Biblio

Infrastructural systems such as the electricity grid, healthcare, and transportation networks today rely increasingly on the joint functioning of networked information systems and physical components, in short, on cyber-physical architectures. Despite tremendous advances in cryptography, physical-layer security and authentication, information attacks, both passive such as eavesdropping, and active such as unauthorized data injection, continue to thwart the reliable functioning of networked systems. In systems with joint cyber-physical functionality, the ability of an adversary to monitor transmitted information or introduce false information can lead to sensitive user data being leaked or result in critical damages to the underlying physical system. This paper investigates two broad challenges in information security in cyber-physical systems (CPSs): preventing retrieval of internal physical system information through monitored external cyber flows, and limiting the modification of physical system functioning through compromised cyber flows. A rigorous analytical framework grounded on information-theoretic security is developed to study these challenges in a general stochastic control system abstraction-a theoretical building block for CPSs-with the objectives of quantifying the fundamental tradeoffs between information security and physical system performance, and through the process, designing provably secure controller policies. Recent results are presented that establish the theoretical basis for the framework, in addition to practical applications in timing analysis of anonymous systems, and demand response systems in a smart electricity grid.

Since remote ages, queues and delays have been a rather exasperating reality of human daily life. Today, they pursue us everywhere: in technical, social, socio-technical, and even control systems, dramatically deteriorating their performance. In this variety, it is the computer systems that are sure to cause the growing anxiety in our digital era. Although for our everyday Internet surfing, experiencing long-lasting and annoying delays is an unpleasant but not dangerous situation, for industrial control systems, especially those dealing with critical infrastructures, such behavior is unacceptable. The article presents a deterministic approach to solving some digital control system problems associated with delays and backlogs. Being based on Network calculus, in contrast to statistical methods of Queuing theory, it provides worst-case results, which are eminently desirable for critical infrastructures. The article covers the basics of a theory of deterministic queuing systems Network calculus, its evolution regarding the relationship between backlog bound and delay, and a technique for handling empirical data. The problems being solved by the deterministic approach: standard calculation of network performance measures, estimation of database maximum updating time, and cybersecurity assessment including such issues as the CIA triad representation, operational technology influence, and availability understanding focusing on its correlation with a delay are thoroughly discussed as well.

Industrial control systems (ICSs) are used in various infrastructures and industrial plants for realizing their control operation and ensuring their safety. Concerns about the cybersecurity of industrial control systems have raised due to the increased number of cyber-attack incidents on critical infrastructures in the light of the advancement in the cyber activity of ICSs. Nevertheless, the operation of the industrial control systems is bind to vital aspects in life, which are safety, economy, and security. This paper presents a semi-supervised, hybrid attack detection approach for industrial control systems by combining Isolation Forest and Convolutional Neural Network (CNN) models. The proposed framework is developed using the normal operational data, and it is composed of a feature extraction model implemented using a One-Dimensional Convolutional Neural Network (1D-CNN) and an isolation forest model for the detection. The two models are trained independently such that the feature extraction model aims to extract useful features from the continuous-time signals that are then used along with the binary actuator signals to train the isolation forest-based detection model. The proposed approach is applied to a down-scaled industrial control system, which is a water treatment plant known as the Secure Water Treatment (SWaT) testbed. The performance of the proposed method is compared with the other works using the same testbed, and it shows an improvement in terms of the detection capability.

Deep learning methods are increasingly becoming solutions to complex problems, including the search for anomalies. While fully-connected and convolutional neural networks have already found their application in classification problems, their applicability to the problem of detecting anomalies is limited. In this regard, it is proposed to use autoencoders, previously used only in problems of reducing the dimension and removing noise, as a method for detecting anomalies in the industrial control system. A new method based on autoencoders is proposed for detecting anomalies in the operation of industrial control systems (ICS). Several neural networks based on auto-encoders with different architectures were trained, and the effectiveness of each of them in the problem of detecting anomalies in the work of process control systems was evaluated. Auto-encoders can detect the most complex and non-linear dependencies in the data, and as a result, can show the best quality for detecting anomalies. In some cases, auto-encoders require fewer machine resources.

