Manabu Okui

70 papers A* 1A 2B 3C 13Journal 14Unranked 37
YearRankTypeTitle / Venue / Authors
2026 conf
AMC
Shogo Sakairi, Kaima Shimomura, Amane Tamada, Norikazu Suzuki, Manabu Okui
2026 J jnl
Adv. Robotics
Koya Tsurumi, Kengo Mori, Ryunosuke Sawahashi, Manabu Okui
2026 conf
SII
Kengo Mori, Koya Tsurumi, Ryunosuke Sawahashi, Manabu Okui
2026 conf
SII
H. Ohara, Manabu Okui
2026 conf
SII
Amane Tamada, Shogo Sakairi, Natsuki Hayami, Naruhiro Mega, Rie Nishihama, Takako Yoshida, Taro Nakamura, Manabu Okui
2025 J jnl
IEEE Robotics Autom. Lett.
Kengo Mori, Koya Tsurumi, Ryunosuke Sawahashi, R. Enjo, Taro Nakamura, Manabu Okui
2025 J jnl
Adv. Robotics
Taiga Shimizu, Tomotaka Sugino, Ryunosuke Sawahashi, Rie Nishihama, Manabu Okui, Taro Nakamura
2024 J jnl
IEEE Access
Iori Terayama, Sana Oshino, Rie Nishihama, Manabu Okui, Ryosuke Adachi, Taro Nakamura
2024 conf
AIM
Natsuki Hayami, Ryunosuke Sawahashi, Jonah Komatsu, Rie Nishihama, Manabu Okui, Taro Nakamura
2024 C conf
HSI
Akihiro Kobayashi, Manabu Okui, Taro Nakamura
2024 conf
BioRob
Tomotaka Sugino, Yusuke Shimoda, Manabu Okui, Rie Nishihama, Taro Nakamura
2024 C conf
HSI
Tomotaka Sugino, Yusuke Shimoda, Manabu Okui, Taro Nakamura
2024 J jnl
IEEE Access
Yusuke Shimoda, Tomotaka Sugino, Manabu Okui, Rie Nishihama, Taro Nakamura
2023 C conf
IECON
Yuka Takeda, Ryosuke Tokoi, Chikage Fujikawa, Manabu Okui, Hiroshi Yoshida, Taro Nakamura
2023 conf
SII
Jonah Komatsu, Ryunosuke Sawahashi, Taiki Masuda, Manabu Okui, Taro Nakamura
2023 J jnl
J. Robotics Mechatronics
Ryunosuke Sawahashi, Jonah Komatsu, Rie Nishihama, Manabu Okui, Taro Nakamura
2023 conf
ROBIO
Shogo Uzawa, Takeru Hashiguchi, Manabu Okui, Taro Nakamura
2023 conf
SII
Iori Terayama, Sana Oshino, Rie Nishihama, Manabu Okui, Taro Nakamura
2023 conf
SII
Hirochika Oshima, Ryunosuke Sawahashi, Manabu Okui, Rie Nishihama, Taro Nakamura
2023 conf
ISIE
Ryunosuke Sawahashi, Taiki Masuda, Taiga Shimizu, Rie Nishihama, Manabu Okui, Taro Nakamura
2023 C conf
IECON
Kiyotaka Oba, Ryunosuke Sawahashi, Manabu Okui, Rie Nishihama, Taro Nakamura
2023 conf
ISIE
Hiroto Nagashima, Fumio Ito, Taro Nakamura, Kousuke Uchiyama, Manabu Okui
2022 B conf
RO-MAN
Yusuke Shimoda, Tetsuhito Fujita, Katsuki Machida, Manabu Okui, Rie Nishihama, Taro Nakamura
2022 C conf
IECON
Manabu Okui, Shiori Nakamura, Seigo Kimura, Ryuji Suzuki, Rie Nishihama, Taro Nakamura
2022 J jnl
IEEE Access
Shogo Uzawa, Hiroya Kumamoto, Chiaki Yamazaki, Manabu Okui, Taro Nakamura
2022 C conf
IECON
Ryunosuke Sawahashi, Toshinari Tanaka, Taiki Masuda, Manabu Okui, Rie Nishihama, Taro Nakamura
2022 C conf
IECON
H. Kunisada, K. Fujitani, Fumio Ito, Manabu Okui, Taro Nakamura
2022 conf
CLAWAR
Kiyotaka Oba, Manabu Okui, Rie Nishihama, Taro Nakamura
2022 conf
CLAWAR
Chikage Fujikawa, Ryosuke Tokoi, Wataru Toyama, Manabu Okui, Tomoaki Tsuji, Taro Nakamura, Takashi Kubota
2022 C conf
IECON
Ryosuke Tokoi, Chikage Fujikawa, Wataru Toyama, Manabu Okui, Hiroshi Yoshida, Taro Nakamura
2022 C conf
IECON
Sana Oshino, Iori Terayama, Rie Nishihama, Manabu Okui, Taro Nakamura
2022 conf
SII
Daisuke Matsui, Sana Oshino, Iori Terayama, Rie Nishihama, Manabu Okui, Taro Nakamura
2022 C conf
IECON
Rin Suzuki, Ryunosuke Sawahashi, Rie Nishihama, Manabu Okui, Taro Nakamura
2022 C conf
IECON
Taiki Masuda, Ryunosuke Sawahashi, Jonah Komatsu, Manabu Okui, Rie Nishihama, Taro Nakamura
2021 conf
AIM
Sana Oshino, Kota Wakamatsu, Daisuke Matsui, Rie Nishihama, Manabu Okui, Taro Nakamura
2021 J jnl
IEEE Access
Hiroto Sato, Kousuke Uchiyama, Yuki Mano, Fumio Ito, Shunichi Kurumaya, Manabu Okui, Yasuyuki Yamada, Taro Nakamura
2021 conf
ICIT
