Stefano Panzieri | Roma Tre University, Rome, Italy (original) (raw)

Papers by Stefano Panzieri

Modeling and analyzing critical infrastructures and their interdependencies are essential to disc... more Modeling and analyzing critical infrastructures and their interdependencies are essential to discovering hidden vulnerabilities and threats. Several current approaches engage a holistic perspective and rely on abstract models; others incorporate a reductionistic perspective and focus on inter-domain and intra-domain interactions among elementary components. This paper proposes a mixed approach in which holism and reductionism coexist. A critical infrastructure is expressed at different, albeit interrelated, levels of abstraction, and intermediate entities that provide specific aggregate resources or services are introduced.

The protection of the national infrastructures is one of the main issues for national and interna... more The protection of the national infrastructures is one of the main issues for national and international security. The FP7 MICIE project has achieved promising results by developing a secure online software architecture and by sharing information on a real time basis among local risk predictors, in order to obtain accurate and synchronized predictions using shared interdependency models. However, results of MICIE project are not enough in order to quickly and effectively react to all adverse events that may occur over the System of Systems and, in particular, to face cyber attacks. The EC FP7 CockpitCI project aims to improve the resilience and the dependability of CIs through the design and the implementation of an Alerting System that provides to CI operators an efficient tool to support them: (i) in the prevention of cyber attacks and (ii) in the implementation of consequence containment strategies in case of attack.

Proceedings of the 9th European Conference on Information Warfare and Security, 2010

Abstract: In the last few years we have witnessed a strong interest in the protection of Critical... more Abstract: In the last few years we have witnessed a strong interest in the protection of Critical Infrastructures (CIs) such as power distribution networks, power plants, refineries, water distribution, transportation systems, hospitals and telecommunication networks. Despite their relevance for public safety and security, these infrastructures are highly exposed to a large number of threats, including natural hazards, component failures, criminal actions and terrorism. Several research projects address this topic. Many of them focus on building CI ...

Lecture Notes in Computer Science, 2010

Cloud computing represents a new way to deliver and use services on a shared IT infrastructure. T... more Cloud computing represents a new way to deliver and use services on a shared IT infrastructure. Traditionally, IT hardware and software were acquired and provisioned on business premises. Software applications were built, possibly integrating off-the-shelf components, deployed and run on these privately owned resources. With service-oriented computing, applications are offered by service providers to clients, who can simply invoke them through the network. The offer specifies both the functionality and the Quality of Service (QoS). Providers are responsible for deploying and running services on their own resources. Cloud computing moves one step further. Computing facilities can also be delivered on demand in the form of services over a network. In this paper we take the perspective of a Software as a Service (SaaS) provider whose goal is to maximize the revenues from end users who access services on a pay-per-use basis. In turn, the SaaS provider exploits the cloud, which provides an Infrastructure as a Service (IaaS), where the service provider dynamically allocates hardware physical resources. This paper presents a distributed algorithm for run-time management of SaaS cloud systems that jointly addresses the capacity allocation and admission control of multiple classes of applications providing an heuristic solution which closely approximates the global optimal solution.

IFIP Advances in Information and Communication Technology, 2012

This paper describes a distributed approach for data fusion and information sharing based on evid... more This paper describes a distributed approach for data fusion and information sharing based on evidence theory and the transferable belief model. Evidence theory aggregates data generated from different sources in order to better assess an ongoing situation and to aid in the response and decision making processes. In the domain of critical infrastructure protection, researchers are forced to develop distributed approaches for modeling and control with a minimal exchange of data due to the existence of multiple stakeholders and interconnections between infrastructure components. Evidence theory permits the modeling of uncertainty in data fusion, but it is typically applied in a centralized manner. This paper proposes a decentralized extension of the transferable belief model that facilitates the application of evidence theory to data fusion in critical infrastructure applications. A case study is provided to demonstrate the convergence of results similar to the centralized approach, and to show the utility of fusing data in a distributed manner for interdependent critical infrastructure systems.

Critical Infrastructure Protection XI, 2017

This chapter presents a distributed data fusion algorithm for situational awareness in critical i... more This chapter presents a distributed data fusion algorithm for situational awareness in critical infrastructures whose link failures are based on the transferable belief model. The algorithm is applied to a case study involving a class of critical infrastructures that exchange the possible causes of the faults or threats that affect them. The algorithm is robust to communications link failures caused by natural disasters, cyber attacks or physical security breaches. Theoretical results show that algorithm convergence only requires the connectedness of the network topology over a certain time window, providing resilience in the face of temporary disruptions in the infrastructure communications layer.

