Security for the Networked Robot Operating System for Biomedical Applications

2021 ◽  
Vol 11 (12) ◽  
pp. 2937-2949
Author(s):  
M. Rajakumaran ◽  
S. Ramabalan
Keyword(s):  
Operating System ◽  
Biomedical Applications ◽  
Data Transfer ◽  
Biomedical Application ◽  
Power Input ◽  
Production Method ◽  
Dos Attacks ◽  
Current Time ◽  
Robot Operating System ◽  
Verification Method

Future mechanical frameworks will be arranged in exceptionally organized conditions in which they speak with modern control frameworks, cloud administrations or various other systems at distant areas. In this pattern of solid digitization of modern frameworks (likewise some of the time alluded to as Industry 4.0), digital assaults are an in-wrinkling danger to the uprightness of the automated frameworks at the center of this unique turn of events. It is normal, that the ROS shall assume a significant function in advanced mechanics outside of unadulterated exploration situated situations. ROS anyway has noteworthy security issues which should be tended to before such items should arrive at mass business sectors. Robot Operating System has emerged promptly as an alluring production method at micro and nano scales, particularly in the area of biomedical applications because of its flexibility and condensed size. As disputed to conventional grippers in the field of biomedical applications where mobility is less and show size restriction threats, ROS based micro-grippers are clear from outside power input and yield better mobility. It also has a significant impact on the field of biomedical surgery, where security is a major threat. With the current improvements in wireless communications, Tactile Internet has endorsed a dominant impact. It is regarded as the future huge development which can give current-time regulation in industrial systems, especially in the field of tele surgery. Even though, in remote-surgery environment the data transfer is subjected to various attack points. Hence, in order to understand the real capacity of safe tele-surgery, it is needed to develop a safe verification and key agreement protocol for tele-surgery. We offer here an effective, secure and common verification method in the field of biomedical application in the field of robotic tele-operation. The developed protocol ensures safe interaction samidst the surgeon, robotic arm, and the devoted jurisdiction; The results obtained express the flexibility of the protocol against offline password assuming attacks, replay attacks, imitation attacks, man-in-the-middle attacks, DoS attacks, etc.

scholarly journals Develop Real-Time Robot Control Architecture Using Robot Operating System and EtherCAT

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 141
Author(s):  
Wei-Li Chuang ◽  
Ming-Ho Yeh ◽  
Yi-Liang Yeh
Keyword(s):  
Operating System ◽  
Real Time ◽  
Robot Control ◽  
Data Transfer ◽  
Control Architecture ◽  
Servo Drive ◽  
Robot Operating System ◽  
Memory Mechanism ◽  
Motion Kernel ◽  
Human Robot Collaboration

This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, the advantages of an ROS framework here are it is easy to integrate sensors for recognizing human commands and the well-developed communication protocols for data transfer between nodes. We propose a shared memory mechanism to improve the communication between non-real-time ROS nodes and real-time robot control tasks in motion kernel, which is implemented in the ARM development board with a real-time operating system. The jerk-limited trajectory generation approach is implemented in the motion kernel to obtain a fine interpolation of ROS MoveIt planned robot path to motor. EtherCAT technologies with precise multi-axis synchronization performance are used to exchange real-time I/O data between motion kernel and servo drive system. The experimental results show the proposed architecture using ROS and EtherCAT in hard real-time environment is feasible for robot control application. With the proposed architecture, a user can efficiently send commands to a robot to complete tasks or read information from the robot to make decisions, which is helpful to reach the purpose of human–robot collaboration in the future.