Ryunosuke Sawahashi, Yuki Onozuka, Toshinari Tanaka, Manabu Okui, Taro Nakamura
2021 B conf
RO-MAN
Taiki Masuda, Toshinari Tanaka, Ryunosuke Sawahashi, Manabu Okui, Rie Nishihama, Taro Nakamura
2021 conf
CLAWAR
Manabu Okui, Ryosuke Tokoi, Wataru Toyama, Kazuki Tsumura, Keita Isaka, Tomoki Watanabe, Taro Nakamura, Hiroshi Yoshida
2021 J jnl
IEEE Access
Sana Oshino, Rie Nishihama, Kota Wakamatsu, Katsuma Inoue, Daisuke Matsui, Manabu Okui, Kohei Nakajima, Yasuo Kuniyoshi, Taro Nakamura
2021 conf
CLAWAR
Ryosuke Tokoi, Wataru Toyama, Kazuki Tsumura, Tomoki Watanabe, Manabu Okui, Taro Nakamura, Hiroshi Yoshida
2021 J jnl
IEEE Access
Fumio Ito, Kazuki Takaya, Masashi Kamata, Manabu Okui, Yasuyuki Yamada, Taro Nakamura
2021 conf
AIM
Ryosuke Tokoi, Wataru Toyama, Tomoki Watanabe, Kazuki Tsumura, Manabu Okui, Hirotaka Sawada, Takashi Kubota, Taro Nakamura
2020 conf
SII
Keita Isaka, Kazuki Tsumura, Tomoki Watanabe, Wataru Toyama, Manabu Okui, Hiroshi Yoshida, Taro Nakamura
2020 conf
SII
T. Hayashi, H. Kumamoto, Manabu Okui, Y. Yonehara, H. Takeuchi, Taro Nakamura
2020 conf
AIM
Wataru Toyama, Keita Isaka, Kazuki Tsumura, Tomoki Watanabe, Manabu Okui, Hiroshi Yoshida, Taro Nakamura
2020 conf
SII
M. Ooba, Yuki Onozuka, Manabu Okui, Taro Nakamura
2020 B conf
RO-MAN
Toshinari Tanaka, Yuki Onozuka, Manabu Okui, Rie Nishihama, Taro Nakamura
2020 conf
RoboSoft
Kota Wakamatsu, Katsuma Inoue, D. Hagiwara, H. Adachi, Daisuke Matsui, Shunichi Kurumaya, Rie Nishihama, Manabu Okui, Kohei Nakajima, Yasuo Kuniyoshi, Taro Nakamura
2020 conf
SII
Manabu Okui, Fumio Ito, Akihiro Kojima, Taro Nakamura
2020 conf
SII
Fumio Ito, Akihiro Kojima, Manabu Okui, Taro Nakamura
2020 conf
AIM
Hiroto Sato, Yuki Mano, Fumio Ito, Takumi Yasui, Manabu Okui, Rie Nishihama, Taro Nakamura
2020 J jnl
J. Robotics Mechatronics
Seigo Kimura, Ryuji Suzuki, Katsuki Machida, Rie Nishihama, Manabu Okui, Taro Nakamura
2020 J jnl
IEEE Access
Keita Isaka, Kazuki Tsumura, Tomoki Watanabe, Wataru Toyama, Manabu Okui, Hiroshi Yoshida, Taro Nakamura
2020 conf
AIM
Katsuki Machida, Seigo Kimura, Ryuji Suzuki, Kazuya Yokoyama, Manabu Okui, Taro Nakamura
2020 conf
AIM
Manabu Okui, Toru Masuda, T. Tamura, Yuki Onozuka, Taro Nakamura
2019 conf
ICAR
Seigo Kimura, Ryuji Suzuki, Masashi Kashima, Manabu Okui, Rie Nishihama, Taro Nakamura
2019 conf
SII
T. Hayashi, Manabu Okui, Y. Yonehara, Taro Nakamura
2019 C conf
IECON
Yuki Onozuka, Minoru Oba, Manabu Okui, Taro Nakamura
2019 conf
ICARM
Kejia Dai, Yage Liu, Manabu Okui, Rie Nishihama, Taro Nakamura
2019 J jnl
IEEE Robotics Autom. Lett.
Akihiro Kojima, Manabu Okui, Itsuki Hisamichi, Tomoaki Tsuji, Taro Nakamura
2018 conf
BioRob
Yasuyuki Yamada, Akihiro Kojima, Yutaro Higashi, Manabu Okui, Taro Nakamura
2018 J jnl
IEEE Robotics Autom. Lett.
Manabu Okui, Yuki Nagura, Yasuyuki Yamada, Taro Nakamura
2018 conf
RoboSoft
Ryuji Suzuki, Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura
2018 conf
RoboSoft
Akihiro Kojima, Manabu Okui, Yasuyuki Yamada, Taro Nakamura
2018 conf
AIM
Hayato Sasanuma, Hideyuki Tsukagoshi, Manabu Okui
2017 A conf
IROS
Manabu Okui, Yuki Nagura, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura
2017 A* conf
ICRA
Hiroki Inose, Shun Mohri, Hirokazu Arakawa, Manabu Okui, Katsuya Koide, Yasuyuki Yamada, Isao Kikutani, Taro Nakamura
2017 A conf
IROS
Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura
2016 C conf
ICARCV
Shingo Iikawa, Manabu Okui, Yasuyuki Yamada, Taro Nakamura
redb/extractors/apk_extractors/apk_signature.py
← Index redb/extractors/apk_extractors/apk_signature.py python
import hashlib
import inspect
from datetime import datetime, timezone
from typing import Any, Optional, Tuple

