Good evening everybody. A very warm welcome to tonight's lecture. I'm Helen McNaughton. I'm chair of the Japan Research Center here at SOAS and before I introduce our guest speaker I just want to in particular welcome our new SOAS students. It's the start of an academic year as you know and also welcome to our JRC visiting scholars as well. And I'd also like to say a few words of introduction about this lecture series itself and welcome some very special guests. As many of you will know the Meiji Jingu Intercultural Research Institute has supported the work of the Japan Research Center since 2008. So this year is our 11th annual Meiji Jingu lecture and it's always in our first week so it's always a wonderful highlight and start to our academic year. So in addition to supporting this lecture series they also fund annual postgraduate scholarships and our two scholarship recipients are sitting at the front here and they also fund research grants for JRC academic members as well. So not only do they support us in that way, in that very generous way, but they every year they come here from Tokyo from Meiji Jingu to visit to celebrate our research partnership. So it's a really lovely event. So I'd like you to extend a very warm welcome to Mr Sattel, director of the Meiji Jingu Intercultural Research. So Mr Sattel has been director since 2012 and he joined the Institute after many years service within the Japanese Imperial household and he's accompanied by his colleague Mr Aoyama. Please welcome Mr Aoyama. So on behalf of the JRC I'd like to thank you once again for your very generous and ongoing support of Japanese Studies here at SOAS. So now I'd like to introduce our guest speaker for this evening. Simon Partner is Professor of History at Duke University in the US. He graduated from Cambridge University and he was a banker and a management consultant before completing his PhD history at Columbia in 97. His first book was a history of Japan's emerging consumer society in the 50s and subsequently his interest in history from the bottom up has led him to focus on the lives of previously unknown individuals in Japan. So farmers, workers, merchants and housewives and he has published four biographies based on his research including the recently published last year The Merchants Tale, Yokohama and the Transformation of Japan published by Columbia University Press. This year the Japan Research Center turns 40 years old so if you haven't done so already please come along please register to come along to our birthday party next Wednesday this time next week in this very lecture theatre. But as many of you will know this year 2018 also marks 150 years since the Meiji Restoration in Japan. So we felt that Simon's research on one merchant family's experience of the Meiji Restoration and the transformation of Japan would be very apt topic for this week's Meiji Jingu lecture. So please join me in welcoming Simon Partner to SOAS. Thank you so much Helen and many thanks to the Japan Research Center for inviting me here. I was very honored to come and delighted to be here and thanks also to the Meiji Jingu Intercultural Research Institute. Mr. Sato, very nice of you to make it possible. Sorry I'll miss the birthday party next week. So yeah my book is about a merchants experience. I'm going to try and tie it in a little bit more than I have in previous presentations to the Meiji Restoration itself and try and think about what this man's experiences might tell us about that event and how to interpret it. It is a very very meaningful and controversial event in Japanese history. One of the unusual features of Japan's modern history is its experience not one but two rebaths in 1945 when Japan's militarist and imperialist past was erased overnight as the nation embarked on a new era in pursuit of peace, prosperity and democracy and the Meiji Restoration of 1868 of which this year marks the 150th anniversary. The conventional narrative of the Meiji Restoration is that it marked a dramatic turning point in which Japan turned its back on centuries of feudalism and isolation and inaugurated a remarkable era of rapid modernization under the leadership of an extraordinary group of visionary reformers one might call them the great men of Meiji. Meiji himself being the newly modernized and empowered emperor who was rescued from ceremonial obscurity to occupy a new position as an enlightened European style monarch. Of course in both cases these narratives are simplistic and misleading although they have had a great deal of staying power. It turns out that some of the most interesting features of the transitions are not the transformation but the continuities between one era and the next. In this talk I am going to focus on transformation. However the transformations I'm going to discuss some of which were central to Japan's economic and social modernization had little or nothing to do with the Meiji Restoration itself and they helped recast the Meiji Restoration as just one moment in an ongoing process of radical transformation that began at least a decade before the Restoration. I'm going to tell this story of transformation through the eyes of one man who was an eyewitness to many of the dramatic events surrounding the Meiji Restoration and whose fortunes were closely tied to the unfolding political, social and economic upheavals of the 1860s and this is him. His name is Shinohara Chuemon. I'm going to call him Chuemon in this presentation. He's the dad over here on the right and he's here with his two of his sons, sorry three of his sons and two of his grandchildren. I'd love to talk more about this photo but I'm hoping one of you will ask in the question and answer if we have a chance. Chuemon was a prosperous farmer in a region known as Koshu. Today that's Yamanashi prefecture. He had a wife, at least six children and a well-established position as one of the leaders of his village. Koshu itself is a fertile basin just over the first mountain range from the Kanto plain on the coast of which sat Edo, today's Tokyo, the capital of the Shoguns. In Chuemon's day, Koshu was most famous for its grapes. Actually it still is today. Well known today for its wine as well as its peaches. The geography of this basin surrounded by mountains makes it particularly warm and suitable for fruit cultivation but in Chuemon's day it also produced tobacco, cotton and silk. This is actually Chuemon's land, farmed today by his great-great grandson, now planted with peach trees. And this is the house that Chuemon himself lived in. It's a sturdy farmhouse belonging to an affluent family. It still stands and the portrait I showed you just now is hanging back there in the living room. It's probably been there since the 1870s and here is Chuemon's great-great-grandson who very kindly spent some time with me one very hot afternoon a couple of years ago. In April 1859 at the age of 50, here is the Koshu Plain. You can see it's a kind of a table land here just over the mountains. Chuemon traveled on foot which was the only mode of transport at the time from Koshu to the brand new port town of Yokohama. He went to take advantage of what he saw as the opportunity of a lifetime to open a shop in Yokohama and trade with the foreigners who were to arrive in just three months. Chuemon was getting close to retirement age. He had deep roots in his community. He had an established position in his village. He had a successful family business, farming and trading locally. He had a large family. He had a very comfortable life. It says a lot about his optimism and entrepreneurial drive that he would turn his back on all that and indeed risk it all in what he must surely have recognized was a very uncertain venture. So a few words about Yokohama itself. In 1858 under intense pressure the Shogunate had signed a series of agreements opening Japan to a wide range of new diplomatic and trading relations with Britain, the US, France, Russia and other nations. The trade was to be restricted to certain designated locations of which Yokohama was to be the most prominent. The selection of Yokohama was a compromise in the face of intense opposition to the new treaties by conservative activists who believed rightly I think that opening Japan to foreign relations under the new treaties would compromise Japan's sovereignty and expose it to an even greater threat of imperialist aggression. The Shogunate felt it had no choice but to accept the foreign demands. I think it was wrong but in order to mitigate the potential harm it carefully selected a location for the new treaty port that would allow it to isolate the foreigners and to control their activities as much as was reasonably possible. In order to achieve this the authorities built a brand new town from scratch complete with comfortable residential quarters for the foreign community, a Japanese merchant community that would be ready for business on day one and a lavish entertainment district designed to head off the temptation for foreigners to wander into adjoining communities in search of the two things men in foreign ports were always in need of, sex and alcohol. The town was deliberately built on a lavish scale to produce at least an image of comfort and prosperity. Chuemon's shop was actually located see you can't see too well but right around here there's a force and right behind the force it was a very good location right in the central area of town because he was one of the first to set up a shop there. He was one of 70 Japanese merchants present in Yokohama at the opening of trade on July the 1st 1859. Chuemon started with very high hopes but there was some daunting barriers to the success that he dreamed of. His idea was to specialize in the produce of Koshu which his son and friends, his son was back in the home village would send him for his inventory but it turned out there was no demand among the foreigners for grapes, tobacco or any of the other products that he had in stock. What the foreigners wanted was silk. Koshu did produce silk but it was an extraordinarily expensive commodity. A single pack horse load, so you see one