{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,9]],"date-time":"2026-02-09T20:03:07Z","timestamp":1770667387292,"version":"3.49.0"},"publisher-location":"New York, NY, USA","reference-count":67,"publisher":"ACM","license":[{"start":{"date-parts":[[2023,11,21]],"date-time":"2023-11-21T00:00:00Z","timestamp":1700524800000},"content-version":"vor","delay-in-days":6,"URL":"http:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Intel"},{"DOI":"10.13039\/100000001","name":"NSF (National Science Foundation)","doi-asserted-by":"publisher","award":["CNS-1916926, CNS-2038995, CNS-2154930, CNS-2238635"],"award-info":[{"award-number":["CNS-1916926, CNS-2038995, CNS-2154930, CNS-2238635"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000183","name":"Army Research Office","doi-asserted-by":"publisher","award":["W911NF2010141"],"award-info":[{"award-number":["W911NF2010141"]}],"id":[{"id":"10.13039\/100000183","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2023,11,15]]},"DOI":"10.1145\/3576915.3623197","type":"proceedings-article","created":{"date-parts":[[2023,11,21]],"date-time":"2023-11-21T12:35:13Z","timestamp":1700570113000},"page":"2591-2605","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["Secure and Timely GPU Execution in Cyber-physical Systems"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-7533-085X","authenticated-orcid":false,"given":"Jinwen","family":"Wang","sequence":"first","affiliation":[{"name":"Washington University in St. Louis, St. Louis, MO, USA"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-1706-2867","authenticated-orcid":false,"given":"Yujie","family":"Wang","sequence":"additional","affiliation":[{"name":"Washington University in St. Louis, St. Louis, MO, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0670-2161","authenticated-orcid":false,"given":"Ning","family":"Zhang","sequence":"additional","affiliation":[{"name":"Washington University in St. Louis, St. Louis, MO, USA"}]}],"member":"320","published-online":{"date-parts":[[2023,11,21]]},"reference":[{"key":"e_1_3_2_1_1_1","unstructured":"2023. AMD Embedded GPU. https:\/\/www.amd.com\/en\/products\/embedded."},{"key":"e_1_3_2_1_2_1","unstructured":"2023. AMD ROCm. https:\/\/rocm.docs.amd.com\/en\/latest\/."},{"key":"e_1_3_2_1_3_1","unstructured":"2023. Arm Embedded GPU. https:\/\/www.arm.com\/markets\/automotive\/ autonomous-vehicles."},{"key":"e_1_3_2_1_4_1","unstructured":"2023. Artificial Intelligence & Autopilot. https:\/\/www.tesla.com\/AI."},{"key":"e_1_3_2_1_5_1","unstructured":"2023. Autoware. https:\/\/autoware.org\/."},{"key":"e_1_3_2_1_6_1","unstructured":"2023. Autoware Hardware Expectation. https:\/\/autowarefoundation.github.io\/ autoware-documentation\/main\/installation\/."},{"key":"e_1_3_2_1_7_1","unstructured":"2023. Autoware Sample-Rosbag. https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/tutorials\/ad-hoc-simulation\/rosbag-replay-simulation\/."},{"key":"e_1_3_2_1_8_1","unstructured":"2023. BYD Self Driving. https:\/\/en.byd.com\/news\/byd-selects-nvidia-drive-hyperion-\\for-next-generation-software-\\defined-electric-vehicles\/."},{"key":"e_1_3_2_1_9_1","unstructured":"2023. CPS Kernel Vulnerability. https:\/\/cve.mitre.org\/cgi-bin\/cvekey.cgi? keyword=cyberphysicalkernelvulnerability."},{"key":"e_1_3_2_1_10_1","unstructured":"2023. DetectNet. https:\/\/github.com\/Pypearl\/ObjectDetectionCuda."},{"key":"e_1_3_2_1_11_1","unstructured":"2023. Drone Camera. https:\/\/www.bhphotovideo.com\/c\/product\/802344079-USE\/kolibri_xk6600_gy_hellfire_hd_camera_drone.html."},{"key":"e_1_3_2_1_12_1","unstructured":"2023. Image Compression. https:\/\/github.com\/adolfos94\/Haar-Wavelet-Image-Compression."},{"key":"e_1_3_2_1_13_1","unstructured":"2023. ImageNet. https:\/\/github.com\/dusty-nv\/jetson-inference\/blob\/master\/ docs\/imagenet-console-2.md."},{"key":"e_1_3_2_1_14_1","unstructured":"2023. NIO Self Driving. https:\/\/www.nio.com\/nad."},{"key":"e_1_3_2_1_15_1","unstructured":"2023. NVIDIA DRIVE. https:\/\/developer.nvidia.com\/drive\/hyperion."},{"key":"e_1_3_2_1_16_1","unstructured":"2023. Nvidia GPU Chennel Reset. https:\/\/switchbrew.org\/wiki\/NV_services# NVGPU_IOCTL_CHANNEL_FORCE_RESET."},{"key":"e_1_3_2_1_17_1","unstructured":"2023. Nvidia Jetson Nano. https:\/\/www.nvidia.com\/en-us\/autonomous-machines\/embedded-systems\/jetson-nano\/education-projects\/."},{"key":"e_1_3_2_1_18_1","unstructured":"2023. Nvidia Multiple Process Service. https:\/\/docs.nvidia.com\/deploy\/mps\/index. html."},{"key":"e_1_3_2_1_19_1","unstructured":"2023. Rodinia Benchmark. https:\/\/github.com\/yuhc\/gpu-rodinia."