{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/45567"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/45567","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Abstractions and security concepts for a robot operating system","abstract":"Made available in DSpace on 2013-08-22T16:48:03Z (GMT). No. of bitstreams: 2 Murph_Finnicum.pdf: 1621462 bytes, checksum: 03c27c277edab329507cb89f22e27a9c (MD5) license.txt: 4064 bytes, checksum: eed9bffe2b4fd91cf56869ffb59d86b4 (MD5)","abstract_html":"Made available in DSpace on 2013-08-22T16:48:03Z (GMT). No. of bitstreams: 2 Murph_Finnicum.pdf: 1621462 bytes, checksum: 03c27c277edab329507cb89f22e27a9c (MD5) license.txt: 4064 bytes, checksum: eed9bffe2b4fd91cf56869ffb59d86b4 (MD5)","abstract_has_math":false,"creators":["Finnicum, Murph"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Computer Science","degree_department":null,"school":null,"contributors":["King, Samuel T."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-08-22T16:48:03Z","date_published":"2013-08-22T16:48:03Z","updated_at":"2026-07-22T22:25:36Z","subjects":["Robot Operating System","Robot Applications"],"languages":["en"],"rights":["Copyright 2013 Murph Richard Matthew Finnicum"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/45567","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["King, Samuel T."]},{"key":"dc:creator","label":"Author","values":["Finnicum, Murph"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-08-22T16:48:03Z","2015-08-22T10:00:46Z","2013-08"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Computer Science"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robot Operating System","Robot Applications"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2013 Murph Richard Matthew Finnicum"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/45567"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Made available in DSpace on 2013-08-22T16:48:03Z (GMT). No. of bitstreams: 2 Murph_Finnicum.pdf: 1621462 bytes, checksum: 03c27c277edab329507cb89f22e27a9c (MD5) license.txt: 4064 bytes, checksum: eed9bffe2b4fd91cf56869ffb59d86b4 (MD5)","Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by Seth Robbins (srobbins@illinois.edu) on 2013-08-22T16:49:37Z Item is restricted until 2015-08-22T16:49:27Z","As general purpose robots begin to find their way into the household and workplace, there will be a demand for software to run on these robots. My research group forsees the proliferation of robot apps that use a common set of abstractions to allow them to function on a variety of hardware platforms. In this thesis, I introduce a robot operating system to support these apps and detail the abstractions that it provides. I present many lessons learned from developing and debugging a number of such apps, and discuss a novel concept wherein apps and libraries are allowed to seek help from outside sources when they are unable to accomplish their goals. I show that our framework allows a robot to effectivly deal with challenges, such as user authentication. I demonstrate a simple bartender app to fetch drink orders for students, and it is succesfully able to deliver them in 10/10 trials in real- world conditions. I also present CLASS, a new system capable of identifying users robustly. I propose a framework for integrating a wide range of sensor values into an algorithm for identifying users, even if an attacker actively tries to impersonate a user. Our system is evaluated by using our reference robot and this platform to build a robot application that buys coffee at our local coffee shop for a user, without requiring explicit authentication. I evaluate CLASS under an adversarial model experimentally and find it to be robust and resilient to attack.","Item withdrawn by Alexis Thompson (athmpsn1@illinois.edu) on 2013-07-11T21:28:15Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Finnicum_Murph.pdf: 1621462 bytes, checksum: 03c27c277edab329507cb89f22e27a9c (MD5)","Restriction data tranferred 2014-07-01T11:21:02-05:00 Original Data Group with Access UIUC Users [automated] Release Date: 2015-08-22 11:49:27 UTC Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 45549 on 2015-08-22T10:00:46Z."]},{"key":"dc:title","label":"Title","values":["Abstractions and security concepts for a robot operating system"]}]}],"canonical_facts":{"dc:contributor":["King, Samuel T."],"dc:creator":["Finnicum, Murph"],"dc:date":["2013-08-22T16:48:03Z","2015-08-22T10:00:46Z","2013-08"],"dc:description":["Made available in DSpace on 2013-08-22T16:48:03Z (GMT). No. of bitstreams: 2 Murph_Finnicum.pdf: 1621462 bytes, checksum: 03c27c277edab329507cb89f22e27a9c (MD5) license.txt: 4064 bytes, checksum: eed9bffe2b4fd91cf56869ffb59d86b4 (MD5)","Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by Seth Robbins (srobbins@illinois.edu) on 2013-08-22T16:49:37Z Item is restricted until 2015-08-22T16:49:27Z","As general purpose robots begin to find their way into the household and workplace, there will be a demand for software to run on these robots. My research group forsees the proliferation of robot apps that use a common set of abstractions to allow them to function on a variety of hardware platforms. In this thesis, I introduce a robot operating system to support these apps and detail the abstractions that it provides. I present many lessons learned from developing and debugging a number of such apps, and discuss a novel concept wherein apps and libraries are allowed to seek help from outside sources when they are unable to accomplish their goals. I show that our framework allows a robot to effectivly deal with challenges, such as user authentication. I demonstrate a simple bartender app to fetch drink orders for students, and it is succesfully able to deliver them in 10/10 trials in real- world conditions. I also present CLASS, a new system capable of identifying users robustly. I propose a framework for integrating a wide range of sensor values into an algorithm for identifying users, even if an attacker actively tries to impersonate a user. Our system is evaluated by using our reference robot and this platform to build a robot application that buys coffee at our local coffee shop for a user, without requiring explicit authentication. I evaluate CLASS under an adversarial model experimentally and find it to be robust and resilient to attack.","Item withdrawn by Alexis Thompson (athmpsn1@illinois.edu) on 2013-07-11T21:28:15Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Finnicum_Murph.pdf: 1621462 bytes, checksum: 03c27c277edab329507cb89f22e27a9c (MD5)","Restriction data tranferred 2014-07-01T11:21:02-05:00 Original Data Group with Access UIUC Users [automated] Release Date: 2015-08-22 11:49:27 UTC Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 45549 on 2015-08-22T10:00:46Z."],"dc:identifier":["http://hdl.handle.net/2142/45567"],"dc:language":["en"],"dc:rights":["Copyright 2013 Murph Richard Matthew Finnicum"],"dc:subject":["Robot Operating System","Robot Applications"],"dc:title":["Abstractions and security concepts for a robot operating system"],"dc:type":["text"],"thesis:degree_discipline":["Computer Science"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:36Z"}