Biblio

The term "Cyber Physical System" (CPS) has been used in the recent years to describe a system type, which makes use of powerful communication networks to functionally combine systems that were previously thought of as independent. The common theme of CPSs is that through communication, CPSs can make decisions together and achieve common goals. Yet, in contrast to traditional system types such as embedded systems, the functional dependence between CPSs can change dynamically at runtime. Hence, their functional dependence may cause unforeseen runtime behavior, e.g., when a CPS becomes unavailable, but others depend on its correct operation. During development of any individual CPS, this runtime behavior must hence be predicted, and the system must be developed with the appropriate level of robustness. Since at present, research is mainly concerned with the impact of functional dependence in CPS on development, the impact on runtime behavior is mere conjecture. In this paper, we present AirborneCPS, a simulation tool for functionally dependent CPSs which simulates runtime behavior and aids in the identification of undesired functional interaction.

The growing interest in the smart device/home/city has resulted in increasing popularity of Internet of Things (IoT) deployment. However, due to the open and heterogeneous nature of IoT networks, there are various challenges to deploy an IoT network, among which security and scalability are the top two to be addressed. To improve the security and scalability for IoT networks, we propose a Software-Defined Virtual Private Network (SD-VPN) solution, in which each IoT application is allocated with its own overlay VPN. The VPN tunnels used in this paper are VxLAN based tunnels and we propose to use the SDN controller to push the flow table of each VPN to the related OpenvSwitch via the OpenFlow protocol. The SD-VPN solution can improve the security of an IoT network by separating the VPN traffic and utilizing service chaining. Meanwhile, it also improves the scalability by its overlay VPN nature and the VxLAN technology.

Embedded systems that communicate with each other over the internet and build up a larger, loosely coupled (hardware) system with an unknown configuration at runtime is often referred to as a cyberphysical system. Many of these systems can become, due to its associated risks during their operation, safety critical. With increased complexity of such systems, the number of configurations can either be infinite or even unknown at design time. Hence, a certification at design time for such systems that documents a safe interaction for all possible configurations of all participants at runtime can become unfeasible. If such systems come together in a new configuration, a mechanism is required that can decide whether or not it is safe for them to interact. Such a mechanism can generally not be part of such systems for the sake of trust. Therefore, we present in the following sections the SEnSE device, short for Secure and Safe Embedded, that tackles these challenges and provides a secure and safe integration of safety-critical embedded systems.

Automobiles provide comfort and mobility to owners. While they make life more meaningful they also pose challenges and risks in their safety and security mechanisms. Some modern automobiles are equipped with anti-theft systems and enhanced safety measures to safeguard its drivers. But at times, these mechanisms for safety and secured operation of automobiles are insufficient due to various mechanisms used by intruders and car thieves to defeat them. Drunk drivers cause accidents on our roads and thus the need to safeguard the driver when he is intoxicated and render the car to be incapable of being driven. These issues merit an integrated approach to safety and security of automobiles. In the light of these challenges, an integrated microcontroller-based hardware and software system for safety and security of automobiles to be fixed into existing vehicle architecture, was designed, developed and deployed. The system submodules are: (1) Two-step ignition for automobiles, namely: (a) biometric ignition and (b) alcohol detection with engine control, (2) Global Positioning System (GPS) based vehicle tracking and (3) Multisensor-based fire detection using neuro-fuzzy logic. All submodules of the system were implemented using one microcontroller, the Arduino Mega 2560, as the central control unit. The microcontroller was programmed using C++11. The developed system performed quite well with the tests performed on it. Given the right conditions, the alcohol detection subsystem operated with a 92% efficiency. The biometric ignition subsystem operated with about 80% efficiency. The fire detection subsystem operated with a 95% efficiency in locations registered with the neuro-fuzzy system. The vehicle tracking subsystem operated with an efficiency of 90%.

The technological development of automated vehicles opens novel cybersecurity threats and risks for road safety. Increased connectivity often results in increased risks of a cyber-security attacks, which is one of the biggest challenges for the automotive industry that undergoes a profound transformation. State of the art studies evaluated potential attacks and recommended possible measures, from technical and organizational perspective to face these challenges. In this position paper, we review these techniques and methods and show that some of the different solutions complement each other while others overlap or are even incompatible or contradictory. Based on this gap analysis, we advocate for the need of a comprehensive framework that integrates technical and organizational mitigation measures to enhance the cybersecurity of automotive vehicles.

