A robot control device includes a memory and a processor configured to acquire first environmental information regarding a surrounding environment of a robot, specify a first appropriate level associated with a first activity based on the first environmental information by referring to a control policy in which activity information on an activity which has been conducted by the robot, environmental information at a time of conduction of the activity, and appropriate level determined based on a reaction to the activity are associated with each other, and when the first appropriate level information of the first activity does not satisfy a specific condition, deter conduction of the first activity by the robot.

A paper sheet handling apparatus includes a plurality of mechanical units including a paper sheet handling unit, the plurality of mechanical units each including a processor, a programmable logic device (PLD) controlled by the processor, a first mechanical module including a first mechanical element controlled by the PLD, and an interface that connects a second mechanical module including a second mechanical element, wherein when the processor detects connection of the second mechanical module via the interface, the processor reads, from a second storage included in the second mechanical module, the second storage storing second firmware of the processor configured to control the first mechanical element and the second mechanical element and second data for use in configuring a logic circuit of the PLD configured to control the first mechanical element and the second mechanical element, the second firmware to load the second firmware onto the processor.

A paper sheet handling apparatus includes a plurality of mechanical units including a paper sheet handling unit, the plurality of mechanical units each including a processor, a programmable logic device (PLD) controlled by the processor, a first mechanical module including a first mechanical element controlled by the PLD, and an interface that connects a second mechanical module including a second mechanical element, wherein when the processor detects connection of the second mechanical module via the interface, the processor reads, from a second storage included in the second mechanical module, the second storage storing second firmware of the processor configured to control the first mechanical element and the second mechanical element and second data for use in configuring a logic circuit of the PLD configured to control the first mechanical element and the second mechanical element, the second firmware to load the second firmware onto the processor.

A method includes emulating an Enhanced Application Module Redundancy (EAM-R) system that includes a primary EAM-R board and a secondary EAM-R board. Emulating the EAM-R system includes detecting that data received from a sensor has been written to a memory block associated with the primary EAM-R board, and sending instructions to a secondary computing device to write a copy of the data to a same memory block in the secondary computing device that is associated with the secondary EAM-R board. The EAM-R system is emulated in an emulation system that includes at least one network connection. The emulation system does not include a physical primary EAM-R board or a physical secondary EAM-R board.

A method includes emulating an Enhanced Application Module Redundancy (EAM-R) system that includes a primary EAM-R board and a secondary EAM-R board. Emulating the EAM-R system includes detecting that data received from a sensor has been written to a memory block associated with the primary EAM-R board, and sending instructions to a secondary computing device to write a copy of the data to a same memory block in the secondary computing device that is associated with the secondary EAM-R board. The EAM-R system is emulated in an emulation system that includes at least one network connection. The emulation system does not include a physical primary EAM-R board or a physical secondary EAM-R board.

A control system for controlling a plant includes a local controller to generate local control commands according to a local control policy to control the plant and a receiver to received remote control commands generated by a remote controller to control the plant according to remote control policy. Local and remote control policies are designed for the same control objective and time resolution such that there is the same Lyapunov function having a negative definite time derivative for controlling the plant according to first or second control policies. The plant is controller with either remote or local control commands in dependence of a success of receiving a remote control command for a time step of the control.

A control system for controlling a plant includes a local controller to generate local control commands according to a local control policy to control the plant and a receiver to received remote control commands generated by a remote controller to control the plant according to remote control policy. Local and remote control policies are designed for the same control objective and time resolution such that there is the same Lyapunov function having a negative definite time derivative for controlling the plant according to first or second control policies. The plant is controller with either remote or local control commands in dependence of a success of receiving a remote control command for a time step of the control.

A method 300 of generating invariants for distributed attack detection on a cyber-physical system 100 having a number of system components is provided. In a described embodiment, the method 300 includes deriving design invariants at 310 based on system design of the cyber physical system 100 including physical specifications of the system components, obtaining operational data of the cyber physical system at 320 including operational attributes of the system components, generating operational invariants from the obtained operational data at 330, and correlating the operational variants with the design invariants at 340 to generate an integrated set of invariants for detecting distributed cyber attacks of the cyber physical system 100.

A method 300 of generating invariants for distributed attack detection on a cyber-physical system 100 having a number of system components is provided. In a described embodiment, the method 300 includes deriving design invariants at 310 based on system design of the cyber physical system 100 including physical specifications of the system components, obtaining operational data of the cyber physical system at 320 including operational attributes of the system components, generating operational invariants from the obtained operational data at 330, and correlating the operational variants with the design invariants at 340 to generate an integrated set of invariants for detecting distributed cyber attacks of the cyber physical system 100.

A method and system for programming a microcontroller (MCU) to implement a data transfer, the MCU having a flash memory, a central processing unit (CPU) and a direct memory access controller (DMAC). In one embodiment, the method includes calling a function stored in the flash memory, wherein a first parameter is passed to the function when it is called, wherein the first parameter identifies a first data structure that is stored in flash memory, and wherein the first data structure includes first DMAC control values. The CPU reads the first DMAC control values in response to the CPU executing instructions of the function. The CPU then writes the first DMAC control values to respective control registers of the DMAC in response to the CPU executing instructions of the function.