from redb.extractors.enum import Tag
from redb.extractors.apk_extractor import APKExtractor
from redb.models.dataclasses import APKCertificate, APKCodeSigningInfo


# OID to RFC 4514 short name mapping
_OID_SHORT_NAMES = {
    '2.5.4.3': 'CN', '2.5.4.6': 'C', '2.5.4.7': 'L', '2.5.4.8': 'ST',
    '2.5.4.10': 'O', '2.5.4.11': 'OU', '1.2.840.113549.1.9.1': 'E',
    '2.5.4.5': 'SERIALNUMBER', '2.5.4.12': 'T', '2.5.4.42': 'GN',
    '2.5.4.4': 'SN', '2.5.4.9': 'STREET', '2.5.4.17': 'POSTALCODE',
}


def _asn1_name_to_rfc4514(name):
    """Convert an asn1crypto x509.Name to RFC 4514 string (CN=..., O=...)."""
    parts = []
    for rdn in name.chosen:
        for attr in rdn:
            oid = attr['type'].dotted
            val = attr['value'].native
            short = _OID_SHORT_NAMES.get(oid, oid)
            parts.append(f'{short}={val}')
    return ', '.join(parts)


class APKSignatureExtractor(APKExtractor):

    def __init__(
        self, filepath, log, exporters=None, index_prefix=None,
        known_benign=False, known_malicious=False,
        apk=None,
    ):
        super().__init__(
            filepath, log, exporters, index_prefix,
            known_benign, known_malicious, apk,
        )
        self.signing_info = None
        self.log.debug(inspect.currentframe().f_code.co_name)

    def tag(self):
        return Tag.APK_SIGNATURE.value

    def _detect_signature_schemes(self):
        """Detect which APK signature schemes are present."""
        schemes = []
        try:
            if self.apk.is_signed_v1():
                schemes.append(1)
        except Exception:
            pass
        try:
            if self.apk.is_signed_v2():
                schemes.append(2)
        except Exception:
            pass
        try:
            if self.apk.is_signed_v3():
                schemes.append(3)
        except Exception:
            pass
        return schemes

    def _extract_certificate_info(self, cert, source_scheme=None):
        """Extract certificate details from an androguard certificate object."""
        try:
            # Subject and Issuer — asn1crypto doesn't have rfc4514_string, convert manually
            subject = _asn1_name_to_rfc4514(cert.subject)
            issuer = _asn1_name_to_rfc4514(cert.issuer)

