Black-box Adversarial Attacks on CNN-based SLAM Algorithms

Continuous advancements in deep learning have led to significant progress in feature detection, resulting in enhanced accuracy in tasks like Simultaneous Localization and Mapping (SLAM). Nevertheless, the vulnerability of deep neural networks to adversarial attacks remains a challenge for their reliable deployment in applications, such as navigation of autonomous agents. Even though CNN-based SLAM algorithms are a growing area of research there is a notable absence of a comprehensive presentation and examination of adversarial attacks targeting CNN-based feature detectors, as part of a SLAM system. Our work introduces black-box adversarial perturbations applied to the RGB images fed into the GCN-SLAM algorithm. Our findings on the TUM dataset [30] reveal that even attacks of moderate scale can lead to tracking failure in as many as 76% of the frames. Moreover, our experiments highlight the catastrophic impact of attacking depth instead of RGB input images on the SLAM system.

The Life and Death of SSDs and HDDs: Similarities, Differences, and Prediction Models

Data center downtime typically centers around IT equipment failure. Storage devices are the most frequently failing components in data centers. We present a comparative study of hard disk drives (HDDs) and solid state drives (SSDs) that constitute the typical storage in data centers. Using a six-year field data of 100,000 HDDs of different models from the same manufacturer from the BackBlaze dataset and a six-year field data of 30,000 SSDs of three models from a Google data center, we characterize the workload conditions that lead to failures and illustrate that their root causes differ from common expectation but remain difficult to discern. For the case of HDDs we observe that young and old drives do not present many differences in their failures. Instead, failures may be distinguished by discriminating drives based on the time spent for head positioning. For SSDs, we observe high levels of infant mortality and characterize the differences between infant and non-infant failures. We develop several machine learning failure prediction models that are shown to be surprisingly accurate, achieving high recall and low false positive rates. These models are used beyond simple prediction as they aid us to untangle the complex interaction of workload characteristics that lead to failures and identify failure root causes from monitored symptoms.