Abstract: Localization is a fundamental task for both sensor networks and mobile robots. Traditio... more Abstract: Localization is a fundamental task for both sensor networks and mobile robots. Traditional network construction approaches allow to obtain localized networks requiring the nodes to be at least tri-connected (in 2D), ie, the communication graph needs to be globally rigid. In this paper we exploit, besides the information on the neighbors sensed by each robot/sensor, also the information about the lack of communication among nodes.

Topological graphs can be used as a world representation for a mobile robot that navigates in an ... more Topological graphs can be used as a world representation for a mobile robot that navigates in an office-like environment. Nodes of the graph can represent the intrinsic structure of the environment like corridors, corners and so on. Arcs can capture the connectivity of the space. The task of building algorithms able to identify the characteristic features of nodes directly from sensory data requires several intermediate steps.

Abstract The use of global positioning system (GPS) in outdoor localization is quite a common sol... more Abstract The use of global positioning system (GPS) in outdoor localization is quite a common solution in large environments where no other reference is available and there are not so demanding positioning requirements. Of course, fine motion without the use of an expensive differential device is not an easy task, even now that available precision has been greatly improved as the military encoding has been removed.

Abstract: In this paper the Distributed Consensus and Synchronization problems with fuzzy-valued ... more Abstract: In this paper the Distributed Consensus and Synchronization problems with fuzzy-valued initial conditions are introduced, in order to obtain a shared estimation of the state of a system based on partial and distributed observations, in the case where such a state is affected by ambiguity and/or vagueness. The Discrete-Time Fuzzy Systems (DFS) are introduced as an extension of scalar fuzzy difference equations and some conditions for their stability and representation are provided.

Abstract: In the last decades, complex networks theory significantly influenced other disciplines... more Abstract: In the last decades, complex networks theory significantly influenced other disciplines on the modeling of both static and dynamic aspects of systems observed in nature. This work aims to investigate the effects of networks' topological features on the dynamics of an evolutionary algorithm, considering in particular the ability to find a large number of optima on multi-modal problems.

Abstract We present an iterative learning controller that applies to nonholo nomic mobile robots,... more Abstract We present an iterative learning controller that applies to nonholo nomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The pro posed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to model ing inaccuracies as well as disturbances.

Abstract: On this paper it is shown a study and integration of different procedures in order to d... more Abstract: On this paper it is shown a study and integration of different procedures in order to detect a face in a still picture or track it in a movie sequence. Once a skin colour region has been detected by colour segmentation, it is then classified as face or non-face through a template matching method. This method has been improved by the use of fuzzy theory. After face detection, face features, eg eyes and mouth, are then extracted.

abstract One of the most felt issues in the defence domain is that of having huge quantities of d... more abstract One of the most felt issues in the defence domain is that of having huge quantities of data stored in databases and acquired from field sensors, without being able to infer information from them. Usually databases are continuously updated with observations, and are related to heterogeneous data. Deep and continuous analysis on data could mine useful correlations, explain relations existing among data and cue searches for further evidences.

This paper proposes a kinematic model and an inertial localization system architecture for a rise... more This paper proposes a kinematic model and an inertial localization system architecture for a riser inspecting robot. The robot scrolls outside the catenary riser, used for underwater petroleum exploration, and is designed to perform several nondestructive tests. It can also be used to reconstruct the riser profile.

Many advanced robotic systems are subject to non-holonomic constraints, eg wheeled mobile robots,... more Many advanced robotic systems are subject to non-holonomic constraints, eg wheeled mobile robots, space manipulators and multifingered robot hands. Steering these mechanisms between configurations in the presence of perturbations is a difficult problem. In fact, the divide et impera strategy (first plan a trajectory, then track it by feedback) has a fundamental drawback in this case: due to the peculiar control properties of non-holonomic systems, smooth feedback cannot provide tracking of the whole trajectory.

Abstract Fast growing integration among process and enterprise networks, the use of open IP-based... more Abstract Fast growing integration among process and enterprise networks, the use of open IP-based network to connect control rooms with their RTUs, and the introduction of off-the-shelf hardware and software in the control systems, expose control networks to cyber risks as every other IT-system.

Abstract This paper focuses on the extension of the transferable belief model (TBM) to a multiage... more Abstract This paper focuses on the extension of the transferable belief model (TBM) to a multiagent-distributed context where no central aggregation unit is available and the information can be exchanged only locally among agents. In this framework, agents are assumed to be independent reliable sources which collect data and collaborate to reach a common knowledge about an event of interest.

ABSTRACT We describe two possible structures for a localization system which should exploit ultra... more ABSTRACT We describe two possible structures for a localization system which should exploit ultrasonic sensor measures as well as inertial and odometric data to maintain a correct estimate of the location of a mobile robot. The objective is to reduce the position and orientation error in the presence of slippage, and, at the same time, to identify the bias of the gyroscope.