Connected cars have received massive attention in Intelligent Transportation System. Many potential services, especially safety-related ones, rely on spatial-temporal messages periodically broadcast by cars. Without a secure authentication algorithm, malicious cars may send out invalid spatial-temporal messages and then deny creating them. Meanwhile, a lot of private information may be disclosed from these spatial-temporal messages. Since cars move on expressways at high speed, any authentication must be performed in real-time to prevent crashes. In this paper, we propose a Fast and Anonymous Spatial-Temporal Trust (FastTrust) mechanism to ensure these properties. In contrast to most authentication protocols which rely on fixed infrastructures, FastTrust is distributed and mostly designed on symmetric-key cryptography and an entropy-based commitment, and is able to fast authenticate spatial-temporal messages. FastTrust also ensures the anonymity and unlinkability of spatial-temporal messages by developing a pseudonym-varying scheduling scheme on cars. We provide both analytical and simulation evaluations to show that FastTrust achieves the security and privacy properties. FastTrust is low-cost in terms of communication and computational resources, authenticating 20 times faster than existing Elliptic Curve Digital Signature Algorithm.

Augmented reality (AR) technologies, such as Microsoft's HoloLens head-mounted display and AR-enabled car windshields, are rapidly emerging. AR applications provide users with immersive virtual experiences by capturing input from a user's surroundings and overlaying virtual output on the user's perception of the real world. These applications enable users to interact with and perceive virtual content in fundamentally new ways. However, the immersive nature of AR applications raises serious security and privacy concerns. Prior work has focused primarily on input privacy risks stemming from applications with unrestricted access to sensor data. However, the risks associated with malicious or buggy AR output remain largely unexplored. For example, an AR windshield application could intentionally or accidentally obscure oncoming vehicles or safety-critical output of other AR applications. In this work, we address the fundamental challenge of securing AR output in the face of malicious or buggy applications. We design, prototype, and evaluate Arya, an AR platform that controls application output according to policies specified in a constrained yet expressive policy framework. In doing so, we identify and overcome numerous challenges in securing AR output.

While vehicle to everything (V2X) communication enables safety-critical automotive control systems to better support various connected services to improve safety and convenience of drivers, they also allow automotive attack surfaces to increase dynamically in modern vehicles. Many researchers as well as hackers have already demonstrated that they can take remote control of the targeted car by exploiting the vulnerabilities of in-vehicle networks such as Controller Area Networks (CANs). For assuring CAN security, we focus on how to authenticate electronic control units (ECUs) in real-time by addressing the security challenges of in-vehicle networks. In this paper, we propose a novel and lightweight authentication protocol with an attack-resilient tree algorithm, which is based on one-way hash chain. The protocol can be easily deployed in CAN by performing a firmware update of ECU. We have shown analytically that the protocol achieves a high level of security. In addition, the performance of the proposed protocol is validated on CANoe simulator for virtual ECUs and Freescale S12XF used in real vehicles. The results show that our protocol is more efficient than other authentication protocol in terms of authentication time, response time, and service delay.

Modern vehicles may contain a considerable number of ECUs (Electronic Control Units) which are connected through various means of communication, with the CAN (Controller Area Network) protocol being the most widely used. However, several vulnerabilities such as the lack of authentication and the lack of data encryption have been pointed out by several authors, which ultimately render vehicles unsafe to their users and surroundings. Moreover, the lack of security in modern automobiles has been studied and analyzed by other researchers as well as several reports about modern car hacking have (already) been published. The contribution of this work aimed to analyze and test the level of security and how resilient is the CAN protocol by taking a BMW E90 (3-series) instrument cluster as a sample for a proof of concept study. This investigation was carried out by building and developing a rogue device using cheap commercially available components while being connected to the same CAN-Bus as a man in the middle device in order to send spoofed messages to the instrument cluster.

The Controller Area Network (CAN) is a broadcast communications network invented by Robert Bosch GmbH in 1986. CAN is the standard communication network found in automobiles, industry equipment, and many space applications. To be used in these environments, CAN is designed for efficiency and reliability, rather than security. This research paper closely examines the security risks within the CAN protocol and proposes a feasible solution. In this research, we investigate the problems with implementing certain security features in the CAN protocol, such as message authentication and protections against replay and denial-of-service (DoS) attacks. We identify the restrictions of the CAN bus, and we demonstrate how our proposed implementation meets these restrictions. Many previously proposed solutions lack security, feasibility, and/or efficiency; however, a solution must not drastically hinder the real-time operation speed of the network. The solution proposed in this research is tested with a simulative CAN environment. This paper proposes an alteration to the standard CAN bus nodes and the CAN protocol to better protect automobiles and other CAN-related systems from attacks.