or two pack horses in that in that picture there, purchased in the producing region cost around 450 yur which was the the currency of the time about 900 dollars at the time in American dollars. After building his shop and residence Chuemon's entire remaining capital was only 20 yur there was no way he could afford to buy silk on his own account. He did manage to sell a consignment of silk on commission but then he ran into another problem the foreign buyer refused to pay him for the silk he had delivered. There was a huge amount of distrust between foreigners and Japanese. Communication was very difficult and not since neither spoke the other's language and if a dispute arose there was no effective judicial or mediation system. There was all sorts of shady dealing on all sides and it's not surprising that both the Japanese and foreigners came to see the others as thoroughly untrustworthy. Chuemon also struggled with a variety of other problems. His house burned down, had to be rebuilt at a great expense. The high local taxes were a drain on his resources. He sent for his 17 year old son to help him out in the business but the boy turned out to be incompetent doing far more harm than good. At one of his low points in mid-1860 we find Chuemon and his whole household lying sick in bed unable to open the shop which anyway had nothing in it to sell because Chuemon had no money. So dire were his circumstances that he was forced to pawn all his wife's kimonos just to cover basic expenses for another month or two and this is a man who had left behind a very comfortable lifestyle and then borrowed against it all to open this shop and yet in spite of all the obstacles Chuemon remained optimistic. It's one of the most appealing features about his personality in fact. He never seems to give up and he did eventually succeed in developing a profitable business. The first opportunity came in the trade of cotton. This was a much cheaper commodity than silk and it was a product of the Koshu region. Indeed Chuemon himself was a producer and had some experience in the local cotton trade. Cotton had not been an item in demand by the foreigners but that changed in 1862. As the American civil war intensified the northern states blockaded the southern ports preventing the shipment of raw cotton from the plantations. The American south was by far the biggest supplier of cotton to the Lancashire mills which now had to look for alternative sources of supply. Chuemon observed the market for cotton strengthening in 1862 and demand continued to build over the following months. With the 1863 harvest Chuemon seized the opportunity. It was his first big success. He did very well through the second half of 1863 buying raw cotton in Koshu and selling it to the foreign merchants in Yokohama. The key to his success was the information advantage that Chuemon had over the local market. He knew the latest Yokohama prices and if he could act quickly enough he could trade before the local market caught on. He did everything he could to preserve this advantage. One method he used was to use the very fastest available means of communication. In practice this meant hiring couriers to run up and down the Yokohama Koshu Highway as fast as they could. The couriers had scheduled services that ran up and down the highway in relays taking three days to cover the 115 kilometer distance over the mountains to Koshu. But when he was really in a hurry Chuemon hired special couriers who were willing to run non-stop the entire distance making the journey in less than 24 hours. This service was very expensive as well it should be. Chuemon had to instruct his son to give the exhausted couriers a bed for a couple of nights to rest their sore legs but he was able to get his message to his son quickly giving the son time to buy before the local market caught on to the price rises in Yokohama. The other benefit of this speedy communication was it allowed Chuemon to turn over his merchandise more frequently. He was always stretched to the limit financially and the sooner he could bring merchandise back to Yokohama and turn it around the sooner he could reinvest in another purchase and the more overall purchases he could make over the course of the season. Chuemon also made use of strategic misinformation. Sometimes he would send two letters to his son with the courier one for his son to read privately the other that the son was to surreptitiously leak to the local merchants the private letter informed his son of the actual market conditions the leaked letter on the other hand painted a darker picture of the Yokohama market encouraging its readers to sell at a lower price. The cotton boom only lasted one season but it provided the resources for Chuemon to set his business on a sound of footing and a year or so later another opportunity presented itself once again the origin was far distant over the previous decade over the previous decade the european silk industry had been decimated by a devastating blight affecting silkworms across the continent. By the mid 1860s the europeans were desperate for new stock to rebuild their businesses as it happened Japan had a highly developed trade in silkworm eggs which merchants have discovered how to preserve on sheets of Japanese paper from mid 1865 Japan began exporting silkworm egg cards to europe so this is what they look like they would be uh the eggs would be laid in here and then transferred onto this card and when you get the card wet they sort of come back to life um the demand was intense and Chuemon was in the market from the beginning. This was not actually a product that Koshu specialized in and although Chuemon tried his hand at stimulating production of silkworm egg cards in his home province before long he found himself and his agents raging far and wide across central and northern Japan in search of inventory. There was in fact a mad scramble for the cards all across Europe or all across excuse me across Japan. The foreign demand was virtually limitless and the prices went up and up as the foreigners competed for available stocks. This was the business that really made Chuemon's fortune. So I'll come back to Chuemon's business but first I want to talk a little bit about his experience of the events leading up to the Meiji restoration and the restoration itself and its aftermath. As I mentioned earlier the opening of Yokohama was the first in a chain of events leading ultimately to the collapse of the shogunate. Indeed throughout the 1860s Yokohama was a major site of opposition and conflict both between the shogunate and its opponents and between the shogunate and the foreign treaty powers. Chuemon himself was not a political animal. He comments very little in his letters about political affairs but it's clear that he was a loyal subject of the shogun. He grew up in a prosperous region that had always benefited from shogunal patronage and indeed he himself had worked in the shogunal administration for time when he was younger. Throughout his correspondence he never questioned the authority or legitimacy of the shogunate. As far as he was concerned Yokohama was not a place of political conflict but a place of opportunity to earn the wealth that he dreamed of. But politics intruded on the affairs of Yokohama whether Chuemon liked it or not. Many anti-foreign activists focused their outrage on the treaty ports where in their opinion the foreigners were arrogantly occupying Japanese territory and making outrageous demands on the shogunal government. As one samurai later described his feelings at the time I should have thought it an act of the highest virtue whatever were the consequences to cut down a foreigner and if more than one so much the better. Terrorist attacks in and around Yokohama began as soon as the port opened. The foreigners slept with pistols under their pillows. Even the Japanese merchants doing business with the foreigners were in danger. In 1863 which was the peak year of conflict more than two dozen Japanese merchants were murdered. One of them had his head displayed on a stake with a placard proclaiming that he and others like him quote have trafficked in silk, wax, oil, salt, tea in fact all the staples of the land in articles necessary for the use of the people of the country and sold them to foreigners for their own gain. The most dramatic act of anti-foreign terrorism was the murder in September 1862 of Charles Richardson a British merchant from Shanghai who was visiting his sister in Yokohama. Richardson was murdered by the samurai bodyguards of one of Japan's great feudal lords and their master was widely assumed to have been complicit in the attack. It led to strident demands for compensation and ultimately to the brink of outright war between Britain and its allies and the Shogunal government. If war were to break out it was widely assumed that all the foreigners remaining in Yokohama would be massacred and indeed as the British ultimatum approached the streets of Yokohama emptied out as foreigners and Japanese merchants closed their shops and fled to safe havens. Chouemon very bravely stuck it out right through the crisis. He never lost his faith in the future of the town. In fact his main concern was not so much to secure his own safety but to reassure his investors that Yokohama really wasn't such a bad place as the news made it sound. This was actually a hard sell. You should see the prosperity of this place he wrote in the middle of these problems. Even the government officials are marveling at it. Although the Richardson dispute was eventually settled without bloodshed Chouemon watched in growing alarm as the political situation in Japan continued to deteriorate through the 1860s. Finally in January 1868 he reported on an unbelievable event that had taken place in faraway Kyoto. He headed a letter he wrote to his family about this event transcription of a dream indicating his sense of complete disbelief. The event he was reporting on was the battle of Tobar Fushimi in which the Shogunal army was soundly defeated by an alliance of powerful clans from western Japan who then proceeded to