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chapter-qkd/chapter.tex
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@ -712,7 +712,7 @@ While the few hundred Watt of power that QKD systems require could easily be tra
traditional HSM as well, cooling that amount of thermal load purely by heat conduction through centimeters of epoxy
resin would make implementation infeasible in traditional HSM. In an IHSM on the other hand, up to several
\unit{\kilo\watt} can easily be dissipated through forced-air cooling since the rotating security mesh can have an
arbitrary amount of longitudinal slots or holes.
arbitrary amount of longitudinal openings.
\paragraph{Data and signals.}
A QKD transceiver has a number of ports in addition the port for the fiber optic quantum channel. Depending on the
@ -727,7 +727,7 @@ adding up to a total of five fibers for a uni-directional QKD relay, or nine fib
pigtails have an outer diameter of usually about \qty{1}{\milli\meter}, this amount of fibers can be fed through an
IHSM's axis of rotation. The mechanical challenge in such a multi-fiber signal and data feedthrough is to observe the
fiber's minimum bending radius, which for common fibers is usually in the range of
\qtyrange{5}{10}{\milli\meter}\todo{Provide citation on bend radius. Maybe a small table of products by a few vendors?}.
\qtyrange{5}{15}{\milli\meter}\cite{fs1M12FSC,ProductPageFiber,CorningSMF28Ultra2024}.
Concluding the above paragraphs, a QKD node is not a particularly challenging payload for an IHSM. The most problematic
requirement is feeding through a number of fibers for its various input and output signals, but fundamentally it is no
@ -745,7 +745,7 @@ close to it as possible, as well as using a solid steel shaft on the motor end o
these mitigations provide is much below that of the remainder of the mesh. Thus, a better solution is needed.
Previously, in Chapter \todoplaceholder{provide link to mesh protection overview from OG IHSM paper} we have alluded to
several \emph{shielding} methods that use a second, independently rotating mesh on the inside of the primary mesh,
several \emph{shielding} methods that use a independently rotating secondary mesh on the inside of the primary mesh,
located right next to the primary mesh's axis opening. In this section, we will go into some more detail on four
variations of this solution. In order of increasing complexity, these variations are a simple disc cover, coaxial
labyrinth meshes, offset labyrinth meshes, and interlocking gear meshes. We will demonstrate a functional prototype of
@ -775,29 +775,29 @@ exceeding those of a smartcard. In the following paragraphs, we will show how we
implementation.
By placing an adapted single-board IHSM close to the primary mesh's axis opening as shown in Figure\
\ref{qkd_fig_disc_mesh}, an attacker is forced to either first circumvent the single-board IHSM through the primary
mesh's axis opening, then remove enough of it to gain direct access ot the payload behind it, or to conduct their attack
through the keyhole-sized opening in the primary mesh while bending their tool by approximately \qty{90}{\degree} at
least twice, once to avoid the SB-IHSM mesh, and once more to re-orient the tool towards the payload. The distance
between the inside of the primary mesh and the SB-IHSM is limited by the tolerance in mechanical alignment between the
two axes of rotation, by the space necessary for a sufficiently stable mount of the payload cage to the hollow shaft,
and by the minimum bend radius of the power and data wiring that needs to pass through the shaft. In QKD applications,
the fibers' minimum bend radius is the largest contributing factor. Power and electrical data signals can be supplied
through flexible flat cables that can be bent in sharp corners without issue. Optical fibers on the other hand are
limited in their minimum bend radius, as their optical loss rises sharply with decreasing bend radius\footnote{Note that
the issue here is not that the glass core of the fiber would degrade or break, as one might intuitively assume. Being
only a few dozen micrometers in diameter, an optical fiber's core is remarkably flexible. Instead, the issue is that
both multimode as well as singlemode fibers are optical waveguides. Bending them distorts the electromagnetic field
inside the waveguide, and allows some small portion of it to escape from the fiber's core, leading to loss in the form
of both attenuation and dispersion.}. With QKD being especially sensitive to even small amounts of loss, care has to be
