Elektrotechnik und Informatik (ETI)
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Keywords
- Author Keywords: Industrial robot, Automatic robot programming, SME, low volume, high variant, path planning, matching, machine vision (1)
- IEEE Keywords: Solid modeling, Path planning, Three-dimensional displays, Robot kinematics, Pipelines, Task analysis (1)
- INSPEC (Controlled Indexing): cameras, collision avoidance, industrial robots, mobile robots, small-to-medium enterprises (1)
- INSPEC (Non-Controlled Indexing): high variant manufacturing, industrial robots, complex robot tasks, medium-sized enterprises, camera-based path, planning overhead, fast program generation, collision-free path, specific robot task, SME (1)
The Portable Document Format, better known as PDF, is one of themost widely used document formats worldwide, and in order to en-sure information confidentiality, this file format supports documentencryption. In this paper, we analyze PDF encryption and showtwo novel techniques for breaking the confidentiality of encrypteddocuments. First, we abuse the PDF feature ofpartially encrypteddocuments to wrap the encrypted part of the document withinattacker-controlled content and therefore, exfiltrate the plaintextonce the document is opened by a legitimate user. Second, we abusea flaw in the PDF encryption specification to arbitrarily manipulateencrypted content. The only requirement is that a single block ofknown plaintext is needed, and we show that this is fulfilled bydesign. Our attacks allow the recovery of the entire plaintext of en-crypted documents by using exfiltration channels which are basedon standard compliant PDF properties.We evaluated our attacks on 27 widely used PDF viewers andfound all of them to be vulnerable. We responsibly disclosed thevulnerabilities and supported the vendors in fixing the issue
Camera based path planning for low quantity - high variant manufacturing with industrial robots
(2019)
The acquisition costs for industrial robots have been steadily decreasing in past years. Nevertheless, they still face significant drawbacks in the required effort for the preparation of complex robot tasks which causes these systems to be rarely present so far in small and medium-sized enterprises (SME) that focus mainly on small volume, high variant manufacturing. In this paper, we propose a camera-based path planning framework that allows the fast preparation and execution of robot tasks in dynamic environments which leads to less planning overhead, fast program generation and reduced cost and hence overcomes the major impediments for the usage of industrial robots for automation in SMEs with focus on low volume and high variant manufacturing. The framework resolves existing problems in different steps. The exact position and orientation of the workpiece are determined from a 3D environment model scanned by an optical sensor. The so retrieved information is used to plan a collision-free path that meets the boundary conditions of the specific robot task. Experiments show the potential and effectiveness of the the framework presented here by evaluating a case study.