Biblio

With the rapid advancement of the electrical grid, substation automation systems (SASs) have been developing continuously. However, with the introduction of advanced features, such as remote control, potential cyber security threats in SASs are also increased. Additionally, crucial components in SASs, such as protection relays, usually come from third-party vendors and may not be fully trusted. Untrusted devices may stealthily perform harmful or unauthorised behaviours which could compromise or damage SASs, and therefore, bring adverse impacts to the primary plant. Thus, it is necessary to detect abnormal behaviours from an untrusted device before it brings about catastrophic impacts. Anomaly detection techniques are suitable to detect anomalies in SASs as they only bring minimal side-effects to normal system operations. Many researchers have developed various machine learning algorithms and mathematical models to improve the accuracy of anomaly detection. However, without prudent feature selection, it is difficult to achieve high accuracy when detecting attacks launched from internal trusted networks, especially for stealthy message modification attacks which only modify message payloads slightly and imitate patterns of benign behaviours. Therefore, this paper presents choices of features which improve the accuracy of anomaly detection within SASs, especially for detecting “stealthy” attacks. By including two additional features, Boolean control data from message payloads and physical values from sensors, our method improved the accuracy of anomaly detection by decreasing the false-negative rate from 25% to 5% approximately.

The internal laboratory directed research and development (LDRD) project Infrastructure eXpression (IX) at the Idaho National Laboratory (INL), is based on codifying infrastructure to support automatic applicability to emerging cyber issues, enabling automated cyber responses, codifying attack surfaces, and analysis of cyber impacts to our nation's most critical infrastructure. IX uses the Structured Threat Information eXpression (STIX) open international standard version 2.1 which supports STIX Cyber Observable (SCO) to codify infrastructure characteristics and exposures. Using these codified infrastructures, STIX Relationship Objects (SRO) connect to STIX Domain Objects (SDO) used for modeling cyber threat used to create attack surfaces integrated with specific infrastructure. This IX model creates a shareable, actionable and implementable attack surface that is updateable with emerging threat or infrastructure modifications. Enrichment of cyber threat information includes attack patterns, indicators, courses of action, malware and threat actors. Codifying infrastructure in IX enables creation of software and hardware bill of materials (SBoM/HBoM) information, analysis of emerging cyber vulnerabilities including supply chain threat to infrastructure.

The Internet of Things (IoT) has enabled the rapid pace of the use of communication technology and infiltration of technical systems in a digital world. In terms of power systems generation and operation, a reliable solution for substation automation and smart grid communication is the IEC 61850 standard. It has a robust modelling structure for monitoring, protection, and control and management systems in substations and across the grid. Modern communication technologies are destined for internet use for remote monitoring, settings, and data recovery. However, the communication network is exposed to cyber threats and evident risks in security defense of automated power systems. To tackle these vulnerabilities, the IEC 62351 standard aims to improve security in handling the communication and data transfers in power system automation. This paper discusses the different security measures in communication, information and cyber security solutions in power systems. To further illustrate the novel communication and security schemes of digital substations, a case study using the Victoria University Zone Substation (VUZS) simulator for cybersecurity assessment has been instigated.

Power system automation and communication standards are spearheading the power system transition towards a smart grid. IEC 61850 is one such standard, which is widely used for substation automation and protection. It enables real-time communication and data exchange between critical substation automation and protection devices within digital substations. However, IEC 61850 is not cyber secure. In this paper, we demonstrate the dangerous implications of not securing IEC 61850 standard. Cyber attacks may exploit the vulnerabilities of the Sampled Values (SV) and Generic Object-Oriented Substation Event (GOOSE) protocols of IEC 61850. The cyber attacks may be realised by injecting spoofed SV and GOOSE data frames into the substation communication network at the bay level. We demonstrate that such cyber attacks may lead to obstruction or tripping of multiple protective relays. Coordinated cyber attacks against the protection system in digital substations may cause generation and line disconnections, triggering cascading failures in the power grid. This may eventually result in a partial or complete blackout. The attack model, impact on system dynamics and cascading failures are veri ed experimentally through a proposed cyber-physical experimental framework that closely resembles real-world conditions within a digital substation, including Intelligent Electronic Devices (IEDs) and protection schemes. It is implemented through Hardware-in-the-Loop (HIL) simulations of commercial relays with a Real-Time Digital Simulator (RTDS).