},{"key":"e_1_3_2_1_20_1","volume-title":"SPEC CPU2017","year":"2017","unstructured":"2023. SPEC CPU2017. https:\/\/www.spec.org\/cpu2017\/."},{"key":"e_1_3_2_1_21_1","unstructured":"2023. Stage2 Translation. https:\/\/developer.arm.com\/documentation\/102142\/ 0100\/Stage-2-translation."},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/3460120.3484782"},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS.2017.00017"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/ECRTS.2012.15"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/3018743.3018748"},{"key":"e_1_3_2_1_26_1","volume-title":"27th USENIX Security Symposium (USENIX Security 18)","author":"Clements Abraham A","year":"2018","unstructured":"Abraham A Clements, Naif Saleh Almakhdhub, Saurabh Bagchi, and Mathias Payer. 2018. ACES: Automatic compartments for embedded systems. In 27th USENIX Security Symposium (USENIX Security 18). 65--82."},{"key":"e_1_3_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/3548606.3560627"},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTSS.2013.12"},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/1506409.1506429"},{"key":"e_1_3_2_1_30_1","unstructured":"Mingcong Han Hanze Zhang Rong Chen and Haibo Chen. 2022. Microsecond-scale Preemption for Concurrent GPU-accelerated DNN Inferences. In OSDI. 539--558."},{"key":"e_1_3_2_1_31_1","volume-title":"Genetic algorithms. Scientific american 267, 1","author":"Holland John H","year":"1992","unstructured":"John H Holland. 1992. Genetic algorithms. Scientific american 267, 1 (1992), 66--73."},{"key":"e_1_3_2_1_32_1","volume-title":"Telekine: Secure Computing with Cloud GPUs. In 17th USENIX Symposium on Networked Systems Design and Implementation (NSDI 20)","author":"Hunt Tyler","year":"2020","unstructured":"Tyler Hunt, Zhipeng Jia, Vance Miller, Ariel Szekely, Yige Hu, Christopher J Ross-bach, and Emmett Witchel. 2020. Telekine: Secure Computing with Cloud GPUs. In 17th USENIX Symposium on Networked Systems Design and Implementation (NSDI 20). 817--833."},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3297858.3304021"},{"key":"e_1_3_2_1_34_1","volume-title":"RGEM: A responsive GPGPU execution model for runtime engines. In 2011 IEEE 32nd","author":"Kato Shinpei","year":"2011","unstructured":"Shinpei Kato, Karthik Lakshmanan, Aman Kumar, Mihir Kelkar, Yutaka Ishikawa, and Ragunathan Rajkumar. 2011. RGEM: A responsive GPGPU execution model for runtime engines. In 2011 IEEE 32nd RTSS. IEEE, 57--66."},{"key":"e_1_3_2_1_35_1","volume-title":"TimeGraph:GPU Scheduling for Real-Time Multi-Tasking Environments. In 2011 USENIX Annual Technical Conference (USENIX ATC 11)","author":"Kato Shinpei","year":"2011","unstructured":"Shinpei Kato, Karthik Lakshmanan, Ragunathan Rajkumar, Yutaka Ishikawa, et al. 2011. TimeGraph:GPU Scheduling for Real-Time Multi-Tasking Environments. In 2011 USENIX Annual Technical Conference (USENIX ATC 11)."},{"key":"e_1_3_2_1_36_1","volume-title":"Gdev:First-Class GPU Resource Management in the Operating System. In 2012 USENIX Annual Technical Conference (USENIX ATC 12)","author":"Kato Shinpei","year":"2012","unstructured":"Shinpei Kato, Michael McThrow, Carlos Maltzahn, and Scott Brandt. 2012. Gdev:First-Class GPU Resource Management in the Operating System. In 2012 USENIX Annual Technical Conference (USENIX ATC 12). 401--412."},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/TC.2020.2988251"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2018.00029"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/3470496.3527420"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/321738.321743"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"crossref","unstructured":"Han Liu et al. 2023. SlowLiDAR: Increasing the Latency of LiDAR-Based Detection Using Adversarial Examples. In IEEE\/CVF CVPR. 5146--5155.","DOI":"10.1109\/CVPR52729.2023.00498"},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/3450268.3453524"},{"key":"e_1_3_2_1_43_1","volume-title":"Honeycomb: Secure and Efficient GPU Executions via Static Validation. In USENIX OSDI. 155--172.","author":"Haohui Mai","year":"2023","unstructured":"Haohui Mai et al. 2023. Honeycomb: Secure and Efficient GPU Executions via Static Validation. In USENIX OSDI. 155--172."},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11416-015-0251-1"},{"key":"e_1_3_2_1_45_1","doi-asserted-by":"crossref","unstructured":"Hoda Naghibijouybari et al. 2018. Rendered insecure: Gpu side channel attacks are practical. In CCS. 2139--2153.","DOI":"10.1145\/3243734.3243831"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2017.3"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/3503222.3507754"},{"key":"e_1_3_2_1_48_1","volume-title":"Safe and Practical GPU Acceleration in TrustZone. EuroSys","author":"Park Heejin","year":"2023","unstructured":"Heejin Park and Felix Xiaozhu Lin. 2023. Safe and Practical GPU Acceleration in TrustZone. EuroSys (2023)."