F1_Tenth_Course_Report_Group_C

2018 ◽  
Author(s):  
Yi Chen ◽  
Sagar Manglani ◽  
Roberto Merco ◽  
Drew Bolduc
Keyword(s):  
Operating System ◽  
Autonomous Driving ◽  
Software Tools ◽  
Simulation Environment ◽  
Robot Operating System ◽  
Available Information

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

Graphene and Graphene-Based Materials in Biomedical Applications

2019 ◽  
Vol 26 (38) ◽  
pp. 6834-6850 ◽  
Author(s):  
Mohammad Omaish Ansari ◽  
Kalamegam Gauthaman ◽  
Abdurahman Essa ◽  
Sidi A. Bencherif ◽  
Adnan Memic
Keyword(s):  
Tissue Engineering ◽  
Thermal Properties ◽  
Gene Delivery ◽  
Regenerative Medicine ◽  
Biomedical Research ◽  
Biomedical Applications ◽  
Biomedical Application ◽  
Two Dimensional ◽  
Drug And Gene Delivery ◽  
Biomedical Fields

: Nanobiotechnology has huge potential in the field of regenerative medicine. One of the main drivers has been the development of novel nanomaterials. One developing class of materials is graphene and its derivatives recognized for their novel properties present on the nanoscale. In particular, graphene and graphene-based nanomaterials have been shown to have excellent electrical, mechanical, optical and thermal properties. Due to these unique properties coupled with the ability to tune their biocompatibility, these nanomaterials have been propelled for various applications. Most recently, these two-dimensional nanomaterials have been widely recognized for their utility in biomedical research. In this review, a brief overview of the strategies to synthesize graphene and its derivatives are discussed. Next, the biocompatibility profile of these nanomaterials as a precursor to their biomedical application is reviewed. Finally, recent applications of graphene-based nanomaterials in various biomedical fields including tissue engineering, drug and gene delivery, biosensing and bioimaging as well as other biorelated studies are highlighted.

Cellulose Nanofibrils-based Hydrogels for Biomedical Applications: Progresses and Challenges

2020 ◽  
Vol 27 (28) ◽  
pp. 4622-4646 ◽  
Author(s):  
Huayu Liu ◽  
Kun Liu ◽  
Xiao Han ◽  
Hongxiang Xie ◽  
Chuanling Si ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Metal Ion ◽  
Biomedical Applications ◽  
Biomedical Application ◽  
Cellulose Nanofibrils ◽  
Wound Dressings ◽  
Preparation Methods ◽  
Tissue Scaffold ◽  
Surface Areas ◽  
Mechanical Methods

Background: Cellulose Nanofibrils (CNFs) are natural nanomaterials with nanometer dimensions. Compared with ordinary cellulose, CNFs own good mechanical properties, large specific surface areas, high Young's modulus, strong hydrophilicity and other distinguishing characteristics, which make them widely used in many fields. This review aims to introduce the preparation of CNFs-based hydrogels and their recent biomedical application advances. Methods: By searching the recent literatures, we have summarized the preparation methods of CNFs, including mechanical methods and chemical mechanical methods, and also introduced the fabrication methods of CNFs-based hydrogels, including CNFs cross-linked with metal ion and with polymers. In addition, we have summarized the biomedical applications of CNFs-based hydrogels, including scaffold materials and wound dressings. Results: CNFs-based hydrogels are new types of materials that are non-toxic and display a certain mechanical strength. In the tissue scaffold application, they can provide a micro-environment for the damaged tissue to repair and regenerate it. In wound dressing applications, it can fit the wound surface and protect the wound from the external environment, thereby effectively promoting the healing of skin tissue. Conclusion: By summarizing the preparation and application of CNFs-based hydrogels, we have analyzed and forecasted their development trends. At present, the research of CNFs-based hydrogels is still in the laboratory stage. It needs further exploration to be applied in practice. The development of medical hydrogels with high mechanical properties and biocompatibility still poses significant challenges.