march up the eastern seaboard towards Edo. This marked the collapse of the Tokugawa regime and the end of the 260-year-old Tokugawa Shogunate. Chouemon continued for a while to delude himself that everything would return to normal. The Shogun would defeat the western allies on their way up to Edo or the Shogun or another of the great lords would create an independent state out of the eastern half of Japan and life in Japan in Yokohama could go on as normal. But it was not to be. The western army continued its march up towards the Shogunal capital and on March the 31st 1868 they arrived in Yokohama itself. Chouemon watched in horror as the wild men of Satsuma who to Chouemon were barely Japanese at all began wandering into the streets of Yokohama. Today he wrote in a letter to his son many of them came to look at the foreigners houses. I don't understand their language all of the inns are keeping their doors closed the high-ranking people and even the merchants are not going out the ferry stopped running yesterday the people of Yokohama have stored supplies and evacuated their old people and children even now I'm making preparations to that effect. Not long after Edo itself capitulated to the rebels who now became the recognized government of Japan in an extraordinary reversal of fortune the Shogun whose family had ruled Japan for over 200 years was declared the rebel and sent into exile. The collapse of Edo was a traumatic moment for the loyal servants of the Shogunate whose lives were upended. In fact though Edo itself had been in decline for years even as Yokohama which was just a few miles down the coast grew during the 1860s into one of the most vibrant commercial centers of Japan the Shogunal capital was increasingly hollowed out by economic decline and political chaos. Tsuemon for whom Edo was like a second home wrote frequently of the deteriorating security situation and the rampant theft and robbery that plagued the city. After its fall the Shogunal retainer Katsu Kaishu wrote in his diary he was a bit more eloquent than Tsuemon which is why I'm quoting him. The once great castle is today overgrown with weeds its towers are crumbling and its enclosures have become a den for beggars and outcasts. At night thieves wander about and cut down the unfortunate. The aged are left to die in the streets and bands of young men gather in the outskirts of the city to pillage and plunder. Yet even as the world he had known all his life collapsed around his ears Tsuemon's business continued to prosper. The foreign demand for silk and silkworm egg cards remained very strong and trade in the port barely faltered. Even as armies were on the move throughout Japan and even in fact as a western army was marching through Koshu itself burning towns along the way the goods kept moving along the highway between Koshu and Yokohama. For the most part Tsuemon concentrated on his business in the years that followed. In fact his business reached its peak in the two years after the major restoration. When he did comment on the dramatic political changes that continue to sweep the country it was usually with a mixture of bemusement and concern. One has the sense that after the unbelievable overthrow of the Tokugawa system anything was possible and all Tsuemon could do was look on while he pursued his business. For example at one point he reported without apparent concern that quote Japan will be given to France. They say that the French flag is flying from Edo castle. The emperor left on the 23rd on a ship to go to Satsuma and from there he will go abroad. People are saying there is no doubt about this. Nevertheless Tsuemon was slowly learning the meaning of being a subject of the emperor and not of the shogun. He no longer wrote of the barbarous westerners recognizing instead the sovereignty of the emperor in whose name they were ruling. By the time that the emperor came to Yokohama in October 1872 to attend the opening of the new Yokohama to Tokyo railway line Tsuemon had thoroughly mastered the appropriate honorifics to refer to his august majesty. Tomorrow he wrote they will be hold a great ceremony which will be attended by the Son of Heaven. From now on we will be able to travel from here to Edo by railway. I too plan to try riding it. It will be so fast. Of course Tsuemon was also excited about the railway because it validated his long-standing faith in the prosperous future of Yokohama and indeed by the time the railway opened the Tokyo Yokohama Highway was already the most heavily traveled route in Japan. There was one area though where Tsuemon continued to express deep concern about the new government's reform program. That was the dizzying series of administrative reforms that were launched in the villages. Tsuemon remained deeply involved in the affairs of his village and by the early 1870s his son Shojiro had become village headman. In quick succession the government introduced ambitious new plans for land registration, the creation of new population registers, the creation of a military conscription system and the creation of new schools as part of a compulsory education system. At the same time the government launched over a dozen reorganizations of village administration many of them aimed at cost cutting with the result that more and more of the burden fell on the remaining village officials. The land registration just to take one example was an enormously burdensome project involving the surveying and productivity assessment of every plot of arable land in Japan. Tsuemon frequently lamented the endless round of reform measures. He worried that the secret purpose might actually be to redistribute the land to the members of the samurai class who in another reform faced the abolition of their hereditary status. But although Tsuemon expressed concern and frustration he recognized as he had throughout the decade that as a humble farmer and merchant he was powerless to affect the course of events. If possible he wrote, I wish they could just leave things as they were but since these are orders from on high there's nothing anyone can do. Unfortunately Tsuemon's prosperity was not to continue forever. As his wealth grew Tsuemon ever the optimistic risk taker rapidly diversified into new businesses. He opened a high class in for traveling Japanese merchants with beds for 60 guests and he applied for a license to operate as a foreign exchange broker and money lender. He also invested extensively in real estate. The cash expenses for these new ventures were enormous and Tsuemon borrowed large amounts to finance them. In addition he borrowed heavily to finance continued growth in his egg card business. The collapse of Tsuemon's business began once again with an event taking place thousands of miles away. An event that in itself probably would have meant nothing to Tsuemon. On September the 1st 1870 the French and Prussian armies faced off at Seidon for its decisive battle. The battle ended in a devastating defeat for the French. Within a month the Germans were at the gates of Paris which was placed on the siege. As the Parisians struggled to find enough food for bear survival the luxury good market of which Paris had been the global capital withered to nothing. It took a month for news of the battle to reach Yokohama but on the day that it did arrive the market for silk and silkworm egg cards fell into a steep decline eventually falling by 75 percent. Stuck with a huge inventory and massive debts Tsuemon was essentially bankrupt. He held on for a few more years trying his hand at different ventures to restore his fortunes but in the mid 1870s he gave up and retired to his home village where he lived out the rest of his days no doubt regaling his fellow villagers with lively stories of his past successes in the colorful treaty port. Tsuemon's letters home also end with his return to the village and for my purposes so this is story but before I finish I'd like to reflect a little on how Tsuemon's story might help us rethink the narrative of the Meiji Restoration. You might well ask how one man's story can possibly help anyone reinterpret great historical events over which historians have argued for decades. As Helen mentioned I've written a number of these biographies of otherwise obscure men and women and I often get asked this question and to tell you the truth reinterpreting history isn't really my main motivation in doing this work. I think there's a great deal of value in reconstructing these life stories for their own sake in bringing otherwise forgotten people back to life and helping readers experience history through the eyes not of those who made that history but of those who lived it but in fact I think that these micro histories of individual lives can be quite helpful in rethinking established historical narratives. Individual experience often doesn't coincide with the grand narratives of history and that disparity can be revealing. Actually in the case of Tsuemon's story as I worked on this book I came to understand that there are really two main protagonists Tsuemon himself of course but also the town of Yokohama with which Tsuemon shared his destiny from the beginning and which was a central player in every act of Tsuemon's story. What I'd like to suggest to you is that without diminishing the amazing program of reform initiated by the new leaders of Japan after the major restoration we can see from Tsuemon's story and that of Yokohama that radical transformation was already well underway by 1868 and that the drivers of change were not the political leaders but rather men and women like Tsuemon ordinary people in search of opportunity. The traditional narrative of the Meiji restoration sees the foreigners as a threat but for Tsuemon they were a once in a lifetime opportunity so much so that he left everything behind and risked it all for the sake of exploiting this opportunity and he wasn't alone. Countless Japanese merchants and farmers flocked to Yokohama some of them just to see the foreigners and their strange lifestyles to marvel at the wealth and prosperity of the new town and for many to share if they