To reduce cost and ease maintenance, industrial control systems (ICS) have adopted Ethernetbased interconnections that integrate operational technology (OT) systems with information technology (IT) networks. This integration has made these critical systems vulnerable to attack. Security solutions tailored to ICS environments are an active area of research. Anomalybased network intrusion detection systems are well-suited for these environments. Often these systems must be optimized for their specific environment. In prior work, we introduced a method for assessing the impact of various anomaly-based network IDS settings on security. This paper reviews the experimental outcomes when we applied our method to a full-scale ICS test bed using actual attacks. Our method provides new and valuable data to operators enabling more informed decisions about IDS configurations.

The algorithm of causal anomaly detection in industrial control physics is proposed to determine the normal cloud line of industrial control system so as to accurately detect the anomaly. In this paper, The causal modeling algorithm combining Maximum Information Coefficient and Transfer Entropy was used to construct the causal network among nodes in the system. Then, the abnormal nodes and the propagation path of the anomaly are deduced from the structural changes of the causal network before and after the attack. Finally, an anomaly detection algorithm based on hybrid differential cumulative is used to identify the specific anomaly data in the anomaly node. The stability of causality mining algorithm and the validity of locating causality anomalies are verified by using the data of classical chemical process. Experimental results show that the anomaly detection algorithm is better than the comparison algorithm in accuracy, false negative rate and recall rate, and the anomaly location strategy makes the anomaly source traceable.

This work describes a top down systems security requirements analysis approach for understanding and eliciting security requirements for a notional small unmanned aerial system (SUAS). More specifically, the System-Theoretic Process Analysis approach for Security (STPA-Sec) is used to understand and elicit systems security requirements. The effort employs STPA-Sec on a notional SUAS system case study to detail the development of functional-level security requirements, design-level engineering considerations, and architectural-level security specification criteria early in the system life cycle when the solution trade-space is largest rather than merely examining components and adding protections during system operation or sustainment. These details were elaborated during a semester independent study research effort by two United States Air Force Academy Systems Engineering cadets, guided by their instructor and a series of working group sessions with UAS operators and subject matter experts. This work provides insight into a viable systems security requirements analysis approach which results in traceable security, safety, and resiliency requirements that can be designed-for, built-to, and verified with confidence.

Modern industrial control systems (ICS) act as victims of cyber attacks more often in last years. These cyber attacks often can not be detected by classical information security methods. Moreover, the consequences of cyber attack's impact can be catastrophic. Since cyber attacks leads to appearance of anomalies in the ICS and technological equipment controlled by it, the task of intrusion detection for ICS can be reformulated as the task of industrial process anomaly detection. This paper considers the applicability of generative adversarial networks (GANs) in the field of industrial processes anomaly detection. Existing approaches for GANs usage in the field of information security (such as anomaly detection in network traffic) were described. It is proposed to use the BiGAN architecture in order to detect anomalies in the industrial processes. The proposed approach has been tested on Secure Water Treatment Dataset (SWaT). The obtained results indicate the prospects of using the examined method in practice.

In recent years, attacks against cyber-physical systems have become increasingly frequent and widespread. The inventiveness of such attacks increases significantly. In particular, zero-day attacks are widely used. The rapid development of the industrial Internet of things, the expansion of the application areas of service robots, the advent of the Internet of vehicles and the Internet of military things have led to a significant increase of attention to deceptive attacks. Especially great threat is posed by deceptive attacks that do not use hiding malicious components. Such attacks can naturally be used against robotic systems. In this paper, we consider an approach to the development of an intrusion detection system for closed-loop robotic systems. The system is based on an abnormal behavioral pattern detection technique. The system can be used for detection of zero-day deceptive attacks. We provide an experimental comparison of our approach and other behavior-based intrusion detection systems.