Biomedical Applications and Patents on Metallic Nanoparticles

2020 ◽  
Vol 10 ◽  
Author(s):  
Geetanjali Singh ◽  
Pramod Kumar Sharma ◽  
Rishabha Malviya
Keyword(s):  
Metallic Nanoparticles ◽  
Biomedical Applications ◽  
Size Range ◽  
Biomedical Application ◽  
Chemical Reduction ◽  
Chemical Methods ◽  
Future Challenges ◽  
Biological Methods ◽  
Cancer Diagnosis And Therapy ◽  
Physical And Chemical

Aim/Objective: The author writes the manuscript by reviewing the literatures related to the biomedical application of metallic nanoparticles. The term metal nanoparticles are used to describe the nanosized metals with the dimension within the size range of 1-100 nm. Methods: The preparation of metallic nanoparticles and their application is an influential area for research. Among various physical and chemical methods (viz. chemical reduction, thermal decomposition, etc.) for synthesizing silver nanoparticles, biological methods have been suggested as possible eco-friendly alternatives. The synthesis of metallic nanoparticles is having many problems inclusive of solvent toxicity, the formation of hazardous byproducts and consumption of energy. So it is important to design eco-friendly benign procedures for the synthesis of metallic nanoparticles. Results: From the literature survey, we concluded that metallic nanoparticles have applications in the treatment of different diseases. Metallic nanoparticles are having a great advantage in the detection of cancer, diagnosis, and therapy. And it can also have properties such as antifungal, antibacterial, anti-inflammatory, antiviral and anti-angiogenic. Conclusion: In this review, recent upcoming advancement of biomedical application of nanotechnology and their future challenges has been discussed.

scholarly journals Functionalization of Gold Nanostars with Cationic β-Cyclodextrin-Based Polymer for Drug Co-Loading and SERS Monitoring

Pharmaceutics ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 261
Author(s):  
Orlando Donoso-González ◽  
Lucas Lodeiro ◽  
Álvaro E. Aliaga ◽  
Miguel A. Laguna-Bercero ◽  
Soledad Bollo ◽  
...  
Keyword(s):  
Biomedical Applications ◽  
Colloidal Stability ◽  
Biomedical Application ◽  
Drug Loading ◽  
Gold Nanostars ◽  
Raman Optical Activity ◽  
Cationic Group ◽  
Low Cytotoxicity ◽  
Stability Limits ◽  
Zeta Potential Analysis

Gold nanostars (AuNSs) exhibit modulated plasmon resonance and have a high SERS enhancement factor. However, their low colloidal stability limits their biomedical application as a nanomaterial. Cationic β-cyclodextrin-based polymer (CCD/P) has low cytotoxicity, can load and transport drugs more efficiently than the corresponding monomeric form, and has an appropriate cationic group to stabilize gold nanoparticles. In this work, we functionalized AuNSs with CCD/P to load phenylethylamine (PhEA) and piperine (PIP) and evaluated SERS-based applications of the products. PhEA and PIP were included in the polymer and used to functionalize AuNSs, forming a new AuNS-CCD/P-PhEA-PIP nanosystem. The system was characterized by UV–VIS, IR, and NMR spectroscopy, TGA, SPR, DLS, zeta potential analysis, FE-SEM, and TEM. Additionally, Raman optical activity, SERS analysis and complementary theoretical studies were used for characterization. Minor adjustments increased the colloidal stability of AuNSs. The loading capacity of the CCD/P with PhEA-PIP was 95 ± 7%. The physicochemical parameters of the AuNS-CCD/P-PhEA-PIP system, such as size and Z potential, are suitable for potential biomedical applications Raman and SERS studies were used to monitor PhEA and PIP loading and their preferential orientation upon interaction with the surface of AuNSs. This unique nanomaterial could be used for simultaneous drug loading and SERS-based detection.

scholarly journals A Robot Operating System Framework for Secure UAV Communications

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1369
Author(s):  
Hyojun Lee ◽  
Jiyoung Yoon ◽  
Min-Seong Jang ◽  
Kyung-Joon Park
Keyword(s):  
Operating System ◽  
Unmanned Aerial Vehicles ◽  
Ground Control ◽  
Unmanned Aerial System ◽  
Security Framework ◽  
Security Vulnerabilities ◽  
Robot Operating System ◽  
Security Issues ◽  
Aerial Vehicles ◽  
Ground Control Station

