Firmware of modular assembly system

1. A method for updating firmware on a control module of a modular assembly system, the method comprising:

obtaining information related to noise sampled from the control module, the information comprising an initial signal that is obtained by analog-to-digital conversion (ADC);

calculating a first encryption key based on the information by filtering a noise signal from the initial signal to form a filtered signal and subtracting the filtered signal from the initial signal, the filtering being performed by Kalman filter;

receiving, from a host, a message for requesting firmware update;

in response to receiving the message, transmitting, to the host, the first encryption key;

receiving, from the host of the modular assembly system, firmware to be updated on the control module, wherein the firmware is encrypted based on at least a second encryption key that matches the first encryption key and is in a form of a plurality of data packages;

determining that the received firmware can be decrypted based on the first encryption key;

in response to determining that the received firmware can be decrypted, decrypting the received firmware; and

loading the decrypted firmware into the control module,

wherein at least one of the obtaining, calculating, sending, receiving, determining, decrypting, and loading is performed by the control module.

2. The method of claim 1 , further comprising:

storing the first encryption key in a persistent storage of the control module.

3. The method of claim 2 , further comprising:

in response to receiving the firmware to be updated, retrieving the first encryption key from the persistent storage.

4. The method of claim 1 , wherein the received firmware can be decrypted based on the first encryption key when the first and second encryption keys are the same.

5. The method of claim 1 , wherein the noise is sampled from power supply of the control module.

6. The method of claim 1 , wherein the obtaining further comprises:

sampling the control module to obtain the initial signal before filtering out the noise signal.

7. The method of claim 1 , wherein the plurality of data packages are sequentially transmitted to the control module.

8. The method of claim 7 , wherein a size of each of the plurality of data packages is the same.

9. A method for encrypting firmware to be updated on a control module of a modular assembly system, the method comprising:

transmitting, to the control module, a message for requesting firmware update;

receiving, from the control module, an encryption key calculated based on a noise signal of the control module, the noise signal being an initial signal of information related to noise sampled from the control module subtracting a filtered signal that is obtained by filtering out the noise signal from the initial signal, the initial signal being obtained by analog-to-digital conversion (ADC) and the filtered signal being obtained by Kalman filter;

encrypting firmware based on at least the received encryption key;

dividing the encrypted firmware into a plurality of data packages after the firmware is encrypted; and

transmitting, to the control module, the encrypted firmware,

wherein at least one of the receiving, encrypting, dividing, and transmitting is performed by a host of the modular assembly system.

10. The method of claim 9 , wherein the transmitting further comprises:

sequentially transmitting, to the control module, each of the plurality of data packages.

11. The method of claim 10 , wherein a size of each of the plurality of data packages is the same.

12. The method of claim 9 , wherein the noise is sampled from power supply of the control module.