M. J. G. van de Molengraft

41 papers A* 4A 1C 11Journal 14Unranked 11
YearRankTypeTitle / Venue / Authors
2025 J jnl
Robotics Auton. Syst.
R. J. van der Kruk, B. H. T. Bindels, Herman P. J. Bruyninckx, M. J. G. van de Molengraft
2025 A* conf
ICRA
Koen de Vos, Elena Torta, Herman Bruyninckx, César A. López Martínez, M. J. G. van de Molengraft
2025 conf
ITSC
A. J. Aertssen, Rudolf G. M. Huisman, Igo J. M. Besselink, J. Elfring, M. J. G. van de Molengraft
2024 A* conf
ICRA
Koen de Vos, Elena Torta, Herman Bruyninckx, César A. López Martínez, M. J. G. van de Molengraft
2023 J jnl
CoRR
Koen de Vos, Elena Torta, Herman Bruyninckx, César A. López Martínez, M. J. G. van de Molengraft
2023 conf
CDC
R. M. Beumer, M. J. G. van de Molengraft, Duarte J. Antunes
2022 conf
CDC
Duarte J. Antunes, R. M. Beumer, M. J. G. van de Molengraft, W. P. M. H. Heemels
2022 J jnl
Frontiers Robotics AI
R. W. M. Hendrikx, Herman Bruyninckx, Jos Elfring, M. J. G. van de Molengraft
2022 J jnl
IEEE Trans. Control. Syst. Technol.
A. T. J. R. Cobbenhagen, Luc P. A. Schoonen, M. J. G. van de Molengraft, W. P. M. H. Heemels
2022 C conf
RoboCup
Arpit Aggarwal, Mathijs F. B. van der Burgh, Janno Lunenburg, Rein P. W. Appeldoorn, Loy L. A. M. van Beek, Josja Geijsberts, Lars G. L. Janssen, Peter van Dooren, Lotte Messing, Rodrigo Martin Núñez, M. J. G. van de Molengraft
2022 C conf
RoboCup
S. T. Kempers, D. M. J. Hameeteman, R. M. Beumer, J. P. van der Stoel, J. J. Olthuis, Wouter H. T. M. Aangenent, Patrick van Brakel, Matthias Briegel, Dennis Bruijnen, Ruud van den Bogaert, E. Deniz, A. S. Deogan, Yanick Douven, T. J. van Gerwen, A. A. Kokkelmans, J. J. Kon, W. J. P. Kuijpers, Peter van Lith, Harrie van de Loo, Koen Meessen, Y. M. A. Nounou, E. J. Olucha Delgado, F. B. F. Schoenmakers, J. Selten, Peter Teurlings, E. D. T. Verhees, M. J. G. van de Molengraft
2021 J jnl
Comput. Electron. Agric.
Wouter Houtman, Alexis Siagkris-Lekkos, D. J. M. Bos, B. J. P. van den Heuvel, M. den Boer, Jos Elfring, M. J. G. van de Molengraft
2021 A* conf
ICRA
R. W. M. Hendrikx, Pieter Pauwels, Elena Torta, Herman P. J. Bruyninckx, M. J. G. van de Molengraft
2021 J jnl
Annu. Rev. Control.
A. T. J. R. Cobbenhagen, Duarte J. Antunes, M. J. G. van de Molengraft, W. P. M. H. Heemels
2021 C conf
RoboCup
J. J. Olthuis, N. B. van der Meer, S. T. Kempers, C. A. van Hoof, R. M. Beumer, W. J. P. Kuijpers, A. A. Kokkelmans, Wouter Houtman, J. J. F. J. van Eijck, J. J. Kon, A. T. A. Peijnenburg, M. J. G. van de Molengraft
2019 C conf
RoboCup
Mathijs F. B. van der Burgh, J. J. M. Lunenburg, Rein P. W. Appeldoorn, Loy L. A. M. van Beek, Josja Geijsberts, Lars G. L. Janssen, Peter van Dooren, H. W. A. M. van Rooy, Arpit Aggarwal, S. Aleksandrov, K. Dang, Albert T. Hofkamp, D. van Dinther, M. J. G. van de Molengraft
2019 C conf
RoboCup
Wouter Houtman, C. M. Kengen, Peter van Lith, R. H. J. ten Berge, J. J. Kon, Koen Meessen, M. A. Haverlag, Yanick Douven, F. B. F. Schoenmakers, Dennis Bruijnen, Wouter H. T. M. Aangenent, Jorrit Olthuis, Marzieh Dolatabadi Farahani, S. T. Kempers, M. C. W. Schouten, R. M. Beumer, Wouter Kuijpers, A. A. Kokkelmans, Harrie van de Loo, M. J. G. van de Molengraft
