Biblio

Embedded devices are becoming increasingly pervasive in safety-critical systems of the emerging cyber-physical world. While trusted execution environments (TEEs), such as ARM TrustZone, have been widely deployed in mobile platforms, little attention has been given to deployment on real-time cyber-physical systems, which present a different set of challenges compared to mobile applications. For safety-critical cyber-physical systems, such as autonomous drones or automobiles, the current TEE deployment paradigm, which focuses only on confidentiality and integrity, is insufficient. Computation in these systems also needs to be completed in a timely manner (e.g., before the car hits a pedestrian), putting a much stronger emphasis on availability.To bridge this gap, we present RT-TEE, a real-time trusted execution environment. There are three key research challenges. First, RT-TEE bootstraps the ability to ensure availability using a minimal set of hardware primitives on commodity embedded platforms. Second, to balance real-time performance and scheduler complexity, we designed a policy-based event-driven hierarchical scheduler. Third, to mitigate the risks of having device drivers in the secure environment, we designed an I/O reference monitor that leverages software sandboxing and driver debloating to provide fine-grained access control on peripherals while minimizing the trusted computing base (TCB).We implemented prototypes on both ARMv8-A and ARMv8-M platforms. The system is tested on both synthetic tasks and real-life CPS applications. We evaluated rover and plane in simulation and quadcopter both in simulation and with a real drone.

Wireless sensor-actuator networks (WSANs) are being adopted in process industries because of their advantages in lowering deployment and maintenance costs. While there has been significant theoretical advancement in networked control design, only limited empirical results that combine control design with realistic WSAN standards exist. This paper presents a cyber-physical case study on a wireless process control system that integrates state-of-the-art network control design and a WSAN based on the WirelessHART standard. The case study systematically explores the interactions between wireless routing and control design in the process control plant. The network supports alternative routing strategies, including single-path source routing and multi-path graph routing. To mitigate the effect of data loss in the WSAN, the control design integrates an observer based on an Extended Kalman Filter with a model predictive controller and an actuator buffer of recent control inputs. We observe that sensing and actuation can have different levels of resilience to packet loss under this network control design. We then propose a flexible routing approach where the routing strategy for sensing and actuation can be configured separately. Finally, we show that an asymmetric routing configuration with different routing strategies for sensing and actuation can effectively improve control performance under significant packet loss. Our results highlight the importance of co-joining the design of wireless network protocols and control in wireless control systems.