            # Serial number
            serial = str(cert.serial_number)

            # Validity
            valid_from = cert.not_valid_before
            valid_to = cert.not_valid_after
            if isinstance(valid_from, datetime):
                valid_from = valid_from.strftime("%Y-%m-%d %H:%M:%S")
            else:
                valid_from = str(valid_from)
            if isinstance(valid_to, datetime):
                valid_to = valid_to.strftime("%Y-%m-%d %H:%M:%S")
            else:
                valid_to = str(valid_to)

            # Thumbprints
            cert_der = cert.dump()
            thumbprint_sha1 = hashlib.sha1(cert_der).hexdigest()
            thumbprint_sha256 = hashlib.sha256(cert_der).hexdigest()

            # Algorithm
            algorithm = None
            try:
                algorithm = cert.hash_algo
            except Exception:
                try:
                    algorithm = cert.signature_algo
                except Exception:
                    pass

            # Key size
            key_size = None
            try:
                pub_key = cert.public_key
                if hasattr(pub_key, 'bit_size'):
                    key_size = pub_key.bit_size
                elif hasattr(pub_key, 'key_size'):
                    key_size = pub_key.key_size
            except Exception:
                pass

            # Self-signed check
            is_self_signed = cert.subject == cert.issuer

            return APKCertificate(
                subject=subject,
                issuer=issuer,
                serial_number=serial,
                valid_from=valid_from,
                valid_to=valid_to,
                thumbprint_sha1=thumbprint_sha1,
                thumbprint_sha256=thumbprint_sha256,
                algorithm=algorithm,
                key_size=key_size,
                is_self_signed=is_self_signed,
                certificate_source_scheme=source_scheme,
            )
        except Exception as e:
            self.log.error(f"Error extracting certificate info: {e}")
            return None

    def _get_signer_certificate(self, schemes) -> Tuple[Optional[APKCertificate], Optional[str]]:
        """Identify the actual signer certificate using V3>V2>V1 priority.

        V2/V3: certificates[0] is the signer per spec.
        V1: androguard's get_certificate() does SignerInfo matching internally.

        Returns (signer_cert_info, source_scheme) or (None, None).
        """
        # V3 takes priority (Android 9+)
        if 3 in schemes:
            try:
                certs = self.apk.get_certificates_v3()
                if certs:
                    cert_info = self._extract_certificate_info(certs[0], source_scheme='v3')
                    if cert_info:
                        return cert_info, 'v3'
            except Exception as e:
                self.log.debug(f"V3 signer extraction failed: {e}")

        # V2 next (Android 7.0+)
        if 2 in schemes:
            try:
                certs = self.apk.get_certificates_v2()
                if certs:
                    cert_info = self._extract_certificate_info(certs[0], source_scheme='v2')
                    if cert_info:
                        return cert_info, 'v2'
            except Exception as e:
                self.log.debug(f"V2 signer extraction failed: {e}")

        # V1 fallback — androguard does SignerInfo.issuerAndSerialNumber matching
        if 1 in schemes:
            try:
                names = self.apk.get_signature_names()
                if names:
                    cert = self.apk.get_certificate(names[0])
                    if cert:
                        cert_info = self._extract_certificate_info(cert, source_scheme='v1')
                        if cert_info:
                            return cert_info, 'v1'
            except Exception as e:
                self.log.debug(f"V1 signer extraction failed: {e}")

        return None, None

    def _extract_all_certificates(self, schemes):
        """Extract all certificates with their source scheme tracked.

