arXiv subjects

Hassen Fourati

Publications and source records attributed to Hassen Fourati.

4 recordsLinked to original sources

arXiv2024

Cyber-Physical Security of Vehicles: Zero Dynamics Attacks Against Vehicle's Lateral Dynamics

Modern vehicles have evolved from mechanical systems to complex and connected ones controlled by numerous digital computers interconnected through internal networks. While this development has improved their efficiency and safety, it also brings new potential risks, particularly cyber-attacks. Several studies have explored the security of vehicle dynamics against such threats. Among these dynamics, the vehicle's lateral dynamics are crucial for maintaining stability and control during turns and maneuvers, making them a key focus of research. However, only a few recent studies have specifically investigated the security of lateral dynamics. This paper explores the potential for zero dynamics attacks on the vehicle's lateral dynamics, where the attacker can remain undetected by leaving no trace on the system's outputs. Three scenarios are studied: when the output includes yaw rate, lateral acceleration, and their combination. These two critical measurements of a vehicle's lateral motion are accessible through the inertial measurement units (IMU) in every vehicle. For each scenario, the impact of zero dynamics attacks on system performance is analyzed and illustrated through simulations. Finally, the paper provides recommendations for securing vehicles' lateral dynamics against such attacks.

eess.SY↗

arXiv2024

An open-source Autonomous Surface Vehicle for Acoustic Tracking, Bathymetric and Photogrammetric Surveys

Autonomous Surface Vehicles (ASV) are becoming more affordable and include a wide variety of sensors and capacities with applications from ocean physics such as the Saildrone project to ecology with the tracking of marine species in the wild. Here, we present a multi-modal, affordable, open source, and reproducible ASV to track marine animal in shallow waters, collect information on bathymetry, and carry out photogrammetry surveys. The current specification enables scientists to track an animal equipped with an acoustic tag for 5~h and a spatial accuracy of 1~m. For bathymetric or photogrammetry surveys, the ASV can cover 100 x 100~m areas in 2~h with a distance of 1-m between transects. Depending on the sensors included in the ASV, it has a price ranging from \$2,434 to \$11,072. We illustrate these developments with a case study and a field survey for each of the different application proposed.

eess.SP↗

arXiv2024

MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning

A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the displacement and orientation changes of the system, thereby aiding the inertial navigation system (INS). Experiments show that MAINS significantly outperforms the stand-alone INS, demonstrating a remarkable two orders of magnitude reduction in position error. Furthermore, when compared to the state-of-the-art magnetic-field-aided navigation approach, the proposed method exhibits slightly improved horizontal position accuracy. On the other hand, it has noticeably larger vertical error on datasets with large magnetic field variations. However, one of the main advantages of MAINS compared to the state-of-the-art is that it enables flexible sensor configurations. The experimental results show that the position error after 2 minutes of navigation in most cases is less than 3 meters when using an array of 30 magnetometers. Thus, the proposed navigation solution has the potential to solve one of the key challenges faced with current magnetic-field simultaneous localization and mapping (SLAM) solutions: the very limited allowable length of the exploration phase during which unvisited areas are mapped.

cs.RO↗

arXiv2017

Nanobob: A Cubesat Mission Concept For Quantum Communication Experiments In An Uplink Configuration

We present a ground-to-space quantum key distribution (QKD) mission concept and the accompanying feasibility study for the development of the low earth orbit CubeSat payload. The quantum information is carried by single photons with the binary codes represented by polarization states of the photons. Distribution of entangled photons between the ground and the satellite can be used to certify the quantum nature of the link: a guarantee that no eavesdropping can take place. By placing the entangled photon source on the ground, the space segments contains only the less complex detection system, enabling its implementation in a compact enclosure, compatible with the 12U CubeSat standard (12 dm3). This reduces the overall cost of the project, making it an ideal choice as a pathfinder for future European quantum communication satellite missions. The space segment is also more versatile than one that contains the source since it is compatible with a multiple of QKD protocols (not restricted to entangled photon schemes) and can be used in quantum physics experiments, such as the investigation of entanglement decoherence. Other possible experiments include atmospheric transmission/turbulence characterization, dark area mapping, fine pointing and tracking, and accurate clock synchronization; all crucial for future global scale quantum communication efforts.

quant-ph↗