},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1145\/2786763.2694346"},{"key":"e_1_3_2_1_50_1","doi-asserted-by":"crossref","unstructured":"Linh TX Phan et al. 2011. CARTS: a tool for compositional analysis of real-time systems. In SIGBED Review. ACM.","DOI":"10.1145\/1967021.1967029"},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/2654822.2541942"},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/2043556.2043579"},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/SP40000.2020.00042"},{"key":"e_1_3_2_1_54_1","volume-title":"2014 USENIX Annual Technical Conference (USENIX ATC 14)","author":"Suzuki Yusuke","year":"2014","unstructured":"Yusuke Suzuki, Shinpei Kato, Hiroshi Yamada, and Kenji Kono. 2014. GPUvm: Why Not Virtualizing GPUs at the Hypervisor?. In 2014 USENIX Annual Technical Conference (USENIX ATC 14). 109--120."},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/SP.2013.13"},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1145\/2678373.2665702"},{"key":"e_1_3_2_1_57_1","volume-title":"2014 USENIX Annual Technical Conference (USENIX ATC 14)","author":"Tian Kun","year":"2014","unstructured":"Kun Tian, Yaozu Dong, and David Cowperthwaite. 2014. A Full GPU Virtualization Solution with Mediated Pass-Through. In 2014 USENIX Annual Technical Conference (USENIX ATC 14). 121--132."},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1145\/3352460.3358307"},{"key":"e_1_3_2_1_59_1","volume-title":"Graviton: Trusted Execution Environments on GPUs. In 13th USENIX Symposium on Operating Systems Design and Implementation (OSDI 18)","author":"Volos Stavros","year":"2018","unstructured":"Stavros Volos, Kapil Vaswani, and Rodrigo Bruno. 2018. Graviton: Trusted Execution Environments on GPUs. In 13th USENIX Symposium on Operating Systems Design and Implementation (OSDI 18). 681--696."},{"key":"e_1_3_2_1_60_1","volume-title":"ARI: Attestation of Real-time Mission Execution In-tegrity. In USENIX Security. 2761--2778.","author":"Jinwen Wang","year":"2023","unstructured":"Jinwen Wang et al. 2023. ARI: Attestation of Real-time Mission Execution In-tegrity. In USENIX Security. 2761--2778."},{"key":"e_1_3_2_1_61_1","volume-title":"RT-TEE: Real-time System Availability for Cyber-physical Systems using ARM TrustZone. In 2022 IEEE S&P","author":"Wang Jinwen","unstructured":"Jinwen Wang, Ao Li, Haoran Li, Chenyang Lu, and Ning Zhang. 2022. RT-TEE: Real-time System Availability for Cyber-physical Systems using ARM TrustZone. In 2022 IEEE S&P. IEEE Computer Society, 1573--1573."},{"key":"e_1_3_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA.2016.7446078"},{"key":"e_1_3_2_1_63_1","doi-asserted-by":"publisher","DOI":"10.1145\/3093336.3037742"},{"key":"e_1_3_2_1_64_1","volume-title":"Center-based 3d object detection and tracking","author":"Yin Tianwei","unstructured":"Tianwei Yin, Xingyi Zhou, and Philipp Krahenbuhl. 2021. Center-based 3d object detection and tracking. In IEEE\/CVF CVPR. 11784--11793."},{"key":"e_1_3_2_1_65_1","doi-asserted-by":"publisher","DOI":"10.1145\/2810103.2813719"},{"key":"e_1_3_2_1_66_1","doi-asserted-by":"publisher","DOI":"10.1109\/RTAS.2015.7108420"},{"key":"e_1_3_2_1_67_1","doi-asserted-by":"publisher","DOI":"10.1109\/SP40000.2020.00054"}],"event":{"name":"CCS '23: ACM SIGSAC Conference on Computer and Communications Security","location":"Copenhagen Denmark","acronym":"CCS '23","sponsor":["SIGSAC ACM Special Interest Group on Security, Audit, and Control"]},"container-title":["Proceedings of the 2023 ACM SIGSAC Conference on Computer and Communications Security"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3576915.3623197","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3576915.3623197","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3576915.3623197","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T01:43:58Z","timestamp":1755740638000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3576915.3623197"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,11,15]]},"references-count":67,"alternative-id":["10.1145\/3576915.3623197","10.1145\/3576915"],"URL":"https:\/\/doi.org\/10.1145\/3576915.3623197","relation":{},"subject":[],"published":{"date-parts":[[2023,11,15]]},"assertion":[{"value":"2023-11-21","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}