Inter-substation Generic Object Oriented Substation Events (GOOSE) communications that are used for critical protection functions have several cyber-security vulnerabilities. GOOSE messages are directly mapped to the Layer 2 Ethernet without network and transport layer headers that provide data encapsulation. The high-status-number attack is a malicious attack on GOOSE messages that allows hackers to completely take over intelligent electronic devices (IEDs) subscribing to GOOSE communications. The status-number parameter of GOOSE messages, stNum is tampered with in these attacks. Given the strict delivery time requirement of 3 ms for GOOSE messaging, it is infeasible to encrypt the GOOSE payload. This work proposes to secure the sensitive stNum parameter of the GOOSE payload using systematically encoded polynomial codes. Exploiting linear codes allows for the security features to be encoded in linear time, in contrast to complex hashing algorithms. At the subscribing IED, the security feature is used to verify that the stNum parameter has not been tampered with during transmission in the insecure medium. The decoding and verification using syndrome computation at the subscriber IED is also accomplished in linear time.

Adversarial models are well-established for cryptographic protocols, but distributed real-time protocols have requirements that these abstractions are not intended to cover. The IEEE/IEC 61850 standard for communication networks and systems for power utility automation in particular not only requires distributed processing, but in case of the generic object oriented substation events and sampled value (GOOSE/SV) protocols also hard real-time characteristics. This motivates the desire to include both quality of service (QoS) and explicit network topology in an adversary model based on a π-calculus process algebraic formalism based on earlier work. This allows reasoning over process states, placement of adversarial entities and communication behaviour. We demonstrate the use of our model for the simple case of a replay attack against the publish/subscribe GOOSE/SV subprotocol, showing bounds for non-detectability of such an attack.

Modern power systems today are protected and controlled increasingly by embedded systems of computing technologies with a great degree of collaboration enabled by communication. Energy cyber-physical systems such as power systems infrastructures are increasingly vulnerable to cyber-attacks on the protection and control layer. We present a method of securing protective relays from malicious change in protective relay settings via collaboration of devices. Each device checks the proposed setting changes of its neighboring devices for consistency and coordination with its own settings using setting rules based on relay coordination principles. The method is enabled via peer-to-peer communication between IEDs. It is validated in a cyber-physical test bed containing a real time digital simulator and actual relays that communicate via IEC 61850 GOOSE messages. Test results showed improvement in cyber physical security by using domain based rules to block malicious changes in protection settings caused by simulated cyber-attacks. The method promotes the use of defense systems that are aware of the physical systems which they are designed to secure.

This paper proposes new concepts for detecting and mitigating cyber attacks on substation automation systems by domain-based cyber-physical security solutions. The proposed methods form the basis of a distributed security domain layer that enables protection devices to collaboratively defend against cyber attacks at substations. The methods utilize protection coordination principles to cross check protection setting changes and can run real-time power system analysis to evaluate the impact of the control commands. The transient fault signature (TFS)-based cross-correlation coefficient algorithm has been proposed to detect the false sampled values data injection attack. The proposed functions were verified in a hardware-in-the-loop (HIL) simulation using commercial relays and a real-time digital simulator (RTDS). Various types of cyber intrusions are tested using this test bed to evaluate the consequences and impacts of cyber attacks to power grid as well as to validate the performance of the proposed research-grade cyber attack mitigation functions.

Smart power grid is a perfect model of Cyber Physical System (CPS) which is an important component for a comfortable life. The major concern of the electrical network is safety and reliable operation. A cyber attacker in the operation of power system would create a major damage to the entire power system structure and affect the continuity of the power supply by adversely changing its parameters. A risk assessment method is presented for evaluating the cyber security assessment of power systems taking into consideration the need for protection systems. The paper considers the impact of bus and transmission line protection systems located in substations on the cyber physical performance of power systems. The proposed method is to simulate the response of power systems to sudden attacks on various power system preset value and parameters. This paper focuses on the cyber attacks which occur in a co-ordinated way so that many power system components will be in risk. The risk can be modelled as the combined probability of power system impact due to attacks and of successful interruption into the system. Stochastic Petri Nets is employed for assessing the risks. The effectiveness of the proposed cyber security risk assessment method is simulated for a IEEE39 bus system.