2019 J jnl
Multim. Syst.
Javier J. Salmerón-García, Sjoerd van den Dries, Fernando Díaz-del-Río, Arturo Morgado Estévez, José Luis Sevillano-Ramos, M. J. G. van de Molengraft
2018 conf
ECC
Alex R. P. Andriën, Duarte Antunes, M. J. G. van de Molengraft, W. P. M. H. Heemels
2017 conf
CDC
A. T. J. R. Cobbenhagen, Duarte J. Antunes, M. J. G. van de Molengraft, W. P. M. H. Heemels
2016 J jnl
IEEE Robotics Autom. Mag.
J. J. M. Lunenburg, S. A. M. Coenen, Gerrit J. L. Naus, M. J. G. van de Molengraft, Maarten Steinbuch
2015 C conf
ETFA
Yanick Douven, Gerrit J. L. Naus, M. J. G. van de Molengraft, Maarten Steinbuch
2014 A conf
IROS
S. A. M. Coenen, J. J. M. Lunenburg, M. J. G. van de Molengraft, Maarten Steinbuch
2013 conf
World Haptics
G. Evers, Gerrit J. L. Naus, M. J. G. van de Molengraft, Maarten Steinbuch
2013 C conf
ArtsIT
Ralf Hoyer, Andre Bartetzki, Dominik Kirchner, Andreas Witsch, M. J. G. van de Molengraft, Kurt Geihs
2013 J jnl
Robotics Auton. Syst.
Jos Elfring, Sjoerd van den Dries, M. J. G. van de Molengraft, Maarten Steinbuch
2012 J jnl
Autom.
Wouter H. T. M. Aangenent, W. P. M. H. Heemels, M. J. G. van de Molengraft, Didier Henrion, Maarten Steinbuch
2011 J jnl
Autom.
Roel J. E. Merry, D. J. Kessels, W. P. M. H. Heemels, M. J. G. van de Molengraft, Maarten Steinbuch
2011 A* conf
ICRA
Jos Elfring, M. J. G. van de Molengraft, R. J. M. Janssen, Maarten Steinbuch
2009 C conf
ACC
Wouter H. T. M. Aangenent, Chris H. A. Criens, M. J. G. van de Molengraft, Marcel François Heertjes, Maarten Steinbuch
2009 conf
CDC
Wouter H. T. M. Aangenent, W. P. M. H. Heemels, M. J. G. van de Molengraft, Maarten Steinbuch
2008 C conf
ACC
Wouter H. T. M. Aangenent, Gert Witvoet, W. P. M. H. Heemels, M. J. G. van de Molengraft, Maarten Steinbuch
2008 C conf
ACC
B. H. M. Bukkems, W. P. M. H. Heemels, M. J. G. van de Molengraft, Maarten Steinbuch
2007 conf
CDC
Gert Witvoet, Wouter H. T. M. Aangenent, W. P. M. H. Heemels, M. J. G. van de Molengraft, Maarten Steinbuch
2004 C conf
ACC
Maurice G. E. Schneiders, M. J. G. van de Molengraft, Maarten Steinbuch
2003 J jnl
Autom.
Ron H. A. Hensen, M. J. G. van de Molengraft, Maarten Steinbuch
2003 conf
ECC
Maurice G. E. Schneiders, M. J. G. van de Molengraft, Maarten Steinbuch
2002 J jnl
IEEE Trans. Control. Syst. Technol.
Ron H. A. Hensen, M. J. G. van de Molengraft, Maarten Steinbuch
2000 J jnl
Eur. J. Control
R. H. A. Hellsen, Georgo Z. Angelis, M. J. G. van de Molengraft, A. G. de Jager, J. J. Kok
1999 conf
ECC
Ron H. A. Hensen, Georgo Z. Angelis, M. J. G. van de Molengraft, A. G. de Jager, J. J. Kok
1999 conf
ECC
Georgo Z. Angelis, M. J. G. van de Molengraft, R. J. P. van de Linden, J. J. Kok
redb/extractors/decompiler/bninja/analysis/disassembly.py
← Index redb/extractors/decompiler/bninja/analysis/disassembly.py python
import re
import time

import binaryninja
from binaryninja.enums import (
    InstructionTextTokenType,
)

