2026-09-20T07:22:45Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/45567 2023-07-11 col_2142_10761 col_2142_5131 com_2142_10755 com_2142_234 com_2142_5130

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 King, Samuel T. Finnicum, Murph 2013-08-22T16:48:03Z 2013-08-22T16:48:03Z 2015-08-22T10:00:46Z 2013-08 2013-08-22T16:48:03Z 2013-08 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 Item withdrawn by Alexis Thompson (athmpsn1@illinois.edu) on 2013-07-11T21:28:15Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of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. http://hdl.handle.net/2142/45567 en Copyright 2013 Murph Richard Matthew Finnicum Robot Operating System Robot Applications Abstractions and security concepts for a robot operating system text Computer Science 1434 Computer Science 0112 University of Illinois at Urbana-Champaign Thesis M.S. MS:Computer Science -UIUC 10KS0112MS