Real-time supervisory control and data acquisition (SCADA) systems use remote terminal units (RTUs) to monitor and manage the flow of power at electrical substations. As their connectivity to different utility and private networks increases, RTUs are becoming more vulnerable to cyber-attacks. Some attacks seek to access RTUs to directly control power system devices with the intent to shed load or cause equipment damage. Other attacks (such as denial-of-service) target network availability and seek to block, delay, or corrupt communications between the RTU and the control center. In the most severe case, when communications are entirely blocked, the loss of an RTU can cause the power system to become unobservable. It is important to understand how losing an RTU impacts the system state (bus voltage magnitudes and angles). The system state is determined by the state estimator and serves as the input to other critical EMS applications. There is currently no systematic approach for assessing the cyber-physical impact of losing RTUs. This paper proposes a methodology for N-1 RTU cyber-physical security assessment that could benefit power system control and operation. We demonstrate our approach on the IEEE 14-bus system as well as on a synthetic 200-bus system.

IEC 61850 is an international standard that is widely used in substation automation systems (SAS) in smart grids. During its development, security was not considered thus leaving SAS vulnerable to attacks from adversaries. IEC 62351 was developed to provide security recommendations for SAS against (distributed) denial-of-service, replay, alteration, spoofing and detection of devices attacks. However, real-time communications, which require protocols such as Generic Object-Oriented Substation Event (GOOSE) to function efficiently, cannot implement these recommendations due to latency constraints. There has been researching that sought to improve the security of GOOSE messages, however, some cannot be practically implemented due to hardware requirements while others are theoretical, even though latency requirements were met. This research investigates the possibility of encrypting GOOSE messages with One- Time Pads (OTP), leveraging the fact that encryption/decryption processes require the random generation of OTPs and modulo addition (XOR), which could be a realistic approach to secure GOOSE while maintaining latency requirements. Results show that GOOSE messages can be encrypted with some future work required.

In order to improve the information security level of intelligent substation, this paper proposes an intelligent substation information security assessment tool through the research and analysis of intelligent substation information security risk and information security assessment method, and proves that the tool can effectively detect it. It is of great significance to carry out research on industrial control systems, especially intelligent substation information security.

IEC61850 and IEC62351 combined provide a set of security promises for the communications channels that are used to run a substation automation system (SAS), that use IEC61850 based technologies. However, one area that is largely untouched by these security promises is the generic object oriented substation events (GOOSE) messaging service. GOOSE is designed to multicast commands and data across a substation within hard real time quality of service (QoS) requirements. This means that GOOSE is unable to implement the required security technologies as the added latency to any message would violate the QoS.

The IEC 61850 protocol suite for electrical sub-station automation enables substation configuration and design for protection, communication, and control. These power system applications can be formally verified through use of object models, common data classes, and message classes. The IEC 61850-7-420 DER (Distributed Energy Resource) extension further defines object classes for assets such as types of DER (e.g., energy storage, photovoltaic), DER unit controllers, and other DER-associated devices (e.g., inverter). These object classes describe asset-specific attributes such as state of charge, capacity limits, and ramp rate. Attributes can be fixed (rated capacity of the device) dynamic (state of charge), or binary (on or off, dispatched or off-line, operational or fault state). We sketch out a proposed ontology based on the 61850 and 61850-7-420 DER object classes to model threats against a micro-grid, which is an electrical system consisting of controllable loads and distributed generation that can function autonomously (in island mode) or connected to a larger utility grid. We consider threats against the measurements on which the control loop is based, as well as attacks against the control directives and the communication infrastructure. We use this ontology to build a threat model using the ADversary View Security Evaluation (ADVISE) framework, which enables identification of attack paths based on adversary objectives (for example, destabilize the entire micro-grid by reconnecting to the utility without synchronization) and helps identify defender strategies. Furthermore, the ADVISE method provides quantitative security metrics that can help inform trade-off decisions made by system architects and controls.

Cyber intrusions to substations of a power grid are a source of vulnerability since most substations are unmanned and with limited protection of the physical security. In the worst case, simultaneous intrusions into multiple substations can lead to severe cascading events, causing catastrophic power outages. In this paper, an integrated Anomaly Detection System (ADS) is proposed which contains host- and network-based anomaly detection systems for the substations, and simultaneous anomaly detection for multiple substations. Potential scenarios of simultaneous intrusions into the substations have been simulated using a substation automation testbed. The host-based anomaly detection considers temporal anomalies in the substation facilities, e.g., user-interfaces, Intelligent Electronic Devices (IEDs) and circuit breakers. The malicious behaviors of substation automation based on multicast messages, e.g., Generic Object Oriented Substation Event (GOOSE) and Sampled Measured Value (SMV), are incorporated in the proposed network-based anomaly detection. The proposed simultaneous intrusion detection method is able to identify the same type of attacks at multiple substations and their locations. The result is a new integrated tool for detection and mitigation of cyber intrusions at a single substation or multiple substations of a power grid.
 