        Uses scheme-specific methods to preserve source information,
        deduplicating by thumbprint_sha1 and merging source schemes.
        """
        # cert thumbprint -> (APKCertificate, set of source schemes)
        seen = {}

        for scheme_num, method_name in [
            (3, 'get_certificates_v3'),
            (2, 'get_certificates_v2'),
            (1, 'get_certificates_v1'),
        ]:
            if scheme_num not in schemes:
                continue
            try:
                method = getattr(self.apk, method_name, None)
                if method is None:
                    continue
                certs = method()
                if not certs:
                    continue
                for cert in certs:
                    cert_info = self._extract_certificate_info(cert, source_scheme=f'v{scheme_num}')
                    if cert_info:
                        key = cert_info.thumbprint_sha1
                        if key in seen:
                            # Merge source schemes
                            existing_cert, existing_schemes = seen[key]
                            existing_schemes.add(f'v{scheme_num}')
                        else:
                            seen[key] = (cert_info, {f'v{scheme_num}'})
            except Exception as e:
                self.log.warning(f"Error extracting v{scheme_num} certificates: {e}")

        # Build final list with merged source schemes
        result = []
        for cert_info, source_schemes in seen.values():
            cert_info.certificate_source_scheme = ','.join(sorted(source_schemes))
            result.append(cert_info)

        return result

    def extract(self):
        if not self._is_valid_apk():
            self.log.error(f"Invalid APK for {self.hash.sha256}")
            return None

        schemes = self._detect_signature_schemes()
        is_signed = len(schemes) > 0

        # Extract all certificates with source scheme tracking
        certificates = self._extract_all_certificates(schemes)

        # Identify the actual signer using V3>V2>V1 priority
        signer_cert, signer_scheme = self._get_signer_certificate(schemes)

        apk_signer_subject = signer_cert.subject if signer_cert else None
        apk_signer_issuer = signer_cert.issuer if signer_cert else None

        self.signing_info = APKCodeSigningInfo(
            _id=self.sha256,
            is_signed=is_signed,
            signature_scheme_versions=schemes,
            number_of_certificates=len(certificates),
            x509_certificates=certificates if certificates else None,
            apk_signer_subject=apk_signer_subject,
            apk_signer_issuer=apk_signer_issuer,
        )
        return self.signing_info

    def prepare_export_data(self, exporter_type: str) -> Any:
        if exporter_type == "ClickHouseExporter":
            if not self.signing_info:
                return None

            current_time = datetime.now(timezone.utc)
            sig = self.signing_info

            # Signature summary table
            signature_data = [[
                self.sha256,
                int(sig.is_signed),
                sig.signature_scheme_versions,
                sig.number_of_certificates,
                sig.apk_signer_subject,
                sig.apk_signer_issuer,
                current_time,
            ]]

            # Certificates table (one row per certificate)
            certificates_data = []
            if sig.x509_certificates:
                for cert in sig.x509_certificates:
                    certificates_data.append([
                        self.sha256,
                        cert.subject,
                        cert.issuer,
                        cert.serial_number,
                        datetime.strptime(cert.valid_from, "%Y-%m-%d %H:%M:%S") if cert.valid_from else None,
                        datetime.strptime(cert.valid_to, "%Y-%m-%d %H:%M:%S") if cert.valid_to else None,
                        cert.thumbprint_sha1,
                        cert.algorithm,
                        cert.key_size,
                        int(cert.is_self_signed),
                        cert.certificate_source_scheme,
                        current_time,
                    ])

            return {
                'multi_table': True,
                'signature': {
                    'table': 'redb_apk_signature',
                    'data': signature_data,
                    'column_names': [
                        'sha256',
                        'is_signed', 'signature_scheme_versions',
                        'number_of_certificates',
                        'apk_signer_subject', 'apk_signer_issuer',
                        'analysis_date',
                    ],
                    'column_type_names': [
                        'FixedString(64)',
                        'UInt8', 'Array(UInt8)',
                        'UInt8',
                        'Nullable(String)', 'Nullable(String)',
                        "DateTime64(3, 'UTC')",
                    ],
                },
                'certificates': {
                    'table': 'redb_apk_certificates',
                    'data': certificates_data,
                    'column_names': [
                        'sha256', 'certificate_subject', 'certificate_issuer',
                        'certificate_serial_number',
                        'certificate_valid_from', 'certificate_valid_to',
                        'certificate_thumbprint',
                        'certificate_algorithm', 'key_size', 'is_self_signed',
                        'certificate_source_scheme',
                        'analysis_date',
                    ],
                    'column_type_names': [
                        'FixedString(64)', 'String', 'String', 'String',
                        "DateTime64(3, 'UTC')", "DateTime64(3, 'UTC')",
                        'FixedString(40)',
                        'LowCardinality(String)', 'Nullable(UInt16)', 'UInt8',
                        'LowCardinality(String)',
                        "DateTime64(3, 'UTC')",
                    ],
                },
            }

    def get_clickhouse_table(self) -> str:
        return "redb_apk_signature"