We use potential fields tuned by genetic algorithms to dynamically reconFigure unmanned aerial vehicles networks to serve user bandwidth needs. Such flying network base stations have applications in the many domains needing quick temporary networked communications capabilities such as search and rescue in remote areas and security and defense in overwatch and scouting. Starting with an initial deployment that covers an area and discovers how users are distributed across this area of interest, tuned potential fields specify subsequent movement. A genetic algorithm tunes potential field parameters to reposition UAVs to create and maintain a mesh network that maximizes user bandwidth coverage and network lifetime. Results show that our evolutionary adaptive network deployment algorithm outperforms the current state of the art by better repositioning the unmanned aerial vehicles to provide longer coverage lifetimes while serving bandwidth requirements. The parameters found by the genetic algorithm on four training scenarios with different user distributions lead to better performance than achieved by the state of the art. Furthermore, these parameters also lead to superior performance in three never before seen scenarios indicating that our algorithm finds parameter values that generalize to new scenarios with different user distributions.

Inter-networked control systems make smart buildings increasingly efficient but can lead to severe operational disruptions and infrastructure damage. It is vital the security state of smart buildings is properly assessed so that thorough and cost effective risk management can be established. This paper uniquely reports on an actual risk assessment performed in 2018 on one of the world's most densely monitored, state-of-the-art, smart buildings. From our observations, we suggest that current practice may be inadequate due to a number of challenges and deficiencies, including the lack of a recognised smart building risk assessment methodology. As a result, the security posture of many smart buildings may not be as robust as their risk assessments suggest. Crucially, we highlight a number of key recommendations for a more comprehensive risk assessment process for smart buildings. As a whole, we believe this practical experience report will be of interest to a range of smart building stakeholders.

As we expect that the presence of autonomous robots in our everyday life will increase, we must consider that people will have not only to accept robots to be a fundamental part of their lives, but they will also have to trust them to reliably and securely engage them in collaborative tasks. Several studies showed that robots are more comfortable interacting with robots that respect social conventions. However, it is still not clear if a robot that expresses social conventions will gain more favourably people's trust. In this study, we aimed to assess whether the use of social behaviours and natural communications can affect humans' sense of trust and companionship towards the robots. We conducted a between-subjects study where participants' trust was tested in three scenarios with increasing trust criticality (low, medium, high) in which they interacted either with a social or a non-social robot. Our findings showed that participants trusted equally a social and non-social robot in the low and medium consequences scenario. On the contrary, we observed that participants' choices of trusting the robot in a higher sensitive task was affected more by a robot that expressed social cues with a consequent decrease of their trust in the robot.

Trust is a critical issue in human-robot interactions (HRI) as it is the core of human desire to accept and use a non-human agent. Theory of Mind (ToM) has been defined as the ability to understand the beliefs and intentions of others that may differ from one's own. Evidences in psychology and HRI suggest that trust and ToM are interconnected and interdependent concepts, as the decision to trust another agent must depend on our own representation of this entity's actions, beliefs and intentions. However, very few works take ToM of the robot into consideration while studying trust in HRI. In this paper, we investigated whether the exposure to the ToM abilities of a robot could affect humans' trust towards the robot. To this end, participants played a Price Game with a humanoid robot (Pepper) that was presented having either low-level ToM or high-level ToM. Specifically, the participants were asked to accept the price evaluations on common objects presented by the robot. The willingness of the participants to change their own price judgement of the objects (i.e., accept the price the robot suggested) was used as the main measurement of the trust towards the robot. Our experimental results showed that robots possessing a high-level of ToM abilities were trusted more than the robots presented with low-level ToM skills.

In response to the increasing awareness of the Ethernet-based threat surface of industrial control systems (ICS), both the research and commercial communities are responding with ICS-specific security solutions. Unfortunately, many of the properties of ICS environments that contribute to the extent of this threat surface (e.g. age of devices, inability or unwillingness to patch, criticality of the system) similarly prevent the proper testing and evaluation of these security solutions. Production environments are often too fragile to introduce unvetted technology and most organizations lack test environments that are sufficiently consistent with production to yield actionable results. Cost and space requirements prevent the creation of mirrored physical environments leading many to look towards simulation or virtualization. Examples in literature provide various approaches to building ICS test beds, though most of these suffer from a lack of realism due to contrived scenarios, synthetic data and other compromises. In this paper, we provide a design methodology for building highly realistic ICS test beds for validating cybersecurity defenses. We then apply that methodology to the design and building of a specific test bed and describe the results and experimental use cases.