# Support both package and standalone imports
try:
    from ..function_type import FunctionTypeAnalysis
    from ..utils.hashes import calculate_sha256
except ImportError:
    # Fallback to absolute imports (for multiprocessing spawned processes)
    from redb.extractors.decompiler.bninja.function_type import FunctionTypeAnalysis
    from redb.extractors.decompiler.bninja.utils.hashes import calculate_sha256


class DisassemblyAnalysis:
    INVALID_STACK_SIZE = -1

    def __init__(self, arch, function, bv, logger):
        self.arch = arch
        self.function = function
        self.bv = bv
        self.logger = logger
        if self.function is not None and hasattr(self.function, "instructions"):
            self.instructions = self.function.instructions
        else:
            self.instructions = []
        self.errors = []
        return

    def log_error(
        self, message, function_name, address, exception=None, error_location="unknown"
    ):
        """Log an error during processing."""
        error_msg = f"Error in function {function_name} at {address}: {message}"
        if exception:
            error_msg += f" - {str(exception)}"
        self.logger.error(error_msg)

        # Add to errors list
        error = {
            "function_name": function_name,
            "function_address": str(address),
            "error_location": error_location,
            "error_message": message,
            "error_details": str(exception) if exception else "",
            "error_type": type(exception).__name__ if exception else "Unknown",
            "timestamp": int(time.time() * 1000),
        }
        self.errors.append(error)

    def get_json(self):
        try:
            # Build disassembly string and normalized versions
            disassembly_builder = [[], []]  # Address and instruction text

            # Create a dictionary mapping addresses to instruction tokens
            instr_tokens_by_addr = {}
            for instr_tokens, addr in self.instructions:
                instr_tokens_by_addr[addr] = instr_tokens

            addresses = sorted(instr_tokens_by_addr.keys())
            for address in addresses:
                # Original disassembly with addresses
                # instr_tokens, address = instruction
                instr_tokens = instr_tokens_by_addr[address]
                disassembly_builder[0].append(address)
                disassembly_builder[1].append("".join(map(str, instr_tokens)))

            # Join with newlines
            disassembly_str = "\n".join(disassembly_builder[1])
            disassembly_with_addresses = "\n".join(
                f"{hex(address)}: {instr_text}"
                for address, instr_text in zip(
                    disassembly_builder[0], disassembly_builder[1], strict=False
                )
            )

            disassembly_json = {
                "disassembled_function_hash": calculate_sha256(disassembly_str),
                "disassembled_function": disassembly_with_addresses,
                "disassembled_function_no_addresses": disassembly_str,
                "disassembled_function_name": self.function.name,
                "disassembled_function_address": self.function.start,
                "instructions_count": len(instr_tokens_by_addr.keys()),
                "function_type": FunctionTypeAnalysis(self.function)
                .get_function_type()
                .name,
            }

            # Add additional metrics
            type_frequencies = self.collect_instruction_types()
            disassembly_json["instructions_types"] = list(type_frequencies.keys())
            disassembly_json["control_flow_count"] = (
                self.count_control_flow_instructions()
            )
            disassembly_json["memory_access_pattern"] = self.collect_memory_patterns()
            disassembly_json["register_usage"] = self.collect_register_usage()
            disassembly_json["data_references_count"] = self.count_data_references()
            disassembly_json["max_block_size"] = self.compute_max_block_size()
            disassembly_json["num_calls"] = self.compute_num_calls()
            disassembly_json["stack_size"] = self.estimate_stack_size()

            return disassembly_json, self.errors

        except Exception as e:
            self.log_error(
                "Failed to collect instruction types",
                self.function.name,
                self.function.start,
                e,
                "collect_instruction_types",
            )
            raise ValueError(e) from e

    def collect_instruction_types(self):
        """Collect instruction type frequencies from a function."""
        type_frequencies = {}

        try:
            # Iterate through all instructions in the function
            for instruction in self.instructions:
                instr_tokens = instruction[0]  # Get the instruction tokens