This paper proposes a new network-based cyber intrusion detection system (NIDS) using multicast messages in substation automation systems (SASs). The proposed network-based intrusion detection system monitors anomalies and malicious activities of multicast messages based on IEC 61850, e.g., Generic Object Oriented Substation Event (GOOSE) and Sampled Value (SV). NIDS detects anomalies and intrusions that violate predefined security rules using a specification-based algorithm. The performance test has been conducted for different cyber intrusion scenarios (e.g., packet modification, replay and denial-of-service attacks) using a cyber security testbed. The IEEE 39-bus system model has been used for testing of the proposed intrusion detection method for simultaneous cyber attacks. The false negative ratio (FNR) is the number of misclassified abnormal packets divided by the total number of abnormal packets. The results demonstrate that the proposed NIDS achieves a low fault negative rate.
 

This paper proposes a methodology to assess cyber-related risks and to identify critical assets both at power grid and substation levels. The methodology is based on a two-pass engine model. The first pass engine is developed to identify the most critical substation(s) in a power grid. A mixture of Analytical hierarchy process (AHP) and (N-1) contingent analysis is used to calculate risks. The second pass engine is developed to identify risky assets within a substation and improve the vulnerability of a substation against the intrusion and malicious acts of cyber hackers. The risk methodology uniquely combines asset reliability, vulnerability and costs of attack into a risk index. A methodology is also presented to improve the overall security of a substation by optimally placing security agent(s) on the automation system.
 

A system implementing real-time situational awareness through discovery, prevention, detection, response, audit, and management capabilities is seen as central to facilitating the protection of critical infrastructure systems. The effectiveness of providing such awareness technologies for electrical distribution companies is being evaluated in a series of field trials: (i) Substation Intrusion Detection / Prevention System (IDPS) and (ii) Security Information and Event Management (SIEM) System. These trials will help create a realistic case study on the effectiveness of such technologies with the view of forming a framework for critical infrastructure cyber security defense systems of the future.
 

This paper proposes a methodology to assess cyber-related risks and to identify critical assets both at power grid and substation levels. The methodology is based on a two-pass engine model. The first pass engine is developed to identify the most critical substation(s) in a power grid. A mixture of Analytical hierarchy process (AHP) and (N-1) contingent analysis is used to calculate risks. The second pass engine is developed to identify risky assets within a substation and improve the vulnerability of a substation against the intrusion and malicious acts of cyber hackers. The risk methodology uniquely combines asset reliability, vulnerability and costs of attack into a risk index. A methodology is also presented to improve the overall security of a substation by optimally placing security agent(s) on the automation system.

This paper proposes a methodology to assess cyber-related risks and to identify critical assets both at power grid and substation levels. The methodology is based on a two-pass engine model. The first pass engine is developed to identify the most critical substation(s) in a power grid. A mixture of Analytical hierarchy process (AHP) and (N-1) contingent analysis is used to calculate risks. The second pass engine is developed to identify risky assets within a substation and improve the vulnerability of a substation against the intrusion and malicious acts of cyber hackers. The risk methodology uniquely combines asset reliability, vulnerability and costs of attack into a risk index. A methodology is also presented to improve the overall security of a substation by optimally placing security agent(s) on the automation system.

Cyber intrusions to substations of a power grid are a source of vulnerability since most substations are unmanned and with limited protection of the physical security. In the worst case, simultaneous intrusions into multiple substations can lead to severe cascading events, causing catastrophic power outages. In this paper, an integrated Anomaly Detection System (ADS) is proposed which contains host- and network-based anomaly detection systems for the substations, and simultaneous anomaly detection for multiple substations. Potential scenarios of simultaneous intrusions into the substations have been simulated using a substation automation testbed. The host-based anomaly detection considers temporal anomalies in the substation facilities, e.g., user-interfaces, Intelligent Electronic Devices (IEDs) and circuit breakers. The malicious behaviors of substation automation based on multicast messages, e.g., Generic Object Oriented Substation Event (GOOSE) and Sampled Measured Value (SMV), are incorporated in the proposed network-based anomaly detection. The proposed simultaneous intrusion detection method is able to identify the same type of attacks at multiple substations and their locations. The result is a new integrated tool for detection and mitigation of cyber intrusions at a single substation or multiple substations of a power grid.