the developer. This allows us to address insecure cryptographic choices including encryption algorithms, key sizes, modes of operation and hashing algorithms with helpful documentation in the guise of warnings. Whenever possible, the security advice proposes code changes to fix the responsible security issues. We find that our approach significantly improves code security. 73% of the participants who received the security advice fixed their insecure code.
We evaluate the opportunities and challenges of adopting API-integrated security advice and illustrate the potential to reduce the negative implications of cryptographic API misuse and help developers write more secure code.
Software development is a complex task. Merely focussing on functional requirements is not sufficient any more. Developers are responsible to take many non-functional requirements carefully into account. Security is amongst the most challenging, as getting it wrong will result in a large user-base being potentially at risk. A similar situation exists for administrators. Security defaults have been put into place here to encounter lacking security controls. As first attempts to establish security by default in software development are flourishing, the question on their usability for developers arises.
In this paper we study the effectiveness and efficiency of Content Security Policy (CSP) enforced as security default in a web framework. When deployed correctly, CSP is a valid protection mean in a defence-in-depth strategy against code injection attacks. In this paper we present a first qualitative laboratory study with 30 participants to discover how developers deal with CSP when deployed as security default. Our results emphasize that the deployment as security default has its benefits but requires careful consideration of a comprehensive information flow in order to improve and not weaken security. We provide first insights to inform research about aiding developers in the creation of secure web applications with usable security by default.
Software developers build complex systems using plenty of third-party libraries. Documentation is key to understand and use the functionality provided via the libraries’ APIs. Therefore, functionality is the main focus of contemporary API documentation, while cross-cutting concerns such as security are almost never considered at all, especially when the API itself does not provide security features. Documentations of JavaScript libraries for use in web applications, e.g., do not specify how to add or adapt a Content Security Policy (CSP) to mitigate content injection attacks like Cross-Site Scripting (XSS). This is unfortunate, as security-relevant API documentation might have an influence on secure coding practices and prevailing major vulnerabilities such as XSS. For the first time, we study the effects of integrating security-relevant information in non-security API documentation. For this purpose, we took CSP as an exemplary study object and extended the official Google Maps JavaScript API documentation with security-relevant CSP information in three distinct manners. Then, we evaluated the usage of these variations in a between-group eye-tracking lab study involving N=49 participants. Our observations suggest: (1) Developers are focused on elements with code examples. They mostly skim the documentation while searching for a quick solution to their programming task. This finding gives further evidence to results of related studies. (2) The location where CSP-related code examples are placed in non-security API documentation significantly impacts the time it takes to find this security-relevant information. In particular, the study results showed that the proximity to functional-related code examples in documentation is a decisive factor. (3) Examples significantly help to produce secure CSP solutions. (4) Developers have additional information needs that our approach cannot meet.
Overall, our study contributes to a first understanding of the impact of security-relevant information in non-security API documentation on CSP implementation. Although further research is required, our findings emphasize that API producers should take responsibility for adequately documenting security aspects and thus supporting the sensibility and training of developers to implement secure systems. This responsibility also holds in seemingly non-security relevant contexts.
Users should always play a central role in the development of (software) solutions. The human-centered design (HCD) process in the ISO 9241-210 standard proposes a procedure for systematically involving users. However, due to its abstraction level, the HCD process provides little guidance for how it should be implemented in practice. In this chapter, we propose three concrete practical methods that enable the reader to develop usable security and privacy (USP) solutions using the HCD process. This chapter equips the reader with the procedural knowledge and recommendations to: (1) derive mental models with regard to security and privacy, (2) analyze USP needs and privacy-related requirements, and (3) collect user characteristics on privacy and structure them by user group profiles and into privacy personas. Together, these approaches help to design measures for a user-friendly implementation of security and privacy measures based on a firm understanding of the key stakeholders.
When entering a password (or other secrets) the typed input is most commonly masked, i.e. the characters are hidden behind bullets or asterisks. This, however, complicates the input and highly decreases the user's confident causing several issues such as login failure attempts. On the other hand, password masking is an important security requirement for a lot of applications and contexts to prevent a third person to read the password. Thus, simply dropping password masking is not feasible in general. A common solution provides the user with the choice of toggling password masking on and off, but due to distinct defaults (in dependency of the application and context) this is rather complex and confusing. Enhanced password visualization technologies beyond the simple masking of passwords can provide more sophisticated solutions from both a usability and security perspective. In this paper, available password visualization technologies are presented and discussed. Furthermore a novel password visualization approach is introduced, the TransparentMask, which provides unique properties in comparison to the existing schemes. Amongst these are the ability to detect mistakes while typing and being able to localize and correct the typo within a certain range. Finally, a security analysis of the TransparentMask shows that the protection level given by a certain password length is slightly decreased in comparison to the fully masked approach.
The Web has become an indispensable prerequisite of everyday live and the Web browser is the most used application on a variety of distinct devices. The content delivered by the Web has changed drastically from static pages to media-rich and interactive Web applications offering nearly the same functionality as native applications, a trend which is further pushed by the Cloud and more specifically the Cloud’s SaaS layer. In the light of this development, security and performance of Web browsing has become a crucial issue.
One of the main aims of current social robotic research is to improve the robots’ abilities to interact with humans. In order to achieve an interaction similar to that among humans, robots should be able to communicate in an intuitive and natural way and appropriately interpret human affects during social interactions. Similarly to how humans are able to recognize emotions in other humans, machines are capable of extracting information from the various ways humans convey emotions-including facial expression, speech, gesture or text-and using this information for improved human computer interaction. This can be described as Affective Computing, an interdisciplinary field that expands into otherwise unrelated fields like psychology and cognitive science and involves the research and development of systems that can recognize and interpret human affects. To leverage these emotional capabilities by embedding them in humanoid robots is the foundation of the concept Affective Robots, which has the objective of making robots capable of sensing the user’s current mood and personality traits and adapt their behavior in the most appropriate manner based on that. In this paper, the emotion recognition capabilities of the humanoid robot Pepper are experimentally explored, based on the facial expressions for the so-called basic emotions, as well as how it performs in contrast to other state-of-the-art approaches with both expression databases compiled in academic environments and real subjects showing posed expressions as well as spontaneous emotional reactions. The experiments’ results show that the detection accuracy amongst the evaluated approaches differs substantially. The introduced experiments offer a general structure and approach for conducting such experimental evaluations. The paper further suggests that the most meaningful results are obtained by conducting experiments with real subjects expressing the emotions as spontaneous reactions.
On an Integration of an Information Security Management System into an Enterprise Architecture
(2010)
In recent years a new category of digital signature algorithms based on Elliptic Curve Cryptography (ECC) has taken place besides well known schemes as RSA or DSA. So far it is, however, still not obvious how ECC-based signature schemes can be integrated in X.509-based Public Key Infrastructures (PKI).This paper briefly introduces cryptographic basics of signature schemes based on elliptic curves and points out the necessary cryptography parameters that are important in this context. Afterwards the structure and the encoding of X.509 certificates and Certificate Revocation Lists (CRL) are discussed regarding the integration of ECC public keys and ECC signatures respectively. The paper closes with exemplary implementations of ECC-based security systems.