                # Extract the mnemonic from the instruction tokens
                mnemonic = None
                for token in instr_tokens:
                    if token.type == InstructionTextTokenType.InstructionToken:
                        mnemonic = token.text
                        break

                if not mnemonic:
                    continue

                # Use normalize_opcode to get standardized opcode
                normalized = self.normalize_opcode(mnemonic)

                # Get category from opcode_categories or use the instruction type directly
                category = self.arch.opcode_categories.get(normalized)
                if category:
                    self._increment_frequency(type_frequencies, category)

        except Exception as e:
            self.log_error(
                "Failed to collect instruction types",
                self.function.name,
                self.function.start,
                e,
                "collect_instruction_types",
            )

        return type_frequencies

    def normalize_opcode(self, opcode):
        return opcode.upper()

    def collect_memory_patterns(self):
        """Collect memory access patterns from a function."""
        patterns = []
        try:
            for instruction in self.instructions:
                instr_tokens = instruction[0]

                # We need to capture memory operands between BeginMemoryOperandToken and EndMemoryOperandToken
                in_memory_operand = False
                memory_operand_text = ""

                for token in instr_tokens:
                    if token.type == InstructionTextTokenType.BeginMemoryOperandToken:
                        in_memory_operand = True
                        memory_operand_text = ""
                    elif token.type == InstructionTextTokenType.EndMemoryOperandToken:
                        in_memory_operand = False

                        # Process the captured memory operand text
                        if memory_operand_text:
                            # Categorize memory access pattern
                            if (
                                "+" in memory_operand_text
                                and "*" in memory_operand_text
                            ):
                                if "MEM_SCALED_INDEX" not in patterns:
                                    patterns.append("MEM_SCALED_INDEX")
                            elif (
                                "+" in memory_operand_text or "-" in memory_operand_text
                            ):
                                if "MEM_BASE_OFFSET" not in patterns:
                                    patterns.append("MEM_BASE_OFFSET")
                            else:
                                if "MEM_DIRECT" not in patterns:
                                    patterns.append("MEM_DIRECT")

                            # Check for stack accesses
                            if any(
                                reg in memory_operand_text
                                for reg in ["SP", "BP", "ESP", "EBP", "RSP", "RBP"]
                            ):
                                if "MEM_STACK" not in patterns:
                                    patterns.append("MEM_STACK")
                            # Check for string operations
                            elif (
                                any(
                                    reg in memory_operand_text
                                    for reg in ["SI", "DI", "ESI", "EDI", "RSI", "RDI"]
                                )
                                and "MEM_STRING" not in patterns
                            ):
                                patterns.append("MEM_STRING")
                    elif in_memory_operand:
                        # Accumulate token text while inside a memory operand
                        memory_operand_text += token.text
        except Exception as e:
            self.log_error(
                "Failed to collect memory patterns",
                self.function.name,
                self.function.start,
                e,
                "collect_memory_patterns",
            )
        return patterns

    def collect_register_usage(self):
        """Collect register usage from a function."""
        registers = []
        try:
            # Define register groups we're interested in tracking
            register_groups = {
                "GPR": [
                    "RAX",
                    "RBX",
                    "RCX",
                    "RDX",
                    "R9",
                    "R10",
                    "R11",
                    "R12",
                    "R13",
                    "R14",
                    "R15",
                    "EAX",
                    "EBX",
                    "ECX",
                    "EDX",
                    "R9D",
                    "R10D",
                    "R11D",
                    "R12D",
                    "R13D",
                    "R14D",
                    "AX",
                    "BX",
                    "CX",
                    "DX",
                ],
                "GPR_INDEX": ["RSI", "RDI", "ESI", "EDI", "SI", "DI"],
                "GPR_STACK": ["RSP", "RBP", "ESP", "EBP", "SP", "BP"],
                "SIMD": ["XMM", "YMM", "ZMM"],
                "FPU": ["ST", "ST0", "ST1", "ST2", "ST3", "ST4", "ST5", "ST6", "ST7"],
                "FLAGS": ["FLAGS", "EFLAGS", "RFLAGS"],
                "CONTROL_REGISTER": ["CR0", "CR2", "CR3", "CR4", "CR8"],
                "DEBUG_REGISTER": ["DR0", "DR1", "DR2", "DR3", "DR6", "DR7"],
            }