To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and ground control station (GCS) are also used. The inevitable addition of hardware and software to accomplish UAV operations may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of an unmanned aerial system (UAS). The proposed framework operates in the robot operating system (ROS) and is designed to focus on several perspectives, such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a nonnative and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.

scholarly journals Cryogenic Exfoliation of 2D Stanene Nanosheets for Cancer Theranostics

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
Jiang Ouyang ◽  
Ling Zhang ◽  
Leijiao Li ◽  
Wei Chen ◽  
Zhongmin Tang ◽  
...  
Keyword(s):  
Biomedical Applications ◽  
Density Functional ◽  
Biomedical Application ◽  
Density Functional Theory Calculations ◽  
Free Electrons ◽  
Functional Theory ◽  
New Approach ◽  
New Type ◽  
Average Size ◽  
Cancer Theranostics

Abstract Stanene (Sn)-based materials have been extensively applied in industrial production and daily life, but their potential biomedical application remains largely unexplored, which is due to the absence of the appropriate and effective methods for fabricating Sn-based biomaterials. Herein, we explored a new approach combining cryogenic exfoliation and liquid-phase exfoliation to successfully manufacture two-dimensional (2D) Sn nanosheets (SnNSs). The obtained SnNSs exhibited a typical sheet-like structure with an average size of ~ 100 nm and a thickness of ~ 5.1 nm. After PEGylation, the resulting PEGylated SnNSs (SnNSs@PEG) exhibited good stability, superior biocompatibility, and excellent photothermal performance, which could serve as robust photothermal agents for multi-modal imaging (fluorescence/photoacoustic/photothermal imaging)-guided photothermal elimination of cancer. Furthermore, we also used first-principles density functional theory calculations to investigate the photothermal mechanism of SnNSs, revealing that the free electrons in upper and lower layers of SnNSs contribute to the conversion of the photo to thermal. This work not only introduces a new approach to fabricate 2D SnNSs but also establishes the SnNSs-based nanomedicines for photonic cancer theranostics. This new type of SnNSs with great potential in the field of nanomedicines may spur a wave of developing Sn-based biological materials to benefit biomedical applications.

scholarly journals Topographical and Biomechanical Guidance of Electrospun Fibers for Biomedical Applications

Polymers ◽  
2020 ◽  
Vol 12 (12) ◽  
pp. 2896
Author(s):  
Sara Ferraris ◽  
Silvia Spriano ◽  
Alessandro Calogero Scalia ◽  
Andrea Cochis ◽  
Lia Rimondini ◽  
...  
Keyword(s):  
Surface Modification ◽  
Biomedical Applications ◽  
Biomedical Application ◽  
Electrospun Fibers ◽  
Natural Polymers ◽  
Polymeric Fibers ◽  
Biological Phenomena ◽  
Proper Design ◽  
Synthetic And Natural Polymers ◽  
Selection Of

Electrospinning is gaining increasing interest in the biomedical field as an eco-friendly and economic technique for production of random and oriented polymeric fibers. The aim of this review was to give an overview of electrospinning potentialities in the production of fibers for biomedical applications with a focus on the possibility to combine biomechanical and topographical stimuli. In fact, selection of the polymer and the eventual surface modification of the fibers allow selection of the proper chemical/biological signal to be administered to the cells. Moreover, a proper design of fiber orientation, dimension, and topography can give the opportunity to drive cell growth also from a spatial standpoint. At this purpose, the review contains a first introduction on potentialities of electrospinning for the obtainment of random and oriented fibers both with synthetic and natural polymers. The biological phenomena which can be guided and promoted by fibers composition and topography are in depth investigated and discussed in the second section of the paper. Finally, the recent strategies developed in the scientific community for the realization of electrospun fibers and for their surface modification for biomedical application are presented and discussed in the last section.

Sign in / Sign up

Export Citation Format

Share Document