Secure Autonomous and Cyber-Physical Systems

Instructor: Prof. Sibin Mohan, Oregon State University

CS/ECE 599 | Winter 2022 Term | MW 2:00 - 3:50 PM PT | BAT 150

This course will focus on the state-of-the-art on security for autonomous and cyber-physical systems. The goal is to provide a deep and broad understanding of the design of such systems as they interact with the real world. Autonomous cars, unmanned aerial/ground/water vehicles, robots, etc. are examples of systems that we intend to explore.

We will cover topics related to:

• design of autonomous, cyber-physical and real-time systems
• sensing, IMU, GPS, Radar, LIDAR, Camera, etc.
• localization, Simultaneous localization And Mapping (SLAM)
• Extended Kalman Filter (EKF)
• attacks and defenses related to all of these topics
• privacy and ethical issues in the design and deployment of autonomous systems

Hands-on exercises will explore well known, open-source simulation and control platforms such as:

• Gazebo
• VEINS

The course will also include an exploration of the state-of-the-art research papers in these domains.

Prerequisites: students should be familiar with one or more modern programming languages such as Python, C++, etc. The hands-on machine problems will involve the setting up of open-source simulation frameworks (detailed instructions will be provided).

Course Details

• Instructor: Prof. Sibin Mohan
• Time: MON/WED 2:00 -- 3:50 PM PT
• Location: Batchellor Hall (BAT) 150
• Office Hours: MON/WED 4:00 -- 5:00 PM [KEC 3049] *
• Contact: please message on Canvas

Communication

Target Audience

Covid

Grading Criteria

Conversion from numerical to letter grade is as follows:

In Class Participation

Schedule

Policies

Late Submissions for MPs

Submission/due dates are announced along with the MP descriptions.

You have a total of 3 "grace" days to use during the term. You can use those to submit whatever assignment(s) you want late. E.g. you can turn in one assignment 2 days late, the other 1 day late. Or turn in 3 assignments, each 1 day late. If you want to use these late days, indicate so in the comment box when you submit it on Canvas.

You start losing 20% of the points per day after the grace days you use. E.g., if the assignment is due on Tuesday, and you turn it in on Wednesday without saying anything, you lose 20 points. If you use 1 grace day, and turn it in on Wednesday, you don't lose any points; but if you turn it in on Thursday, your final grade will be Your Earned Grade - 20. On Friday, it will be Your Earned Grade - 40.

An assignment can be at most three days late: so in our example, if you turn in the assignment Saturday, the grade is 0.

The point of this policy is to balance the need to be fair to those who turn in their assignments on time, with the need to recognize that sometimes, stuff happens and you just can't do all that's expected of you. Why have deadlines at all? Because almost everything in life does, and this is a small-stakes environment to practice that. Also, we can't grade everything at once.

Collaboration and the Honor Code

You are encouraged to work together. You may discuss the MPs with other people to understand the problem and reach a solution. However, each student/group must write down the solution independently, without referring to written notes from others. Hence, you must understand the solution well enough to discuss it yourself. In addition, each student/group must explicitly mention the names of the people with whom they collaborated. If I suspect cheating, I might have the student(s) come and answer questions in my office. If my suspicions are confirmed, I will refer the student to the disciplinary committee.

The purpose of problem sets in this class is to help you think about the material, not just give us the right answers. You are encouraged to use online resources for learning more about the material covered in class; however, you should not look for or use found solutions to questions in the problem sets. Specifically, you must not look at any code that has been created to solve the assignment, including solutions found on the internet to questions in the problem sets, code created by a student in a previous class or code created by a current classmate. (Though frankly, I seriously doubt you'll find anything, I regularly change the assignments).

Familiarize yourself with the standards set forth in the OSU Code of Student Conduct section 4.2. If there is any question about whether an act constitutes academic misconduct, it is your responsibility to seek clarification and approval from the instructor prior to acting. When in doubt, ask, or don't do it.

Absence Policy

If you miss a class, for whatever reason, you are still responsible for that class' material. Go through the lectures, consult the scribe notes, come to office hours (in that order), and talk to your fellow students, to learn the material.

Grade Review Policy

You have one week after a grade is released to ask me questions about it and seek a correction. After the week has passed, the grade is finalized. When releasing a grade, I also post comments where appropriate, explaining where you lost points, made mistakes, etc.

In case you are seeking a correction to the grade, you need a specific reason: e.g., your reasoning on MP 1.a was essentially correct but your written explanation, you now realize, was ambiguous; my comments say that your model had errors and I couldn't run it, but you can run it fine on your machine; etc. I cannot accommodate general requests that are a variation on "I think my grade was too low". Why do you think that? Based on our discussion, I might increase the grade, decrease it, or leave it as is.

Of course, you can stop by anytime during the term to ask questions about any part of the material. The one-week deadline applies to grade-specific questions.

COVID-Related Topics

The university's COVID-19 Safety and Success website serves as the primary communication channel for the Oregon State community regarding COVID-19 logistics and classroom guidelines.

Face Coverings

The university has a requirement to use a face covering when in indoor spaces in order to contribute to the health and safety of the OSU community during the ongoing COVID-19 pandemic. Accordingly, you are expected to use a face covering when attending class, including when you speak. I will do the same.

Acceptable face coverings include:

• Cloth garments that cover the nose and mouth
• Medical-grade disposable masks

The following are not acceptable face coverings: face coverings that incorporate a valve to facilitate easy exhalation, mesh masks, lace masks, face shields or other coverings with openings, holes, or visible gaps in the design, material or vents.

If you don't have your own, face coverings are available at the library, Memorial Union or Student Health Services. All CoE buildings also have masks available.

Requests for exemption from wearing a face covering in indoor spaces require approval through the disability accommodation process. Please contact Disability Access Services (DAS) if you are seeking accommodation to the Policy based on disability. I encourage you to review the policy yourself, to understand the university's expectations around the use of face coverings outside the classroom, OSU's Vaccination requirement, and OSU's isolation and quarantine requirements.

Students with Disabiities

Accommodations for students with disabilities are determined and approved by Disability Access Services(DAS). If you, as a student, feel that you need accommodations but have not obtained approval please contact DAS immediately at 541-737-4098 or at http://ds.oregonstate.edu. DAS notifies students and faculty members of approved academic accommodations and coordinates implementation of those accommodations. While not required, students and faculty members are encouraged to discuss details of the implementation of individual accommodations.

The definition of disability is not limited to physical disability. OSU’s Nondiscrimination on the Basis of Disability policy states:

"...no qualified person shall, solely by reason of disability, be denied access to, participation in, or the benefits of, any program or activity provided by the University. Each qualified person shall receive the reasonable accommodations needed to ensure equal access to employment, educational opportunities, programs and activities in the most integrated setting feasible."

Reach Out for Success

University students encounter setbacks from time to time. If you encounter difficulties and need assistance, it.s important to reach out. Consider discussing the situation with an instructor or academic advisor. Learn about resources that assist with wellness and academic success at oregonstate.edu/ReachOut. If you are in immediate crisis, please contact the Crisis Text Line by texting OREGON to 741-741 or call the National Suicide Prevention Lifeline at 1-800-273-TALK (8255). If you have a disability that requires special accommodation, please get in touch with the University's Disability Access Services. The definition of disability is not limited to physical disability. They will work with the instructor to make sure this class works for you: http://ds.oregonstate.edu