Aiming at the problem that the traditional intrusion detection method can not effectively deal with the massive and high-dimensional network traffic data of industrial control system (ICS), an ICS intrusion detection strategy based on bidirectional generative adversarial network (BiGAN) is proposed in this paper. In order to improve the applicability of BiGAN model in ICS intrusion detection, the optimal model was obtained through the single variable principle and cross-validation. On this basis, the supervised control and data acquisition (SCADA) standard data set is used for comparative experiments to verify the performance of the optimized model on ICS intrusion detection. The results show that the ICS intrusion detection method based on optimized BiGAN has higher accuracy and shorter detection time than other methods.

This paper describes a system that comprises of control, safety and security subsystem for industries and homes. The entire system is based on the Bolt IoT platform. Using this system, the user can control the devices such as LEDs, speed of the fan or DC motor, monitor the temperature of the premises with an alert sub-system for critical temperatures through SMS and call, monitor the presence of anyone inside the premises with an alert sub-system about any intrusion through SMS and call. If the system is used specifically in any industry then instead of monitoring the temperature any other physical quantity, which is critical for that industry, can be monitored using suitable sensors. In addition, the cloud connectivity is provided to the system using the Bolt IoT module and temperature data is sent to the cloud where using machine-learning algorithm the future temperature is predicted to avoid any accidents in the future.

The security of Industrial Control system (ICS) of cybersecurity networks ensures that control equipment fails and that regular procedures are available at its control facilities and internal industrial network. For this reason, it is essential to improve the security of industrial control facility networks continuously. Since network security is threatening, industrial installations are irreparable and perhaps environmentally hazardous. In this study, the industrialized Early Intrusion Detection System (EIDS) was used to modify the Intrusion Detection System (IDS) method. The industrial EIDS was implemented using routers, IDS Snort, Industrial honeypot, and Iptables MikroTik. EIDS successfully simulated and implemented instructions written in IDS, Iptables router, and Honeypots. Accordingly, the attacker's information was displayed on the monitoring page, which had been designed for the ICS. The EIDS provides cybersecurity and industrial network systems against vulnerabilities and alerts industrial network security heads in the shortest possible time.

Cyber threats directly affect the critical reliability and availability of modern Industry Control Systems (ICS) in respects of operations and processes. Where there are a variety of vulnerabilities and cyber threats, it is necessary to effectively evaluate cyber security risks, and control uncertainties of cyber environments, and quantitative evaluation can be helpful. To effectively and timely control the spread and impact produced by attacks on ICS networks, a probabilistic Multi-Attribute Vulnerability Criticality Analysis (MAVCA) model for impact estimation and prioritised remediation is presented. This offer a new approach for combining three major attributes: vulnerability severities influenced by environmental factors, the attack probabilities relative to the vulnerabilities, and functional dependencies attributed to vulnerability host components. A miniature ICS testbed evaluation illustrates the usability of the model for determining the weakest link and setting security priority in the ICS. This work can help create speedy and proactive security response. The metrics derived in this work can serve as sub-metrics inputs to a larger quantitative security metrics taxonomy; and can be integrated into the security risk assessment scheme of a larger distributed system.

The purpose of the work is a formalized description of the method determining numerical expression of the danger from actions potentially implemented by an information security violator. The implementation of such actions may lead to a disruption of the ordered functioning of multilevel distributed automated process control systems, which indicates the importance of developing new adequate solutions for predicting attacks consequences. The analysis of the largest destructive effects on information security systems of critical objects is carried out. The most common methods of obtaining the value of the hazard quotient of information security violators' destructive actions are considered. Based on the known methods for determining the possible damage from attacks implemented by a potential information security violator, a new, previously undetected in open sources method for determining the hazard quotient of destructive actions of an information security violator has been proposed. In order to carry out experimental calculations by the proposed method, the authors developed the required software. The calculations results are presented and indicate the possibility of using the proposed method for modeling threats and information security violators when designing an information security system for automated process control systems.