taken to maximize the bend radius of the fiber optic connections. A common specification of minimum bend radius in
telecom singlemode fibers taking into account not just optical loss but also the mechanical stability of the fiber's
polymer coating is $10\times$ the coated fiber's diameter, which equates to \qty{9}{\milli\meter} for common
\ref{qkd_fig_disc_mesh}, an attacker is forced to either first circumvent or at least dislodge the single-board IHSM
through the primary mesh's axis opening without disturbing either mesh to gain direct access to the payload behind it,
or to conduct their attack through the keyhole-sized opening in the primary mesh while bending their tool by
approximately \qty{90}{\degree} at least twice, once to avoid the SB-IHSM mesh, and once more to re-orient the tool
towards the payload. The distance between the inside of the primary mesh and the SB-IHSM is limited by the tolerance in
mechanical alignment between the two axes of rotation, by the space necessary for a sufficiently stable mount of the
payload cage to the hollow shaft, and by the minimum bend radius of the power and data wiring that needs to pass through
the shaft. In QKD applications, the fibers' minimum bend radius is the largest contributing factor. Power and electrical
data signals can be supplied through flexible flat cables that can be bent in sharp corners without issue. Optical
fibers on the other hand are limited in their minimum bend radius, as their optical loss rises sharply with decreasing
bend radius\footnote{Note that the issue here is not that the glass core of the fiber would degrade or break, as one
might intuitively assume. Being only a few dozen micrometers in diameter, an optical fiber's core is remarkably
flexible. Instead, the issue is that both multimode as well as singlemode fibers are optical waveguides. Bending them
distorts the electromagnetic field inside the waveguide, and allows some small portion of it to escape from the fiber's
core, leading to loss in the form of both attenuation and dispersion\cite{schermerImprovedBendLoss2007}.}. With QKD
being especially sensitive to even small amounts of loss, care has to be taken to maximize the bend radius of the fiber
optic connections. A common specification of minimum bend radius in telecom singlemode fibers taking into account not
just optical loss but also the mechanical stability of the fiber's polymer coating is $10\times$ the coated fiber's
diameter\cite{fs1M12FSC,ProductPageFiber,CorningSMF28Ultra2024}, which equates to \qty{9}{\milli\meter} for common
\qty{0.9}{\milli\meter} fiber pigtails, corresponding to approximately \qty{1}{\decibel} of loss in the
\qty{1550}{\nano\meter} band\cite{schermerImprovedBendLoss2007}.
\todo{cite bend radius spec. fs.com has some on their pigtails. thorlabs on their SM-28 fiber has no spec, but specs
loss at \qty{25}{\milli\meter} radius.}
\qty{1550}{\nano\meter} band\cite{schermerImprovedBendLoss2007}. Based on these specifications and on a conservative
estimate of \qty{2.5}{\milli\meter} for the vertical mesh clearance, we arrive at a minimum inter-mesh spacing of
approximately \qty{11}{\milli\meter} when using minimal overlap between tab heights.
\begin{figure}
\centering
@ -815,9 +815,7 @@ loss at \qty{25}{\milli\meter} radius.}
\label{qkd_fig_fiber_helix}
\end{figure}
Based on these specifications and adding some \qty{10}{\milli\meter},
\todoplaceholder{Finish this part.}
\todoplaceholder{Finish this part. Use the rev 1 SB-IHSM to build a practical prototype.}
\subsection{Coaxial labyrinth meshes}
@ -835,7 +833,34 @@ interface layer between the two meshes can be made more complex. Introducing sma
into the inter-mesh space from both meshes creates a labyrinth-like structure between the axis opening and the IHSM's
inside. Structural support and cables can easily pass this structure in a series of \qty{90}{\degree} bends, while
inserting a probe avoiding both meshes would not be feasible as the probe would have to perform a series of sharp
bends.
bends. The type of manipulator that would be necessary for the placement of a probe in this system is conceptually
similar to snake-like robots used in minimally invasive surgery, but state-of-the-art systems from this area are both
too thick and don't have enough joints to fit even simple labyrinth layouts\cite{
suhDesignDiscreteBending2017,
schmitzRollingTipFlexibleInstrument2019,
kimAdvancementFlexibleRobot2022,
hongDesignCompensationControl2020}.