couldn't to see if they couldn't find a way to share in that new wealth. So magnetic was the attraction that the population of Yokohama grew from a few hundred in 1859 to over 50,000 by the middle of the 1860s even as the population of Edo the rulers of which remained hostile to foreign trade declined by half. Clearly the first great driver of change was the opening of Yokohama to the global market. When the Japanese government opened this tiny foothold for the global trading community it was I like to think like plugging in to a humming electrical grid I know it's a slightly anachronistic analogy but the effects were almost instantaneous and the current was a shocking to many and very hard to control. For Tsuemon and many others like him it represented a virtually limitless opportunity. In Tsuemon's case it enabled a man who had almost no capital and who had no particular experience or skill to set him apart beyond his fervent belief in the power of the global market to prosper beyond his dreams. Actually it was the men like Tsuemon who were the most successful in Yokohama. The established merchant elites were too cautious about the foreign trade and too anxious to preserve their existing privilege. As a result many of them didn't survive the collapse of the Tokugawa regime. The opportunity of the global market extended far beyond the Yokohama merchant community to embrace tens of thousands of small-scale producers of cotton plants mulberry silkworm cocoons and silkworm egg cards that's actually what this illustration is supposed to show rural people making silkworm cocoons. In Koshu for example shipments of silk increased by 420 percent by volume during the course of the 1860s bringing much needed cash income to marginal farmers throughout the silk producing regions of Japan. Prices increased too so it was really a tremendous windfall for people who were living pretty close to the edge many of them. But the powerful current of the global market also brought unprecedented disruption. The injection of huge new demand in an environment of limited supply brought a surge in the prices of key commodities. The inflation was compounded by the rapid drain of currency from Japan as foreign traders took advantage of currency discrepancies. For those unfixed incomes laborers artisans and samurai retainers for example the inflation ate cruelly into their standard of living and it's not surprising that the 1860s witnessed a period of unprecedented popular protests in both towns and villages as economically marginal people struggled to survive amidst the turmoil of the era. Yokohama itself was not just a place to buy and sell goods in the global marketplace. It was also a place to experience new ideas, new styles, new ways of thinking about the world. Anyone who visited Yokohama must surely have been changed by the experience whether it was philosophy, architecture, religion, military science, medicine, public administration, or race. Yokohama offered radical new ways of understanding the world. I like to think of the town as a sort of department store another probably inappropriate analogy almost everything it offered was ultimately for sale but you didn't have to buy you could also just browse and in the process you could learn how to become a participant in the global culture of modernity. To participate in the global marketplace was also to redraw your mental maps of time and space. I see that process at work in Choumon's experiences and in the broader reconfiguration of the Koshu landscape. For example the connection of Yokohama to the global market brought about a radical reorientation of the economic networks of the Kanto region. Koshu had traditionally been a major supplier to the prosperous Edel market but with the explosive growth of Yokohama and the concurrent decline of Edel these networks shifted. Koshu was no longer Edel's hinterland now Koshu was a supply center for Yokohama and beyond that for the global market. We can see this shift very clearly in the opportunities and crises of Choumon's business activities. The great opportunities that brought in prosperity developed thousands of miles from home and similarly the event that brought an end to that prosperity the decisive battle of the Franco-Prussian War was also a far distant event. Probably most small-scale producers and perhaps even Choumon himself did not fully understand the ways in which they had come to benefit from but also to be very vulnerable to far distant events over which they had no control and often no knowledge. But these new relationships to global space were to be decisive in the fortunes of countless families. On the other hand the major domestic events of the 1860s while they must have seen momentous at the time often had a relatively minor impact on the fortunes of those who were connected to the global network. For Choumon the major restoration one of them surely one of the most momentous events in Japanese history was certainly shocking and frightening but it actually affected him remarkably little. His business continued almost unchanged by the political turmoil at home and he continued to build his fortunes right across this historic dividing line. Anyone exposed to the currents of global modernity would also run into new concepts and technologies of time. In fact one of the material goods the Japanese observers in Yokohama were most fascinated by was the pocket watch which enabled its owners to make appointments and regulate their days down to the minute. In the case of Choumon we have seen how quickly he came to understand the vital importance of rapid communications to his business success. In his case the only resource he had access to in order to speed up his world was the swift feat of the professional couriers but as it happened Choumon was experiencing this imperative to speed at a time of unprecedented development in the technologies of transportation and communication with the rapid development of steamship services and the completion of the American Intercontinental Railway and the Suez Canal both of which opened in 1869. Global communications accelerated dramatically. At the beginning of the 1860s the journey from New York or London to Yokohama by sailing ship took upwards of four months. By the end of the decade you could make the journey in less than four weeks and sometimes much quicker than that. The global telegraph system also developed rapidly throughout the decade and by 1870 the western city of Nagasaki was already connected directly to London and New York via overseas via undersea cable connections. Within Japan even before the major restoration Japanese entrepreneurs had introduced regular steamship services between Edo and Yokohama and with the encouragement of eager businessmen Japanese investors developed inventors I'm sorry developed a new technology that was to become a staple of Asian transportation networks the hand-pulled rickshaw. All of these changes took place regardless of Japan's domestic politics but they have profound implications for Japan and its place in the world. I'll briefly touch in some other transformations that are visible in the stories of Choumon on Yokohama sometime before the major restoration. First the spread of new understandings of the human body. With the opening of Yokohama foreigners commented often and loudly on the propensity of Japanese workers and others to wander the streets in a state of virtual or complete nudity. The westerners found this shocking and it didn't take long for Japan's emerging elites to share their opinion. Before long new directives emerged to regulate nudity and clothing but on top of that the spread of foreign textiles and the presence of strangely dressed foreigners in the treaty ports quickly led to a reconception of clothing and fashion with western or hybrid styles spreading rapidly through Japan's cities. Choumon himself was a part of this process. He distributed foreign machine made cloth in his home province and after the collapse of his egg cart business among his new ventures he actually opened a tailor shop selling western style clothing to Japanese customers. Second new food tastes also spread out from Yokohama. In particular Japanese people began to think very differently about the consumption of meat which had been more or less taboo for most Japanese due to both environmental and religious considerations. With new perceptions of the health benefits and strengthening effects of meat consumption the residents of Yokohama and then beyond began experimenting with new ways of eating. When the Meiji emperor announced at the beginning of the 1870s that he enjoyed eating beef an official stamp of approval was added to a process that had already been underway for a decade. Third the 1860s brought new understandings of hygiene and public health. Yokohama was the site of Japan's first mass vaccination campaigns and also its first hospitals and again these were before the Meiji restoration and finally it's also worth pointing out that the transformations triggered by Japan's connection to the global market via its Yokohama node were not all one way but they were also to some extent reciprocal. In particular the sudden appearance of Japanese arts and crafts on the world market triggered a craze for Japanese aesthetics. This painting by James Whistler for example the princess from the land of Porcelain was completed in 1864 four years before the Meiji restoration. Indeed all of the transformations that I've described were well in motion years before the Meiji restoration and collectively they comprise a significant reconfiguration of Japan's economic, technological, social and cultural landscapes. Indeed they can legitimately be seen as a part of the engine of Japan's rapid rapid modernization in the second half of the 19th century and for the most part they were initiated and implemented not by the great men of Meiji but by the little men of the high street. Men like Tsuemon ever keen to enhance their wealth and material comfort. One could argue in fact that it is they who are the primary motive force of historical transformation. Thank you.


