Improved Deep Belief Networks (IDBN) Dynamic Model-Based Detection and Mitigation for Targeted Attacks on Heavy-Duty Robots

摘要

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.