Modeling and analyzing critical infrastructures and their interdependencies are essential to disc... more Modeling and analyzing critical infrastructures and their interdependencies are essential to discovering hidden vulnerabilities and threats. Several current approaches engage a holistic perspective and rely on abstract models; others incorporate a reductionistic perspective and focus on inter-domain and intra-domain interactions among elementary components. This paper proposes a mixed approach in which holism and reductionism coexist. A critical infrastructure is expressed at different, albeit interrelated, levels of abstraction, and intermediate entities that provide specific aggregate resources or services are introduced.

The protection of the national infrastructures is one of the main issues for national and interna... more The protection of the national infrastructures is one of the main issues for national and international security. The FP7 MICIE project has achieved promising results by developing a secure online software architecture and by sharing information on a real time basis among local risk predictors, in order to obtain accurate and synchronized predictions using shared interdependency models. However, results of MICIE project are not enough in order to quickly and effectively react to all adverse events that may occur over the System of Systems and, in particular, to face cyber attacks. The EC FP7 CockpitCI project aims to improve the resilience and the dependability of CIs through the design and the implementation of an Alerting System that provides to CI operators an efficient tool to support them: (i) in the prevention of cyber attacks and (ii) in the implementation of consequence containment strategies in case of attack.

Proceedings of the 9th European Conference on Information Warfare and Security, 2010

Abstract: In the last few years we have witnessed a strong interest in the protection of Critical... more Abstract: In the last few years we have witnessed a strong interest in the protection of Critical Infrastructures (CIs) such as power distribution networks, power plants, refineries, water distribution, transportation systems, hospitals and telecommunication networks. Despite their relevance for public safety and security, these infrastructures are highly exposed to a large number of threats, including natural hazards, component failures, criminal actions and terrorism. Several research projects address this topic. Many of them focus on building CI ...

Lecture Notes in Computer Science, 2010

Cloud computing represents a new way to deliver and use services on a shared IT infrastructure. T... more Cloud computing represents a new way to deliver and use services on a shared IT infrastructure. Traditionally, IT hardware and software were acquired and provisioned on business premises. Software applications were built, possibly integrating off-the-shelf components, deployed and run on these privately owned resources. With service-oriented computing, applications are offered by service providers to clients, who can simply invoke them through the network. The offer specifies both the functionality and the Quality of Service (QoS). Providers are responsible for deploying and running services on their own resources. Cloud computing moves one step further. Computing facilities can also be delivered on demand in the form of services over a network. In this paper we take the perspective of a Software as a Service (SaaS) provider whose goal is to maximize the revenues from end users who access services on a pay-per-use basis. In turn, the SaaS provider exploits the cloud, which provides an Infrastructure as a Service (IaaS), where the service provider dynamically allocates hardware physical resources. This paper presents a distributed algorithm for run-time management of SaaS cloud systems that jointly addresses the capacity allocation and admission control of multiple classes of applications providing an heuristic solution which closely approximates the global optimal solution.

IFIP Advances in Information and Communication Technology, 2012

This paper describes a distributed approach for data fusion and information sharing based on evid... more This paper describes a distributed approach for data fusion and information sharing based on evidence theory and the transferable belief model. Evidence theory aggregates data generated from different sources in order to better assess an ongoing situation and to aid in the response and decision making processes. In the domain of critical infrastructure protection, researchers are forced to develop distributed approaches for modeling and control with a minimal exchange of data due to the existence of multiple stakeholders and interconnections between infrastructure components. Evidence theory permits the modeling of uncertainty in data fusion, but it is typically applied in a centralized manner. This paper proposes a decentralized extension of the transferable belief model that facilitates the application of evidence theory to data fusion in critical infrastructure applications. A case study is provided to demonstrate the convergence of results similar to the centralized approach, and to show the utility of fusing data in a distributed manner for interdependent critical infrastructure systems.

Critical Infrastructure Protection XI, 2017

This chapter presents a distributed data fusion algorithm for situational awareness in critical i... more This chapter presents a distributed data fusion algorithm for situational awareness in critical infrastructures whose link failures are based on the transferable belief model. The algorithm is applied to a case study involving a class of critical infrastructures that exchange the possible causes of the faults or threats that affect them. The algorithm is robust to communications link failures caused by natural disasters, cyber attacks or physical security breaches. Theoretical results show that algorithm convergence only requires the connectedness of the network topology over a certain time window, providing resilience in the face of temporary disruptions in the infrastructure communications layer.