Hey, this is Brett and this 2022 Ford F-150 Super Crew Short Box Tremor Package is stock number 13864ZA. I am here at Summit Automotive in Van Lack, Wisconsin, you're new and use light duty truck headquarters this 2022 Ford F-150 Tremor has the 3.5 liter V6 twin turbo EcoBoost engine, puts out 400 horsepower, it's paired up with the 10 speed automatic transmission. This truck has been fully safety and inspected by our service shop, has a fresh oil and filter change all the fluids have been checked and topped off and it is 100% ready to go. I'm going to go all the way around in this video inside underneath, start it up and take a look under the hood to give you the most accurate representation possible. A gate black metallic is a color I shoot all my videos in 4K and if you like the video you can subscribe to my YouTube channel which is youtube.com slash summit auto click the bell notifications you'll get updates on the videos I do each and every day as well as having access to one of the largest catalogs of vehicle and truck walkarounds on YouTube 8,000 videos and counting on there this one comes with the I would think this would be magnetic gray or maybe carbonized gray painted alloy wheels it has these are 18 inch wheels and it has general grabber AT tires these are 275 70 r 18s they look pretty new I would say probably 70 to 80% of the tread left maybe even a little bit more frame and under body is exceptionally clean this is a one owner clean title history clean car facts out of Illinois get the normal halogen headlamps factory fog lights the painted bumpers and then that kind of goldish yellow tow hook tow hooks and then you get the same bar across the center which really is the signature on the tremor package that yellowish gold accent it's on the lettering it's on the sides there it's on the tremor in the back passenger side front fenders in excellent shape I didn't see any dents or dings on the hood this is my first tremor that I'm reviewing for an F-150 so kind of excited about all the gold accents on it I really like it passenger side front wheel no scuffs or scrapes lack of gate metallic it's got just a little bit of metal flake in it really a good-looking color and as you go down this side of this 2000 and 22 Ford F-150 take note of how clean that body is how reflective and mirror like that paint is take these HD videos so if you are far away or even if you're close by and you just cannot make the trip down but you're still interested in purchasing the vehicle you can see the vehicle hear the vehicle and of confidence in what you're looking at before you even get here so when you do get here there's absolutely no surprises and you can make a smart and informed buying decision from wherever you're at if this video helps you make that buying decision let your salesmen know that you saw the video that it was helpful and that Brett sent you back wheels and excellent condition I didn't see one single dent or dinged on the passenger side here back tires look like they have even more tread than the front tires and the frame and underbody is exceptionally clean on this truck which is what you get on a one-year-old truck from Illinois looks really good underneath there has all the remaining factory exhaust comes with a really nice powder coated running boards that usually you see on the Raptors really good-looking and then you get the tremor decal on the box there that is just a sticker if you didn't like it you could take that off you get the dual rear exhaust rear bumpers in fantastic condition get the backup parking sensors full towing package which includes a receiver hitch four pin wiring seven pin wiring and then that's for your spare tire but anyways tailgates in the excellent shape as well this one has the step assist and you get the ruler on there spray in bed liner LED bed lights it does come with a plug-in back here which is nice and those lights have the button right there as well the beds absolutely perfect tailgate and tailgate step assist are in excellent shape shuts nice and solidly and as you go down the driver's side just as clean as that passenger side didn't see any dents or dings on the box and for full disclosure this back wheel just as nice as the rest of them it does have the capitalist fuel fill never get gas in your hands again and down the rest of the side of the truck doors and cab all look really good this one does have the heated power mirrors blind spot mirrors inside this tremor package gives you the black cloth interior get the kind of cool design almost camouflage design on there no rips or tears on the seats this truck's never been smoked in you get the gold stitching on there as well factory all-weather formats auto headlamps tilt telescopic steering wheel power windows locks and mirrors get the gold trim stitching on the doors back seats are just as clean as front seats no rips or tears back here it does have the latch child safety system it does come with the carpeted tremor floor mats rear window to frost fixed glass window these seats fold up comes with a receiver hitch pull bar right there and side box tie-downs all-weather format you do get 120 volt 20 amp plug-in back here as well as a USB USB-C and a 12 volt power point these seats don't like so child safety locks on the back doors and the bottoms and inside of the doors all look like new really a nice truck take a look at the Vin sticker here this is an American truck no Canadian trucks here tire and loading information sticker will hop inside check out the miles the radio and everything that this one has to offer on the interior get the built-forward tough animation right there and yes we will be putting fuel in this vehicle right after this video can see that this one has 21,173 miles on it instrument cluster is very nice and clean get the multifunction steering wheel this one has lane keep assist volume controls cruise controls on the left information center controls and Bluetooth controls on the right there's your shifter for that 10-speed automatic transmission this one has the sync 8-inch radio it has the factory navigation system on it there's highway 41 so that is working nicely if you go to audio you get AM and FM and Sirius X and radio capabilities as well as Bluetooth you have all your different features here you have your different settings including your apps Apple CarPlay and Android Auto so you can project your cell phone to the screen this one also has your backup camera downhill assist control stability control your hazard lights volume and tune controls push button four-wheel drive you got your different drive modes you got normal up there slippery deep snow sand mud and ruts and rock crawl then it goes back to normal and tow-haul and eco and sport so just a ton of different driving styles that you can have climate controls right there another USB USB-C down there 12 volt PowerPoint another 120 volt 20 amp plug-in dual gloveboxes right there passenger side format and seat are in excellent condition once again I don't think this truck's ever been smoked in smells very clean like new inside and the headliners in excellent shape you do get six auxiliary upfit switches and map lights right there we'll start it up take a look under the hood listen to that exhaust a little bit I would personally like to thank you for checking out the video today and like I said I would personally like to thank you for checking out the video today and hopefully from this HD video you've been able to verify the quality condition options and of course cleanliness of this truck all the way around inside and out all the lights are working very nicely and after a couple seconds that really quiets down under the hood we have the 3.5 liter v6 eco boost twin turbo engine engine base very clean runs very smooth 400 horsepower and once again this truck has been fully safe eat and inspected by our service shop has a fresh oil and filter change all the fluids have been checked and topped off it's got some pretty new tires on it there's the emission sticker shocks are doing a nice job holding that hood up and I would highly recommend this truck to make quality and condition standpoint I'd ship this one anywhere across country I'd sell it to a friend family member whoever's gonna get this truck's gonna love it and to see more pictures of this truck or one of rather 550 new news cars trucks SCVs many of it and Wrangler's half tons three quarter tons one tons you name it we got to go to that website right there summitauto.com full pictures and descriptions of every single vehicle all at summitauto.com and if you'd like to check out more HD videos you can go to youtube.com slash summit auto click the bell notifications you'll get updates on the videos I do each and every day as well as having access to one of the largest catalogs of vehicle walk-arounds on YouTube 8,000 videos and counting also large large selection of truck videos to choose from in fact any second you'll see a link to subscribe to my YouTube channel the upper left a link to more f-150 videos I've done in the upper right link to this vehicle on our website lower left and a link to one of our latest YouTube videos in lower right click those checks out we're super excited to help you with this ultra clean 2022 Ford f-150 tremor in black agate metallic thanks again for checking out the video remember to like subscribe and share on the YouTube channel I really appreciate it thanks again


Hi and welcome to Defending the Unmanned Aerial Vehicle Advancements in UAV Intrusion Detection. My name is Jason Whalen. I'm a Master of Science student in the Advanced Networking Technologies and Security Research Lab at Ontario Tech University in Ontario, Canada. We'll be spending the next 20 minutes or so discussing why an intrusion detection system for UAVs is needed, proposed solutions and academics, how these solutions can be used in practice, and finally, I'll be demonstrating our fully developed novelty-based IDS. So let's start off with a brief background into the threats unmanned aerial systems as a whole are faced with. This isn't a comprehensive list by any means, but it should provide some insight into why an IDS for UAVs is needed. The information here comes from experience with pen testing at commercial UAS, as well as research in the UAV security domain as a whole. So insider threats are, of course, possible with any human operator. These can occur when the operator executes missions or payloads in a rogue manner without authorization. Initiation mechanisms for insider threats can include multiple sign-offs on certain actions, alerting one of the UAV deviates from the initial mission, etc. The ground control station requires internal network security controls to allow for only authorized personnel to have access to the operational systems, which could also include physical security to this location. And some autonomous unmanned aerial systems, remote ground control stations will be deployed to allow for remote charging or payload downloads. In this case, these remote stations could be in very remote areas, sometimes even hostile locations. So for this reason, physical security is very important, as is both wired and wireless security. So something as simple as connecting to a network weather station could lead to complete compromise if the wrong person connects to it. Many systems will also make use of web or cloud infrastructure, either