For instance, if we assume \qty{3}{\milli\meter} material thickness on the radial bracket connecting the shaft with the
secondary mesh's mounting frame\todo{conceptual drawing here} along with \qty{10}{\milli\meter} of mesh tab overlap,
\qty{1.5}{\milli\meter} of clearance between radial bracket and each of the two meshes, and an inter-mesh spacing from
one tab ring to the next equal to the radial brackets' material thickness of \qty{4}{\milli\meter} plus the clearance
from bracket to mesh, we arrive at a meander \qty{6}{\milli\meter} in width completing four \qty{180}{\degree} turns
within less than \qty{40}{\milli\meter} of radial distance.
Researching the security of nuclear weapons, \textcite{bellovinPermissiveActionLinks} references a quote characterizing
the tamper security of a Permissive Action Link, a tamper-proof component designed to authorize the use of a nuclar
weapon through a code, as follows.
\todo{Get the actual book from ULB, and properly attribute this quote.}
\begin{quote}
Bypassinag a PAL should be, as one weapons designer graphically put it, about as complex as performing a
tonsillectomy while entering the patient from the wrong
end. \cite{caldwell1989reducing,bellovinPermissiveActionLinks}
\end{quote}
With our discussion of surgical robots two paragraphs ago this quote is very on the nose, and it is probably fair to say
that we have made some progress to achieve this standard. While we are not quite there yet, we shall make it our goal to
achieve or even exceed this standard with our work in the following sections.
\begin{figure}
\centering

114
main.bib
View file

@ -4168,3 +4168,117 @@
langid = {english},
file = {/home/jaseg/Zotero/storage/XURXLX9C/Takeoka et al. - 2014 - Fundamental rate-loss tradeoff for optical quantum.pdf}
}
@online{CorningSMF28Ultra2024,
title = {Corning {{SMF-28 Ultra Optical Fiber Product Information Sheet}}},
date = {2024-02},
url = {https://www.corning.com/media/worldwide/coc/documents/Fiber/product-information-sheets/PI-1424-AEN.pdf},
urldate = {2024-09-05}
}
@online{fs1M12FSC,
title = {1M 12F SC/APC Singlemode Farbcodiertes LWL-Pigtail - FS.com Deutschland},
author = {FS},
url = {https://www.fs.com/de/products/42416.html},
urldate = {2024-09-05},
abstract = {Kaufen Sie LWL-Pigtail, 1M 12 Fasern SC Singlemode Fasernarbcodiertes LWL-Pigtail, SC/APC Stecker beim Lichtwellenleiter(LWL) Pigtail Hersteller mit besten Preis},
langid = {ngerman},
organization = {FS.com},
file = {/home/jaseg/Zotero/storage/CS2J3R4Q/42416.html}
}
@online{ProductPageFiber,
title = {Product Page: {{Fiber Pigtail LC}}/{{APC OS2 G652D-Yellow}} 2m - 1 Piece | {{Unique}} | {{O0485}}.2},
url = {https://www.efb-elektronik.de/en/fiber-pigtail-lc-apc-os2-g652d-yellow-2m-1-piece/o0485.2},
urldate = {2024-09-05},
abstract = {The LC fiber pigtail has a primary coating (900µ) in the colour of the respective category (see table). The colour of the primary coating is equal to the colour of the secondary coating. A numeric connector coding 1 .. 12 simplifies the allocation of the…},
langid = {british},
organization = {EFB-Elektronik GmbH},
file = {/home/jaseg/Zotero/storage/WTJ3HBFT/o0485.html}
}
@article{suhDesignDiscreteBending2017,
title = {Design of a Discrete Bending Joint Using Multiple Unit {{PREF}} Joints for Isotropic 2-{{DOF}} Motion},
author = {Suh, Jung-wook and Kim, Ki-young},
date = {2017-02-01},
journaltitle = {International Journal of Control, Automation and Systems},
shortjournal = {Int. J. Control Autom. Syst.},
volume = {15},
number = {1},
pages = {64--72},
issn = {2005-4092},
doi = {10.1007/s12555-016-0474-z},
