# Approaches and Challenges in Internet of Robotic Things
## 4 IoRT Security
Furthermore, various approaches are used for the screw-up system's policy, such as \"recovery questions\" [80]. For example, when the threat model goes wrong, it is upgraded over time to ensure its effectiveness. In the 1980s, Kerberos was based on cryptography 56 keys; however, in this cypher-DES, the plausible size is less secure and not reasonable. Later on, it was advanced by applying 256 keys that are more secure [20]. Figure 11 describes the threat model security method in communication to depict secure data flow between the two nodes. The threat model ensures that this communication channel is secure since hackers are always attempting it [81; 82]. A threat model is a logical representation of all the data that influence an application's security. Threat modeling (system or data) is the understanding of how a threat actor (external or internal, hostile or abusive) might target a certain asset. Threat modeling differs from application testing [33; 58]. The threat model examines the ecosystem, processes, and the circumvention of ecosystem safeguards. If applied effectively, it is one of the finest prospects in solutions, systems, and data security [83]. In successful threat modeling, the following steps are implemented:  
1. [label=a.] 2. Uncovering the illegitimate mastermind in the organization,
3. Figuring out the breaking-in method,
4. Choosing the priority method,
5. Portraying the countermeasures,
6. Implementing the solution and testing it. The term \"trust\" refers to a set of relationships between the parties involved in a particular protocol. Trust is a belief or trust in other nodes or objects that are based on a defined protocol. Trust is dynamic and is not necessarily transitive. Trust is asymmetrical and dependent on the situation [33]. The computation of trust may be achieved in two ways: distributed or centralized. In distributed systems, we have direct tr  
Figure 11: Threat model in secure data exchange. hybrid trust. Trust agents can be found from the local standpoint in the network, just as in the centralized system [33; 84]. A trusted operator can be denoted by the following formula:  
\[\mathbf{T}^{m}_{i,k}\mathbf{=}M_{i}\left(\mathbf{T}^{n}_{i,k}\mathbf{T}^{n}_{j,k}\right). \tag{12}\]  
Prefix M models the trust of the \(i\)-th agent. \(\mathbf{T}^{n}_{i,k}\) and \(\mathbf{T}^{n}_{j,k}\) are the trust values of \(i\)-th and \(j\)-th agents toward the \(k\)-th agent. Similarly, \(n\) is the pre-operation value, and m is the resulting value of the operation [85]. Threats in an application can be mitigated by using countermeasures in threat modeling. Table 6 illustrates various security techniques used in various application domains, with a description. Table 7 illustrates various mitigations (countermeasures) corresponding to various security services. Service-level agreement is a way of transferring risk to another company, such as hosting data in a third-party data center to prevent the risk within the facility. The Internet of things infrastructure, operations, cloud computing, and business technologies all work together and require end-to-end communication mechanisms to assure the security. IoRT is a growing technology, and it is necessary to use security evaluations on Internet-connected platforms, devices, and protocols on a regular basis. Currently, the security measures of products throughout the world contain security-related patterns. The security posture of the IoRT product can be evaluated by using the Common Vulnerability Scoring System (CVSS) standard. CVSS is used to rate the severity of each IoRT product's security vulnerabilities [21]. Some popular secure service products are the following: \begin{tabular}{l l l l} i. & ARMbed for ARM to develop IoT products, \\ ii. & Brillo and Weave connectivity for IoT/IoRT devices by Google, \\ iii. & Homekit by Apple, \\ iv. & Kura Eclipse offering application program interface access to hardware interfaces of IoT/IoRT ports, \\ v. & Secure operations for robotic automation by BILA. \\ \end{tabular}