for backend processing or something like a client reporting portal. So similarly to the ground control station being a traditional IT system, best practices in web and cloud security also apply here. So even if this infrastructure doesn't have any direct connection over the or control over the UAV or connection to the UAV, there can also be private customer reports or other sensitive information that could be a target. So the other prominent threat here is if there is any connection between the cloud and the UAS, given the potential for the interaction with the UAV. Commercial off the shelf intrusion detection systems can of course be integrated into this type of infrastructure, as it's just a traditional IT system. So communication links. This is where things become more complicated. Given that the UAV is essentially a flying computer is exposed to threats to various wireless communications. Autonomous UAVs may use 802.11 Wi-Fi for payload download at remote ground control stations, which can easily be compromised if using something like WAP or WPA2, especially with the new PMK attack. GPS jamming and spoofing are well understood and well known attacks are becoming more and more common. Other wireless data links such as cellular or RF can suffer from denial of service and jamming attacks. And communication protocols themselves can also have inherent vulnerabilities such as MAV Link version 1 and ZigBee with many very vulnerabilities including eavesdropping, hand injection, replay attacks and more. Communications dealing with collision avoidance can also cause trajectory modifications such as if ADS-B spoofing and if ADS-B is used as direct feedback automatically by the UAV. So the UAV itself, given that it's arguably the most accessible for attackers, it suffers from its own vulnerabilities as well. Depending on how collision avoidance is implemented, if it reacts in a predictable manner it can be exploited to actually hijack the UAV, especially in an intruder and pursuer type of scenario. If an attacker is able to communicate with the UAV directly, it also opens up the underlying system for attacks. So some of these potential vulnerabilities would include command injection, buffer overflows and open and accessible services that were originally for debugging that have been left behind. And finally, sensor-based attacks are very common and are well researched as well. So some of these attacks can include optical flow sensors spoofing and jamming and those targeting communication sensors such as ADS-B or GPS. There's some key takeaways from conducting a threat analysis which point to the need for an intrusion detection system. But I think it's safe to say that most small to medium sized UAV technology developers are focused on getting the product to the market, not necessarily with security. And the more traditional IT systems such as the ground control station in the cloud, mobile applications, all these can follow well-defined industry best practices and even implement commercial off-the-shelf intrusion detection systems. But the UAV itself faces the largest threat landscape within the UAS given its often hostile operating environments, its physical accessibility, and its reliance on wireless technologies. However, the UAV itself requires its own unique IDS solution. It's a cyber-physical system with varying communication protocols, control configurations, frame types, flight firmware, and more making it very difficult to make one size fits all IDS. So although there's a need for intrusion detection system for UAVs, there's also a number of challenges in developing one. Many of these challenges are similar to the robotics or internet of things domains with size and weight constraints being primary as well as computational power limitations. So this is especially true if an IDS agent is to be run on board the UAV given that many of the prominent attacks result in denial of service such as jamming. This does actually suggest the need for an onboard agent that can continue to detect attacks and potentially mitigate them even if that link is under duress from such an attack. These constraints, if not taken into consideration, can result in computational bottlenecks and can negatively impact flight performance. So finally, given the wide variety of onboard components, UAV frames, communication protocols, and so on, making a ubiquitous IDS that can be applied beyond a single UAV becomes very difficult. And this especially applies to machine learning-based intrusion detection techniques given the lack of a labeled dataset or even a dataset that have anomalies in them. So UAV intrusion detection is an emerging area. It's currently being investigated primarily in academics. And sometimes academic proposals don't offer many practical takeaways, which is what I'm trying to cover here. So initial work in this area utilize game theory-based approaches. These stem from low-power and low-resource environments of the Internet of Things where game theory and Beijing games are used. So depending on the result of the game, further more costly techniques can be deployed. For example, signature or anomaly-based detection. And sometimes certain defenses will also be applied based on the result of the game. So some pros of these different game theory techniques are that they're highly efficient and they require low maintenance depending on if there is a secondary detection technique and what that is. And obviously, if it deploys a signature-based model or something similar, it would require ongoing maintenance in order to stay up to date. And as you require multiple participants in the game, many of these solutions are only applicable in the context of mobile ad hoc networks or multi-UAV scenarios where we're expecting to have another node within our mesh to go rogue or become malicious. And this isn't always the case. Sometimes we have lone UAVs that are autonomous and are acting by themselves. In implementations where defenses are deployed, depending on the result of a game, sometimes the game loss can leave the attack completely undetected or the sensors completely vulnerable. So specification-based approaches work by defining behavior specifications and using them as the basis for detecting attacks. Think signatures, but for actions instead of inherent traits within actual network protocols. So these actions can include certain states or transitions. Some examples would include defining acceptable flight paths or sensor values or creating a whitelist and blacklist of various values or transitions. These approaches offer low-false positives since they're only really being triggered upon the violation of a specification that you've made. They're also straightforward and simple to implement. There are, however, high setup and maintenance costs as you have to actually determine what those values are yourself and you have to update them when necessary. And a specification-based intrusion detection system can only detect what you define and nothing more. So if an unknown attack or a variation of an attack occurs, the IDS has no way of detecting it. Anomaly-based techniques have been investigated more recently and these utilize various machine learning and statistical techniques in order to detect anomalies within the UAV, which maybe indicators on the attack. So some examples of techniques in academic literature include things like multiclass support vector machines, deep belief networks, isolation forests, and so on. So pros of these techniques are that they possess the ability to detect previously unseen attacks, possibly depending on how they're implemented, and those that affect more than just state or transitional changes. And they're much less of the manual process because it's all done through a training process instead of going through and manually selecting values. Unfortunately, though, they require either a labeled dataset or a dataset that contains anomalies so that they can be classified. In order to get these, you need a UAV equipped with different sensors. You need to be able to conduct the attacks against it in order to gather that data. And obviously, this can be costly and some of these attacks introduce legal issues and so on. So the detection of new attacks would also require the same process all over again, resulting in high maintenance eventually. So hybrid approaches make use of two or more detection methods and aimed to provide the benefits of detecting unknown attacks with low false positive rates. Usually they have a low computational cost method that's employed first, followed by a more costly method depending on the result of the first. So for example, if an attack does not match a signature, then maybe the secondary anomaly detection might be invoked after. Pros of hybrid approaches are that with a combination of multiple methods, they can gain a maximum accuracy with low false positives and also low energy consumption and computational costs. There are cons again here though, such as high maintenance depending on the ensemble that was made and if the initial detection is incorrect then the secondary may never be invoked failing to detect the attack altogether. More recently, novelty-based detection has been introduced in UAV space which is similar to anomaly detection but with some key differences. So an anomaly is defined as a rare observation outside of the norm that exists within the training set and are classified or clustered, whereas novelties are rare observations detected by means of only observing normal data through the training process which can then be used by machinery algorithms to be classified as novelties requiring only a benign data set. So this allows for the use of flight logs which are created by most UAVs by default and the classifier can be trained specifically for the UAV it's operating on with little maintenance or overhead depending on the implementation. At the time of writing, there's only been one publication related to novelty-based intrusion detection in UAVs which lacks significant detail and results. However, obviously we've since published something a little bit more in depth. So can we develop a novelty-based IDS and if so, how accurate would it be? So we investigated this by developing MAV IDS which is an IDS for UAVs that use the MAV link communication protocol. It utilizes one class classifiers for detection which allow for a more ubiquitous solution. And as mentioned previously, it would only require flight logs from a flight where no attacks are experienced and a companion computer for the agent. It consists of a ground control station portal and an onboard agent. And the portal allows the operator to change settings, view and respond to alerts and trigger or abort mitigation actions. The onboard agent is used to detect attacks by receiving a stream of system messages from the flight controller using something like FAST RTSP. And this allows for the detection of attacks even when the communication to the ground control station is lost due to jamming or a denial of service attack. And this hook into the flight controller also allows the IDS to inject flight commands back. So we can implement mitigation actions autonomously if the portal can't be reached such as changing the flight mode or disabling a certain sensor temporarily. So in order to begin developing this IDS, we need data to work with. So we require flight