Han Kiliccote

Survivable information storage systems

As society increasingly relies on digitally stored and accessed information, supporting the availability, integrity and confidentiality of this information is crucial. We need systems in which users can securely store critical information, ensuring that it persists, is continuously accessible, cannot be destroyed and is kept confidential. A survivable storage system would provide these guarantees over time and despite malicious compromises of storage node subsets. The PASIS architecture flexibly and efficiently combines proven technologies (decentralized storage system technologies, data redundancy and encoding, and dynamic self-maintenance) for constructing information storage systems whose availability, confidentiality and integrity policies can survive component failures and malicious attacks.

A Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning

In this manuscript, we discuss I-Cubes, a class of modular robotic system thatis capable of reconfiguring itself in 3-D to adapt to its environment. This is abipartite system, i.e., a collection of (i) active elements for actuation, and (ii)passive elements acting as connectors. Active elements (links) are 3-DOFmanipulators that are capable of attaching/detaching from/to the passive elements(cubes), which can be positioned and oriented using links. Self-reconfigurationcapability enables the system to perform locomotion tasks over difficult terrain; theshape and size can be changed according to the task. This paper describes the designof the system, and 3-D reconfiguration properties. Specifics of the hardwareimplementation, results of the experiments with the current prototypes, our approachto motion planning and problems related to 3-D motion planning are given.

I(CES)-cubes : a modular self-reconfigurable bipartite robotic system

In this manuscript, we introduce I(CES)-Cubes, a class of 3D modular robotic system that is capable of reconfiguring itself in order to adapt to its environment. This is a bipartite system, i.e. a collection of (i) active elements capable of actuation, and (ii) passive elements acting as connectors between actuated elements. Active elements, called links, are 3-DOF manipulators that are capable of attaching/detaching themselves to/from the passive elements. The cubes can then be positioned and oriented using links, which are independent mechatronic elements. Self- reconfiguration property enables the system to performed locomotion tasks over difficult terrain. For example, the system would be capable of moving over obstacles and climbing stairs. These task are performed by positing and orienting cubes and links to form a 3D network with required shape and position. This paper describes the design of the passive and active elements, the attachment mechanics, and several reconfiguration scenarios. Specifics of the hardware implementation and result of experiments with current prototypes are also given.

Motion Planning for a Modular Self-Reconfiguring Robotic System

In this paper, we address the issue of motion planning for a bipartite class of modular self-reconfiguring robotic system (I-Cubes) that is a collection of active elements providing reconfiguration (3-DOF manipulators called links) and passive elements acting as connectors (cubes). The links, capable of attaching/detaching themselves from/to cubes, can position and orient the cubes.

Agent-based risk learning for computing systems

Excessive or inadequate security controls can impair the utility of an open computing system. The agent based open computing environment we propose balances the amount of security control to maximize the utility of the system. In the system, intelligent agents learn the risk of the users and then dynamically adjust the security policy to achieve better system utility.