[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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The Dedicated Wireless Communication Device for Group of Unmanned Vehicles 251 Fig. 3 The miniature dedicated secure radio communication device described in the article compared to the polish smallest coin and the ruler in cm The sending frame starts with preamble consisting of six bytes with a same hexadecimal value 0xAA. The value is used for receiver and sender devices synchronization. After preamble there are two bytes with values 0xD3 and 0x91 signalizing the start of the data section. Besides it, those bytes are also used for bit synchronization of the receiver. After the synchronization word there is a single byte specifying the number of data bytes in the frame. Allowed values are from 1 to 255. After described byte there is a sequence of data bytes. Length of the sequence is equal to the value of the data number byte. There are no control sums or mechanisms of bleaching the data at the physical layer. Resignation of such mechanisms is due to implementation at the communication layer cryptographic algorithms which naturally hide all the feature of the data and detect damaged or erroneous packets. 5 Data Encryption In order to maintain the confidentiality of the data transmitted between devices, AES encryption algorithm is used. It enables encryption and decryption the data blocks with length of 16 bytes. The key may have 16, 24 or 32 bytes (128, 192, 256 bits). Along with the encryption algorithm the hash function and a protocol of exchanging keys is ued. The encryption algorithm itself does not describe how the amount of data of any length is to be converted to cipher text – it only describes the transformation of a single block. Therefore, the algorithm must be used in one of cipher block modes of operation. Encryption mode used is CTR (Counter) mode. This mode is characterized
252 K. Daniec et al. by the ability to generate arbitrarily long string of blocks (keystream). In order to generate it, it is required a key and a nonce value (the value for a single call). The resultant sequence of blocks is used to convert non-confidential data to an encrypted form by a simple transformation of the XOR between the plaintext block and the block of keystream. In the case of a length not a multiple of the block, one can leave the appropriate number of bytes in the stream key, because it does not interfere with the possibility to decrypt the data. Due to the advantages of CTR: No need for a decoding function, no need for padding, and a large freedom in the implementation, it was decided that other modes are no needed. Due to the symmetry of the encoding and decoding operations in the CTR mode a single crypto_encproc function was implemented in the hardware. The function parameters are block of data of any length, the encryption key, the size of the header and the unique value NOONCE. Inside the function crypto_encproc a key stream is generated. The input to the cipher are 16-byte blocks in which the first 4 bytes of a given nonce value stored in the byte order from the youngest, then it is from 0 to 8 bytes of the packet header, completed to 8 bytes of zeros followed by four bytes describing the shift of the first byte in the packet, which will be covered by the block. By design, the header is no longer than 8 bytes. All cryptographic keys used by the hardware are 256 bits (32 bytes). The second most important function in the whole system is a hash function. It is necessary because of the need to generate and verify the HMAC authorizing the values for all packages, and for the separation of certain parts of the system. The hash function used was SHA-256. It maps a block of data of any length in a short fixed length of 256 bits (32 bytes). Function selection was dictated by the current state of knowledge about the safety of different hash function, the size of the hash has been chosen to equal the length of the key in the encryption algorithm, making it possible to easily implement certain procedures for the compilation of the connection between the devices. The primary use of the hash function is to determine the value of authorizing for packages. The authorization allows to detect falsification of data and prevents an attacker to set own packages without knowing the correct keys. Computation of the value of an authorizing mechanism was implemented within the function crypto_authproc: HMAC (key, nonce, msg): = H (key | | H (key | | nonce | | msg) | | NOONCE) Where H () represents a single calculation using the hash function, | | means concatenation of data blocks. Using the key in the HMAC function ensures that the attacker is not able to generate the correct value of an authorizing, because they do not have complete information required to calculate the correct hash function value. Dual use of hash function is to eliminate certain defects, which derives from the hash function SHA-256. In case of single call, the attacker would have not access to the authorizing value, but he would be able to generate the correct value for the extended package on the basis of acquired basic package. In order to prevent this, the result of the internal hash function is additionally mixed with a key. This
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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16 A. Babiarz et al. the camera ser
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18 A. Babiarz et al. a) b) Fig. 11.
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20 A. Babiarz et al. patrol point i
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24 A. Babiarz et al. The sample cod
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Recognition and Location of Objects
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48 P. Demski et al. Fig. 1. Automat
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50 P. Demski et al. E-Grip firing m
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52 P. Demski et al. 4 Automatic Tar
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54 P. Demski et al. implementing su
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Object Tracking for Rapid Camera Mo
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Object Tracking in a Picture during
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94 Construction of Image Acquisitio
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96 G. Bieszczad et al. effectivenes
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98 G. Bieszczad et al. such a way t
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100 G. Bieszczad et al. Table 1. No
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102 G. Bieszczad et al. Fig. 7. Pri
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110 G. Bieszczad et al. has to make
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112 G. Bieszczad et al. MTF functio
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114 G. Bieszczad et al. [11] Krupi
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116 D. Bereska et al. Presented in
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118 D. Bereska et al. Fig. 2. Image
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120 D. Bereska et al. Fig. 4. Ortho
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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178 D. Bereska et al. The aim of th
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180 D. Bereska et al. 3 Control Alg
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182 D. Bereska et al. Fig. 5. Schem
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184 D. Bereska et al. 4.1 Mechanica
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186 D. Bereska et al. 4.1.3 Open-Lo
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188 D. Bereska et al. Fig. 16. Comp
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Probabilistic Approach to Planning
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Technology Development of Military
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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