            # Extract registers from instructions
            for instruction in self.instructions:
                instr_tokens = instruction[0]
                for token in instr_tokens:
                    if token.type == InstructionTextTokenType.RegisterToken:
                        reg = token.text.upper()
                        # Check which group this register belongs to
                        for group, regs in register_groups.items():
                            # if any(r in reg for r in regs) or any(reg.startswith(r) for r in regs):
                            if any(reg == r or reg.startswith(r) for r in regs):
                                if group not in registers:
                                    registers.append(group)
                                break
        except Exception as e:
            self.log_error(
                "Failed to collect register usage",
                self.function.name,
                self.function.start,
                e,
                "collect_register_usage",
            )
        return registers

    def count_data_references(self):
        """Count the number of data references in a function."""
        count = 0
        try:

            if self.function.mlil is None:
                return 0

            for block in self.function.mlil:
                for instr in block:
                    instr_str = str(instr)
                    logged = False
                    src = None

                    # Check for constant dereferencing or symbolic refs
                    if hasattr(instr, "src"):
                        src = instr.src
                        if isinstance(
                            src,
                            (
                                binaryninja.mediumlevelil.MediumLevelILConstPtr,
                                binaryninja.mediumlevelil.MediumLevelILConst,
                            ),
                        ):
                            count += 1
                            logged = True

                    # Check full string for hardcoded addresses or symbol-like tokens
                    if re.search(r"\b0x[0-9A-Fa-f]{3,}\b", instr_str) and not logged:
                        count += 1
                        logged = True

                    if "_" in instr_str and not logged:
                        count += 1
                        logged = True

                    # Only check for MediumLevelILConstPtr if src exists
                    if src is not None and isinstance(
                        src, binaryninja.mediumlevelil.MediumLevelILConstPtr
                    ):
                        addr = src.constant
                        # Check if address is in data sections
                        segment = self.bv.get_segment_at(addr)
                        if segment and segment.writable:
                            # print(f"[{function.name}] Matched data section reference in: {instr_str}")
                            count += 1
                            logged = True
        except Exception as e:
            self.logger.warning(
                f"Failed to use MLIL for counting data references in {self.function.name} at {self.function.start}: {e}"
            )
        return count

    def compute_max_block_size(self):
        """Compute the maximum basic block size in a function."""
        max_size = 0
        if self.function is None:
            return 0

        for block in self.function.basic_blocks:
            try:
                # Count instructions in this block using the direct length approach
                # This avoids UTF-8 decoding issues entirely
                block_size = block.instruction_count
                max_size = max(max_size, block_size)
            except Exception as e:
                self.log_error(
                    f"[HandledError] computing max block size: {e}",
                    self.function.name,
                    self.function.start,
                    e,
                    "compute_max_block_size",
                )
        return max_size

    def count_control_flow_instructions(self):
        """Count the number of control flow instructions in a function."""
        count = 0
        try:
            for instruction in self.instructions:
                instr_tokens = instruction[0]
                if self.arch.is_control_flow_instruction(instr_tokens):
                    count += 1
        except Exception as e:
            self.log_error(
                "Failed to count control flow instructions",
                self.function.name,
                self.function.start,
                e,
                "count_control_flow_instructions",
            )
        return count

    def compute_num_calls(self) -> int:
        """Compute the number of call instructions in a function."""
        num_calls = 0
        try:
            for instruction in self.instructions:
                instr_tokens = instruction[0]
                # Extract the mnemonic
                for token in instr_tokens:
                    if token.type == InstructionTextTokenType.InstructionToken:
                        if token.text.upper() == "CALL":
                            num_calls += 1
                        break
        except Exception as e:
            self.log_error(
                "Failed to compute number of calls",
                self.function.name,
                self.function.start,
                e,
                "compute_num_calls",
            )
        return num_calls

    def _increment_frequency(self, frequencies, type_name):
        """Increment the frequency count for an instruction type."""
        if type_name in frequencies:
            frequencies[type_name] += 1
        else:
            frequencies[type_name] = 1

    def estimate_stack_size(self):
        """Estimate the stack size used by a function."""
        try:
            # Binary Ninja provides a stack adjustment value for functions
            # Need to convert OffsetWithConfidence to a plain integer
            stack_adjust = self.function.stack_adjustment
            if hasattr(stack_adjust, "value"):  # Handle OffsetWithConfidence objects
                return stack_adjust.value
            return stack_adjust
        except Exception as e:
            self.log_error(
                "Failed to estimate stack size",
                self.function.name,
                self.function.start,
                e,
                "estimate_stack_size",
            )
            return self.INVALID_STACK_SIZE