logs whereby the UAV does not experience any attacks as our benign training flight. And we also require logs where the attack did occur mostly just for testing purposes. So obviously this is only necessary for the purposes of initial training and scoring and gathering performance. But once we do that, we only need a log with benign data. So to get live data, we assembled a small quadcopter with various onboard components to help test multiple attacks. So we want to use something open source to make it easier to develop on. So we use the Hollybro S500 frame, a PIXHawk 4 flight controller, Mavelink and other open source components as well as a GPS sensor, ADSB, optical flow and all kinds of other sensors that we can utilize in order to actually conduct attacks against the UAV and these different sensors. So we decided on two common attacks for initial testing which were GPS spoofing and GPS jamming because they're by far the most common. And just a quick disclaimer, all the flights and all the attacks were conducted in a fair day environment safely and legally within a research facility that cannot get any sort of RF data from the outside. So because we conducted the experiments in an area that couldn't get natural GPS signals, we need to generate our own to act as a ground truth. So for this, we use the Keysight signal generator which is shown on the right and that was broadcasting a location in Shanghai, China. And then to conduct spoofing, we use the open source GPS SCR SIM utility and a HACCRF to broadcast a location closer to the university later on during the flight. And jamming was also done using the HACCRF but by broadcasting light Gaussian noise through the use of a new radio companion. And these flights were approximately 10 minutes in duration and both the spoofing and the jamming caused the UAV to lose control and eventually crash. So the jamming definitely caused it to crash immediately. And as you can see here, it's tethered. So the spoofing, it would kind of drift off course and then it would grab on the tether and crash. So you can see the Keysight signal generator there, the directional antenna at the bottom and then our own device in order to actually be able to truly read what the GPS signals are without relying on the UAV and its sensor. So now that we have data, we need to pre-process it before we can use it for training or inference with the classifier. So after the training flight, the logs are downloaded from the UAV which are in Ulog format. And using a PX4 tool, they can be separated into CSV files per your message, which are essentially system messages and sorted by the timestamp, although the polling rates still vary. So the flight controller might request certain system states at varying times. So once we have the CSV files, we can cluster them based on the sensor or system component, such as the GPS system, the telemetry radio, et cetera. And this is done by setting the timestamp as the index and sorting. And then we imply linear interpolation of any not a number or absent values. And then we remove any not a number or infinity values. And so this results in one condensed CSV containing all the features and values related to a specific component. And these values are then standardized into Z scores, which helps to keep them all on similar scales. And this is really important because in the next step, when we apply a principal component analysis, if the values are on various scales, and this can lead to misrepresenting the actual influence of a specific feature, right? So we apply principal component analysis to avoid the need for manual feature selection and also to reduce the number of features which would inherently make it more efficient. So a defined variance percentage is given depending on the attack. And in some cases, this reduced the number of features from as many as 83 down to as little as 13. So as you can see here on the left side, this is some features before standardizations. You can see how the scales are very, are completely various. Like we have one that goes from 46,000 to 60,000. Another that is at 0.1 to 0 to 0.05. So the scales are huge and different. And so when we standardize this, it keeps the scales relatively equal. And in that sense, when we do do the principal component analysis, the variations are actually more accurate and true. And on the right-hand side here, we've graphed three principal components with the benign and malicious labels on top of them. So you can see that it is quite obvious when an attack happens. You can definitely spot it. So now that we have pre-processed data, the one-class classifiers can then be trained. So we selected three classifiers with each following into one of the types of one-class classification approaches. And this was done again in understanding which type of one-class classifier would perform best. So the first is local outlier factor, which is a density-based classifier. And it identifies the density of an observation and compares that to its neighbors. And a point that's less dense than its neighbors is likely an outlier. However, it's known not to perform too well on the highly dimensional data. For boundary-based classifiers, they essentially create boundaries between points, separating them into different classes. And one-class port vector machine is an unsupervised algorithm which is trained only on the normal data. And it learns the support of the observations in order to separate between normal and abnormal classes. It typically performs a little bit better on higher-dimensional data. An autoencoder is an artificial neural network with an architecture that imposes an informational bottleneck to force a compression of the input. So basically, we have the same number of input and output nodes with a smaller number of nodes in the hidden layer in the middle. So this forces it to learn from the input and then it attempts to reconstruct it and then we calculate the loss. So classification for this, we utilize a threshold to determine if the error is high enough, sorry, to be considered a novelty. So here's an overview of how the MAV IDS system works together. Now we have all these different components. So there's multiple steps and you can kind of see the pretty simple flow. So first we conduct a benign flight and we download the log from the UAV. So a benign flight is one where no attack occurs. Pretty simple, you just fly around for 20 minutes or so. We download the log. So now that what the logs extracted or downloaded, sorry, we extract it into several CSVs per system message type, then the logs are interpolated such that any non-existent values or infinity values are removed and logs related to the same sensor or component are clustered together and PCA is applied. So now we have a training set which we can use to train the classifiers and the model that's generated is then uploaded to the onboard agent for inference. And during flight inference is done on the stream of incoming messages right to the onboard agent. And if an attack is detected, then this is communicated to the ground control station or mitigation action is invoked. So a little bit about the portal and the agent briefly. The portal uses Python, the Django framework, Bootstrap, Scikit-Learn, and TensorFlow, so all open source frameworks which allows us to have a native Python app built right into the web app. So any of the machine learning code we're using is all native Python as well. It facilitates the training and tuning process, the communication to the onboard agent, changing the various states and actions and so on. And it communicates to the onboard agent via a defined message in a custom Mavelink dialog. The companion computer connects to the telemetry port on the flight controller and it receives essentially a mirror of the Mavelink and your messages, so kind of like a span port. And it clusters, standardizes all those features and then it applies PCA using the same number of principal components that were determined during training. And when an attack is detected, it communicates the alert to the ground control station. If no response is received, it will initiate the user-defined default action. So here's a look at the training page at the ground control station portal which allows the user to select classifiers and set any known hyperparameters. Then they can upload their benign flight log and begin training and view the progress on the right-hand side pane. The settings view allows for the user to select which attacks to create models for. This dictates which sensor or component to use when clustering the logs together. And there's also a number of default mitigation actions to select which are invoked after the time below. So for example, if a jamming attack happens and sends that alert back to the ground control station, if the operator doesn't respond or override that, it will implement the default action automatically without input from the operator. This is the dashboard. We can see all the active alerts coming in on the left-hand side. The certainty that the machine learning algorithm was able to determine. And we can also select some actions or mitigation actions and we can override them. And if we don't override them, then the timer will expire and the UAV will, or the onboard agent will execute it regardless if the operator is able to respond or not. Because of course, if it's jamming, they may not even be able to communicate with the UAV anymore. So the auto encoder performed the best in both computational and detection performance, representing a macro average F1 score of up to 90.57% and 94.3% for live GPS spoofing and jamming respectively, followed by the one class support vector machine and lastly, local outlier factor. And this was kind of expected. So here's a look at the computational performance with the auto encoder performing best yet again. And the atomic prediction latency represents the time it takes to conduct a single prediction, whereas the prediction throughput is how many predictions can be done within one second. So this is an important metric because the throughput needs to be high enough to not cause a bottleneck on normal operations on the UAV. And through our flights, we calculated that the average number of Mavelink messages per second for our flights are approximately 320. So as long as they're over 320, then they'll perform fast enough to not cause any sort of bottleneck. So in conclusion, there's a couple takeaways. One, the UAV has a large threat surface of many vulnerabilities coming from underlying technologies and other components of the UAS can of course be addressed with commercial off the shelf intrusion detection systems but not the UAV. So work is being done in the UAV IDS space primarily in academics. And we've shown that novelty based intrusion detection provides a number of benefits as shown to be effective especially when using an autoencoder. Onboard agents can allow for the detection and potential mitigation of attacks autonomously and during duress. And then just a little side note here, the same approach could also be used in other areas. So for example, to detect component failures. So for example, if you have abnormal amount of motor vibrations, the same technique could be used to detect that as well. So yeah, thank you so much for attending. I will be on Discord to answer any questions. So feel free to ping me there. Thank you.