Abstract: Localization is a fundamental task for both sensor networks and mobile robots. Traditio... more Abstract: Localization is a fundamental task for both sensor networks and mobile robots. Traditional network construction approaches allow to obtain localized networks requiring the nodes to be at least tri-connected (in 2D), ie, the communication graph needs to be globally rigid. In this paper we exploit, besides the information on the neighbors sensed by each robot/sensor, also the information about the lack of communication among nodes.

Topological graphs can be used as a world representation for a mobile robot that navigates in an ... more Topological graphs can be used as a world representation for a mobile robot that navigates in an office-like environment. Nodes of the graph can represent the intrinsic structure of the environment like corridors, corners and so on. Arcs can capture the connectivity of the space. The task of building algorithms able to identify the characteristic features of nodes directly from sensory data requires several intermediate steps.

Abstract The use of global positioning system (GPS) in outdoor localization is quite a common sol... more Abstract The use of global positioning system (GPS) in outdoor localization is quite a common solution in large environments where no other reference is available and there are not so demanding positioning requirements. Of course, fine motion without the use of an expensive differential device is not an easy task, even now that available precision has been greatly improved as the military encoding has been removed.

Abstract: In this paper the Distributed Consensus and Synchronization problems with fuzzy-valued ... more Abstract: In this paper the Distributed Consensus and Synchronization problems with fuzzy-valued initial conditions are introduced, in order to obtain a shared estimation of the state of a system based on partial and distributed observations, in the case where such a state is affected by ambiguity and/or vagueness. The Discrete-Time Fuzzy Systems (DFS) are introduced as an extension of scalar fuzzy difference equations and some conditions for their stability and representation are provided.

Abstract: In the last decades, complex networks theory significantly influenced other disciplines... more Abstract: In the last decades, complex networks theory significantly influenced other disciplines on the modeling of both static and dynamic aspects of systems observed in nature. This work aims to investigate the effects of networks' topological features on the dynamics of an evolutionary algorithm, considering in particular the ability to find a large number of optima on multi-modal problems.

Abstract We present an iterative learning controller that applies to nonholo nomic mobile robots,... more Abstract We present an iterative learning controller that applies to nonholo nomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The pro posed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to model ing inaccuracies as well as disturbances.

Abstract: On this paper it is shown a study and integration of different procedures in order to d... more Abstract: On this paper it is shown a study and integration of different procedures in order to detect a face in a still picture or track it in a movie sequence. Once a skin colour region has been detected by colour segmentation, it is then classified as face or non-face through a template matching method. This method has been improved by the use of fuzzy theory. After face detection, face features, eg eyes and mouth, are then extracted.

abstract One of the most felt issues in the defence domain is that of having huge quantities of d... more abstract One of the most felt issues in the defence domain is that of having huge quantities of data stored in databases and acquired from field sensors, without being able to infer information from them. Usually databases are continuously updated with observations, and are related to heterogeneous data. Deep and continuous analysis on data could mine useful correlations, explain relations existing among data and cue searches for further evidences.

This paper proposes a kinematic model and an inertial localization system architecture for a rise... more This paper proposes a kinematic model and an inertial localization system architecture for a riser inspecting robot. The robot scrolls outside the catenary riser, used for underwater petroleum exploration, and is designed to perform several nondestructive tests. It can also be used to reconstruct the riser profile.

Many advanced robotic systems are subject to non-holonomic constraints, eg wheeled mobile robots,... more Many advanced robotic systems are subject to non-holonomic constraints, eg wheeled mobile robots, space manipulators and multifingered robot hands. Steering these mechanisms between configurations in the presence of perturbations is a difficult problem. In fact, the divide et impera strategy (first plan a trajectory, then track it by feedback) has a fundamental drawback in this case: due to the peculiar control properties of non-holonomic systems, smooth feedback cannot provide tracking of the whole trajectory.

Abstract Fast growing integration among process and enterprise networks, the use of open IP-based... more Abstract Fast growing integration among process and enterprise networks, the use of open IP-based network to connect control rooms with their RTUs, and the introduction of off-the-shelf hardware and software in the control systems, expose control networks to cyber risks as every other IT-system.

Abstract This paper focuses on the extension of the transferable belief model (TBM) to a multiage... more Abstract This paper focuses on the extension of the transferable belief model (TBM) to a multiagent-distributed context where no central aggregation unit is available and the information can be exchanged only locally among agents. In this framework, agents are assumed to be independent reliable sources which collect data and collaborate to reach a common knowledge about an event of interest.

ABSTRACT We describe two possible structures for a localization system which should exploit ultra... more ABSTRACT We describe two possible structures for a localization system which should exploit ultrasonic sensor measures as well as inertial and odometric data to maintain a correct estimate of the location of a mobile robot. The objective is to reduce the position and orientation error in the presence of slippage, and, at the same time, to identify the bias of the gyroscope.