url = {https://doi.org/10.1007/s12555-016-0474-z},
urldate = {2024-09-05},
abstract = {Miniature steerable robots are required for various medical applications. Although a typical continuum joint mechanism has a great advantage of miniaturization, it is difficult to have a small bending radius of curvature. With a discrete joint, it is easy to secure definite bending with strength; however, a coarsely structured joint cannot provide a stable distal rolling motion to the end-effector. This paper proposes a method to construct a 2-DOF discrete bending joint using multiple pulleyless rolling joints with an example of a 4-segmental joint. The effects of the stacking sequence on its performance are analyzed. Then, three evaluation criteria are established, and the best stacking sequences are determined. The proposed design method is valid for various numbers of unit joints, and it can be easily applied to the structural design of soft robots resembling snakes or elephant trunks.},
langid = {english},
keywords = {Continuum joint,discrete joint,isotropic bending,PREF joint,stacking sequence,surgical robot},
file = {/home/jaseg/Sync/Research/Zotero/Suh_Kim_2017_Design of a discrete bending joint using multiple unit PREF joints for.pdf}
}
@inproceedings{schmitzRollingTipFlexibleInstrument2019,
title = {A {{Rolling-Tip Flexible Instrument}} for {{Minimally Invasive Surgery}}},
booktitle = {2019 {{International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
author = {Schmitz, Andreas and Treratanakulchai, Shen and Berthet-Rayne, Pierre and Yang, Guang-Zhong},
date = {2019-05},
pages = {379--385},
issn = {2577-087X},
doi = {10.1109/ICRA.2019.8793480},
url = {https://ieeexplore.ieee.org/document/8793480/?arnumber=8793480},
urldate = {2024-09-05},
abstract = {Snake-like robots are commonly used in Minimally Invasive Surgery as they are able to reach areas deep inside the human body. These robots have instruments that are deployed out of the robot's head and controlled via tendons, which connect the instrument to motors at the proximal end. In most currently available systems the instruments are lacking a rolling motion of the end-effector.In this paper, we present a new instrument prototype for a snake-like robot that can perform a stable in-place rolling motion. The prototype has a diameter of 4mm, uses 13 tendons and has 6 degrees of freedom. The robot can bend and roll to high angles, and strongly improves the dexterity compared to an instrument without rolling capabilities. In the evaluation we show that the rolling-tip gripper can rotate about 165° and is capable of applying forces up to 6.5N.},
eventtitle = {2019 {{International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
keywords = {End effectors,Fasteners,Grippers,Instruments,Surgery,Tendons},
file = {/home/jaseg/Sync/Research/Zotero/Schmitz et al_2019_A Rolling-Tip Flexible Instrument for Minimally Invasive Surgery.pdf;/home/jaseg/Zotero/storage/LIBS2JT6/8793480.html}
}
@article{kimAdvancementFlexibleRobot2022,
title = {Advancement of {{Flexible Robot Technologies}} for {{Endoluminal Surgeries}}},
author = {Kim, Joonhwan and family=Mathelin, given=Michel, prefix=de, useprefix=true and Ikuta, Koji and Kwon, Dong-Soo},
date = {2022-07},
journaltitle = {Proceedings of the IEEE},
volume = {110},
number = {7},
pages = {909--931},
issn = {1558-2256},
doi = {10.1109/JPROC.2022.3170109},
url = {https://ieeexplore.ieee.org/document/9779312/?arnumber=9779312},
urldate = {2024-09-05},