One of the things that I hate anytime I go to a Francophone country Is to bring all my friends out Can you believe it? Like all I know everything is messy boo boo. Bonsoir Hello, bonsoir, so va bien?  Sit I said what? I said what you see Oh my goodness, and I was saying Etroie Etroie Jesus Christ of Nazareth Dammit


Hey, Dr. Josh Dunbarry here. Hope all is well. Wanted to thank you for all of your assistance as we launch Bullsnot products in Canada. And wanted to let your many viewers know that they can now motor direct and get information at bullsnotcanada.com. Thanks. Have a great day. And I love your new truck. It looks great. See ya. Home time today. And you know what that means. Starbucks. Bet you weren't expecting that. Hello, Diesel. Hello, Frank. Chevy, winner, wife. Hello, new couch. Came into Winnipeg today. She needs a dress. It's actually a dress for me. But she's going to wear it. But I can look at it. We're at KP in Winnipeg here on the east side of Winnipeg. Kildon in place. Transcom. It's a beautiful day out. We should be at the beach. You're going to buy me a new bathing suit to get me to beach them. All right. What's the deal? Works for me. A dress. We got. And we got a lot of stuff. We got carried away. Like we said, it's a good thing we don't have diesel together very often. Because we'd be broken no time. She just had to use the restroom before we left. But here's your dress. We've got a mat. Officially, once we get home, these are for the dogs. It's from the truck for diesel. Got some jet stickers. And some candles. Carried away a little bit. OK, we left them all. No more spending. Our wallets are now safe-ish. They're still online shopping. We weren't supposed to be spending money. But we don't get many days off together. We went and had fun. Usually, yeah. It's like a vacation. It's a vacation. You always spend money on vacation. We got tamale. What's that? It's so warm. Yeah, sure. Have fun. You want warm water? It's a hot day out today. It's 28 degrees right now. Finally. Yeah, finally. 28 degrees. It's probably like in the 80s of Fahrenheit. So whew. These Canadians are melting. Time to go home. Well, grocery shopping, right? Just minor grocery shopping. Minor. Only one cart. So how do you like your dress? Oh my gosh, I'm in love with it. I'm so happy. And I wasn't too short for it. It fit perfectly. It looked really good on you. You can get out of here. This guy came in parked right beside us. There's a tiny little go-kart.  So I had to check our vehicle to make sure he didn't bang our doors. It's happened a time or two already. And it's time back, actually. People are so bad for that. It happens so often. Hold on to your doors when you open them, please. Especially if it's windy, which it's not today. But some people just fling them open, all willy nilly. Yeah. Those willy nilly people. They just don't care. So many people don't care about other people's stuff. So many people just don't care about other people. Well, they don't care about themselves either. You see how these people? I'm screwed.  Yeah, exactly. We're judgy. Oh, yeah. We're judgy. Don't tell me nobody else is. Everybody's judgy. See you later, Maul. You got us this time. You'll probably get us next.  We're back in Steinbach. Got to spend a little bit more money on the things we actually need, like food.  It's a problem. Costs a lot of money. Where'd Britt go? Oh, she's over there grabbing a cart. Oh, she just ran over herself with a cart. I think she just hit herself with a cart. You run yourself over with a cart? My hip popped out of place. I've been doing that once in a while lately. From my angle, it looked like you pulled it out too hard and ran into yourself. No. It randomly pops out of place once in a while and then it pops back in really fast. So do they do this in your town, too? They put all of this stuff just outside, and they'll leave it here all night, too. I've seen it here at night. I don't know, do they take it inside? I've seen it here at night. In most places, I think this would just disappear. But for some reason here, it's honest Steinback. I'm sure they have cameras. Yeah, they have cameras. One second, I got these two plastic bags. No, wait, no, beverage containers. This one, and triangle. All right, food. Straight to the good stuff. I'm sure they're expensive.  It'll just go bad. Bananas. Core. No vans left. Steinback for you. Whether you go to Walmart or Superstore here in Steinback, for some reason, always sold out of everything. The shelves are never stocked. Never, no, it's like we're the bottom of the barrel. We're like the shipping company's last stop or something, I don't know. Well, it probably has something to do with, as a truck driver, I'm guessing it probably has something to do with the logistics of getting the products here, because we're probably a part of the network of Winnipeg stores, because we're only 45 minutes away, but they always put us last because they take care of their Winnipeg stores first and then if they can make it out to Steinback, they'll come up to Steinback. Very often they can't make it out to Steinback. Well, I guess I'll just come, we're heading to Canadian Tire tomorrow, right? We'll come and buy buns there. Okay, we'll check tomorrow. Because I really like their giant multigrain buns here. They're so good. Yeah, it's a really good product. We're not complaining about the product. We really like the product, it's just... Quality, we have quality. We just want to buy them, we need them here. I wonder if they make those right in store here though? They do, yeah. Okay, so that's not a logistics problem then, it's made right here, like this, all empty. And it's not like we have a shortage here. That's not happening here. It's just that maybe we just come at the wrong times right after the rush or something. Well, it is past dinner time, in all fairness. Okay, what else do we need? I need frozen spinach. Frozen spinach, delicious. So tomorrow we're going to Canadian Tire, like she was saying, to look for a power cooler for the truck. There's no fridge in all blue. I was a little surprised when I saw that. Most trucks nowadays in North America come with fridges, this one didn't. So that's fine, but I just got to go find a power cooler that can fit underneath the bed. So I got to measure it, make sure that it's going to fit under there. There's not a lot of room to put one anywhere, so I got to make sure I don't buy one that's too big. It's got to be able to fit. Oh, that's cool. Okay. We're in full pants for this. Like you said, you bought old blue for looks, not for practicality. Yeah, bought it for her looks, and this last trip, tell you what, I fell in love with the engine too. At Cummins, I tell you, yep, happy trucker. Beyond burger. More like below burger. Yuck. Plant-based, gross. Plant-based burgers. Like if you can't eat, if you don't like eating meat, why would you want your food to taste and look like meat, if you're against meat? It doesn't have to make sense. It just has to make money. That's true. Beyond breakfast sausage. Are these beyond ribs too? No, those are regular ribs. That's real, that's real food. Those are the ribs that we buy sometimes. Real food, fake food, gotcha. Someone left these cookies with the ribs instead of bringing them back. I'm going to bring them home. It's that time of year again, isn't it guys? Bonfire season. Oh, yeah. Oh, a little too close. I got a little bit excited with the fire here. All right. All right. So much better with that car port out of here, hey? And not so much better. Opens up the yard so much. Been a good day.  As long as you have the money. We don't always have the money, but the credit card companies do. We pay it back quickly. We pay it back quickly. Our credit cards, we've actually paid off for the most part. So we're sitting pretty good right now. We were going into the city, like we said earlier, to get that dress for Britt, so she has something to wear to her cousin's wedding, which is coming up this summer. We're very excited about that. Ended up doing some mauling, wandering around aimlessly, just looking for stuff. I was kind of looking for some tin signs to put up in my shop. Oh, whatever I could find. I found a few, like, jet stickers. I'm gonna put them in my shop fridge and I'll sign this as Josh Drive. It's like a road sign. A little jet symbol, like Winnipeg jet symbol on it. I'm gonna have that for the shop. I got a little, I got a few things. We didn't go overly crazy, but it is what it is. We don't get days off together very often, like Britt and I. So when we do have a day off together, we, sometimes we like to splurge a little bit. Deezo. Deezo, it's June over there. Do it again. Roll over. Deezo. Huh? What are you doing over there? Are you dancing in the grass? He was rolling around and around. Like a little puppy with a big grin on his face. He's been doing it all evening. Oh, buddy, I don't think you're gonna fit through there. Careful. Is that a challenge? Buddy, you're gonna get wedged. You do chunky. You're too, you got hips, buddy. Hips for days.  Money makers, man. It's what people tune in for, these Weezo hips. Can I film me as I run? Did you guys see it? Can I come back and try again? Take two. Take two, one sec. Gotta catch my breath. I'm old. Oh, hey. And just like that, we're all caught up again. And back on track with the vlogs. Hope you enjoyed the vlog dump. I'm pretty sure I dumped these last three on you all in one day. Maybe I spread it out over two days. I haven't decided yet. This is past Josh. Future Josh isn't here yet. We'll see what he decides to do. As always, thanks for watching, everybody. Hit that like button if you do like my vlogs. If you really like them, please hit that subscribe button. Helps me out a lot. That way you will know when my next video is released. Usually we have one up every day, most days, at that notification bell so you know when they are up for sure and you get a little notification. You can watch it right away. Okay, first comment always gets a trophy. Second comment gets a silver medal. And third comment gets the bronze medal. So let's see how dedicated you are to watching me. I'm a nobody, but I'm glad you are tuning in anyways. We can hang out together. I'll see you guys tomorrow. Take care.