The progress made in terms of controller technologies with the introduction of remotely-accessibility capacity in the digital controllers has opened the door to new cybersecurity threats on the Industrial Control Systems (ICSs). Among them, some aim at damaging the ICS's physical system. In this paper, a corrupted controller emitting a non-legitimate Pulse Width Modulation control signal to an Electro-Mechanical Actuator (EMA) is considered. The attacker's capabilities for accelerating the EMA's aging by inducing Partial Discharges (PDs) are investigated. A simplified model is considered for highlighting the influence of the carrier frequency of the control signal over the amplitude and the repetition of the PDs involved in the EMA's aging.

Consensus-based distributed microgrid energy management system is one of the most used distributed control strategies in the microgrid area. To improve its cybersecurity, the system needs to evaluate the trustworthiness of the participating agents in addition to the conventional cryptography efforts. This paper proposes a novel augmented reputation metric to evaluate the agents' trustworthiness in a distributed fashion. The proposed metric adopts a novel augmentation method to substantially improve the trust evaluation and attack detection performance under three typical difficult-to-detect attack patterns. The proposed metric is implemented and validated on a real-time HIL microgrid testbed.

Complex CPS such as UAS got rapid development these years, but also became vulnerable to GPS spoofing, packets injection, buffer-overflow and other malicious attacks. Ensuring the behaviors of UAS always keeping secure no matter how the environment changes, would be a prospective direction for UAS security. This paper aims at presenting a reactive synthesis-based approach to implement the automatic generation of secure UAS controller. First, we study the operating mechanism of UAS and construct a high-Ievel model consisting of actuator and monitor. Besides, we analyze the security threats of UAS from the perspective of hardware, software and data transmission, and then extract the corresponding specifications of security properties with LTL formulas. Based on the UAS model and security specifications, the controller can be constructed by GR(1) synthesis algorithm, which is a two-player game process between UAV and Environment. Finally, we expand the function of LTLMoP platform to construct the automatons for controller in multi-robots system, which provides secure behavior strategies under several typical UAS attack scenarios.

The paper presents a comprehensive model of cybersecurity threats for a system of autonomous and remotely controlled vehicles (AV) in the environment of a smart city. The main focus in the security context is given to the “integrity” property. That property is of higher importance for industrial control systems in comparison with other security properties (availability and confidentiality). The security graph, which is part of the model, is dynamic, and, in real cases, its analysis may require significant computing resources for AV systems with a large number of assets and connections. The simplified example of the security graph for the AV system is presented.

In light of the problem for garbage cleaning in small water area, an intelligent miniature water surface garbage cleaning robot with unmanned driving and convenient operation is designed. Based on STC12C5A60S2 as the main controller in the design, power module, transmission module and cleaning module are controlled together to realize the function of cleaning and transporting garbage, intelligent remote control of miniature water surface garbage cleaning robot is realized by the WiFi module. Then the prototype is developed and tested, which will verify the rationality of the design. Compared with the traditional manual driving water surface cleaning devices, the designed robot realizes the intelligent control of unmanned driving, and achieves the purpose of saving human resources and reducing labor intensity, and the system operates security and stability, which has certain practical value.

In Robotics Operating System Process correspondence is the instrument given by the working framework that enables procedures to speak with one another Message passing model enables different procedures to peruse and compose information to the message line without being associated with one another, messages going between Robots. ROS is intended to be an inexactly coupled framework where a procedure is known as a hub and each hub ought to be answerable for one assignment. In the military application robots will go to go about as an officer and going ensure nation. In the referenced idea robot solider will give the message passing idea then the officers will go caution and start assaulting on the foes.