abstract = {The trend of achieving minimal invasiveness in surgeries and recent technological advances in robotics have resulted in the emergence of flexible surgical robots. Such flexible robots can reach a surgical site via narrow and tortuous pathways, extending the reach of robotic surgery and potentially reducing the incision size. This review covers the key technical issues associated with flexible surgical robotics and introduces emerging flexible surgical robot systems organized according to their target applications in the endoluminal surgical field. Furthermore, the challenges and recent advancements in manipulator design, modeling, and control as well as the shape and force sensing of flexible robots are presented as key technical issues. Furthermore, the technical features and clinical values of emerging flexible surgical robot systems are introduced with their medical applications.},
eventtitle = {Proceedings of the {{IEEE}}},
keywords = {Continuum robot,endoluminal surgery,flexible robot technology,Flexible structures,flexible surgical robot,Hysteresis,hysteresis compensation,interventional endoscopy,intraluminal surgery,Manipulators,Medical robotics,shape measurement,Shape measurement,Surgery,telemanipulation,Telemedicine},
file = {/home/jaseg/Sync/Research/Zotero/Kim et al_2022_Advancement of Flexible Robot Technologies for Endoluminal Surgeries.pdf;/home/jaseg/Zotero/storage/N5TXZY3R/9779312.html}
}
@inproceedings{hongDesignCompensationControl2020,
title = {Design and {{Compensation Control}} of a {{Flexible Instrument}} for {{Endoscopic Surgery}}},
booktitle = {2020 {{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
author = {Hong, Wuzhou and Schmitz, Andreas and Bai, Weibang and Berthet-Rayne, Pierre and Xie, Le and Yang, Guang-Zhong},
date = {2020-05},
pages = {1860--1866},
issn = {2577-087X},
doi = {10.1109/ICRA40945.2020.9196955},
url = {https://ieeexplore.ieee.org/document/9196955/?arnumber=9196955},
urldate = {2024-09-05},
abstract = {Snake-like robots for endoscopic surgery make it possible to reach deep-seated lesions. With the use of small flexible tendon-driven instruments, it is possible to perform bimanual micro-surgical tasks that are challenging for standard endoscopic surgeries. Existing devices, however, lack articulated wrists and rolling motion of the end-effector. This paper presents a new instrument design with a distal-roll gripper for snake-like robots. The developed 5 DoFs miniaturized instruments with a diameter of 3 mm enable the deployment into narrow endoluminal channels. Issues related to actuation coupling, tendon slack, and backlash are addressed. Experimental results show that the distal-roll gripper can rotate 106°, and the actuated joints can achieve good repeatability and accuracy with the proposed compensation control scheme.},
eventtitle = {2020 {{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})},
keywords = {Gears,Grippers,Instruments,Joints,Robots,Surgery,Tendons},
file = {/home/jaseg/Sync/Research/Zotero/Hong et al_2020_Design and Compensation Control of a Flexible Instrument for Endoscopic Surgery.pdf;/home/jaseg/Zotero/storage/8CGJKAZ8/9196955.html}
}
@article{caldwell1989reducing,
title = {Reducing the Risk of Nuclear War with Permissive Action Links},
author = {Caldwell, Dan and Zimmerman, Peter},
date = {1989},
journaltitle = {Technology and the Limitation of International Conflict},
pages = {137--150},
publisher = {Washington, DC: Johns Hopkins Foreign Policy Institute}
}
@online{bellovinPermissiveActionLinks,
title = {Permissive {{Action Links}}},
author = {Bellovin, Steven M.},
url = {https://www.cs.columbia.edu/~smb/nsam-160/pal.html#CZ89},
urldate = {2024-09-05},
file = {/home/jaseg/Zotero/storage/VVPMC5NB/pal.html}
}