汪世鹏等：基于EtherCAT总线的七自由度机械臂的隐蔽攻击技术 ·1663· 进行了比较.实验表明所提出的七自由度机械臂 2006.Pisa2006:805 的系统辨识算法能够较好的辨识系统参数，并且 [12]Akpinar K O,Ozcelik I.Development of the ECAT preprocessor 能很好的应用于机械臂的隐蔽攻击中，验证了所 with the trust communication approach.Secur Commun Nenorks, 2018,2018:1 提方法的可行性.本文所构建的攻击实验平台为 [13]Li W Z,Xie L,Wang Z L.Two-loop covert attacks against 机械臂的攻防试验提供了物理基础，该平台对于 constant value control of industrial control systems.IEEE Trans 类似研究者有一定的借鉴意义 nd Inform,2019,15(2:663 值得注意的是，本文在机械臂的隐蔽攻击实 [14]Xie L,Mo Y L,Sinopoli B.False data injection attacks in 验中，仍然存在许多不足：机械臂的控制中由于传 electricity markets//2010 First IEEE International Conference on 感器的精度问题，导致控制精度不是很高；本文并 Smart Grid Communications.Gaithersburg,2010:226 未对七自由度机械臂的动力学进行研究，因此提 [15]de Sa A O,Carmo L F R d C,Machado R C S.Covert attacks in 出的基于混沌优化多种群粒子群七自由度机械PID cyber-physical control systems.IEEE Transactions on Industrial m/ormatics,.2017,13(4):1641 参数辨识算法并未对机械臂的动力学进行辨识， [16]Krotofil M,Larsen J.Rocking the pocket book:hacking chemical plants//DefCon Conference.DEFCON,2015:1 参考文献 [17]Quarta D,Pogliani M,Polino M,et al.An experimental security [1]Bencsath B,Pek G,Buttyan L,et al.The cousins of stuxnet:Duqu, analysis of an industrial robot controller//2017 IEEE Symposium flame,and gauss.Future Internet,012,4(4):971 on Security and Privacy (SP).San Jose,2017:268 [2]Langner R.Stuxnet:dissecting a cyberwarfare weapon.IEEE [18]Lagraa S,Cailac M,Rivera S,et al.Real-time attack detection on Secur Privacy,2011,9(3):49 robot cameras:a self-driving car application//2019 Third IEEE [3]Wu X P.Xie L H.Performance evaluation of industrial Ethernet International Conference on Robotic Computing (IRC).Naples, protocols for networked control application.Control Eng Pract 2019:102 2019,84:208 [19]Vilches V M,Gil-Uriarte E,Ugarte I Z,et al.Towards an open [4]Sestito G S,Turcato A C.Dias A L,et al.A method for anomalies standard for assessing the severity of robot security vulnerabilities, detection in real-time Ethernet data traffic applied to PROFINET. the Robot Vulnerability Scoring System (RVSS).arXiv preprin IEEE Trans Ind Inform,2018,14(5):2171 (2018-05-16)[2019-12-0刀 arXiv: 1807.10357, 2018. 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