Nowadays, Vehicular ad hoc Network as a special class of Mobile ad hoc Network(MANET), provides plenty of services. However, it also brings the privacy protection issues, and there are conflicts between the privacy protection and the services. In this paper, we will propose a privacy protection algorithm based on group signature including two parts, group signature based anonymous verification and batch verification. The anonymous verification is based on the network model we proposed, which can reduce the trust authority burden by dividing the roadside units into different levels, and the batch verification can reduce the time of message verification in one group. We also prove our algorithm can satisfy the demand of privacy protection. Finally, the simulation shows that the algorithm we proposed is better than the BBS on the length of the signature, time delay and packet loss rate.

Vehicular ad hoc networks (VANETs) are designed to provide traffic safety by exploiting the inter-vehicular communications. Vehicles build awareness of traffic in their surroundings using information broadcast by other vehicles, such as speed, location and heading, to proactively avoid collisions. The effectiveness of these VANET traffic safety applications is particularly dependent on the accuracy of the location information advertised by each vehicle. Therefore, traffic safety can be compromised when Sybil attackers maliciously advertise false locations or other inaccurate GPS readings are sent. The most effective way to detect a Sybil attack or correct the noise in the GPS readings is localizing vehicles based on the physical features of their transmission signals. The current localization techniques either are designed for networks where the nodes are immobile or suffer from inaccuracy in high-interference environments. In this paper, we present a RSSI-based localization technique that uses mobile nodes for localizing another mobile node and adjusts itself based on the heterogeneous interference levels in the environment. We show via simulation that our localization mechanism is more accurate than the other mechanisms and more resistant to environments with high interference and mobility.

Given the complexities involved in the sensing, navigational and positioning environment on board automated vehicles we conduct an exploratory survey and identify factors capable of influencing the users' trust in such system. After the analysis of the survey data, the Situational Awareness of the Vehicle (SAV) emerges as an important factor capable of influencing the trust of the users. We follow up on that by conducting semi-structured interviews with 12 experts in the CAV field, focusing on the importance of the SAV, on the factors that are most important when talking about it as well as the need to keep the users informed regarding its status. We conclude that in the context of Connected and Automated Vehicles (CAVs), the importance of the SAV can now be expanded beyond its technical necessity of making vehicles function to a human factors area: calibrating users' trust.

Software has emerged as a significant part of many domains, including financial service platforms, social networks and vehicle control. Standards organizations have responded to this by creating regulations to address issues such as safety and privacy. In this context, compliance of software with standards has emerged as a key issue. For software development organizations, compliance is a complex and costly goal to achieve and is often accomplished by producing so-called assurance cases, which demonstrate that the system indeed satisfies the property imposed by a standard (e.g., safety, privacy, security). As systems and standards undergo evolution for a variety of reasons, maintaining assurance cases multiplies the effort. In this work, we propose to exploit the connection between the field of model management and the problem of compliance management and propose methods that use model management techniques to address compliance scenarios such as assurance case evolution and reuse. For validation, we ground our approaches on the automotive domain and the ISO 26262 standard for functional safety of road vehicles.

Currently, the networking of everyday objects, socalled Internet of Things (IoT), such as vehicles and home automation environments is progressing rapidly. Formerly deployed as domain-specific solutions, the development is continuing to link different domains together to form a large heterogeneous IoT ecosystem. This development raises challenges in different fields such as scalability of billions of devices, interoperability across different IoT domains and the need of mobility support. The Information-Centric Networking (ICN) paradigm is a promising candidate to form a unified platform to connect different IoT domains together including infrastructure, wireless, and ad-hoc environments. This paper describes a vision of a harmonized architectural design providing dynamic access of data and services based on an ICN. Within the context of connected vehicles, the paper introduces requirements and challenges of the vision and contributes in open research directions in Information-Centric Networking.

This paper proposes a prototype of a level 3 autonomous vehicle using Raspberry Pi, capable of detecting the nearby vehicles using an IR sensor. We make the first attempt to analyze autonomous vehicles from a microscopic level, focusing on each vehicle and their communications with the nearby vehicles and road-side units. Two sets of passive and active experiments on a pair of prototypes were run, demonstrating the interconnectivity of the developed prototype. Several sensors were incorporated into an emulation based on System-on-Chip to further demonstrate the feasibility of the proposed model.

Automation of real time car parking system (RTCPS) using mobile cloud computing (MCC) and vehicular networking (VN) has given rise to a novel concept of integrated communication-computing platforms (ICCP). The aim of ICCP is to evolve an effective means of addressing challenges such as improper parking management scheme, traffic congestion in parking lots, insecurity of vehicles (safety applications), and other Infrastructure-to-Vehicle (I2V) services for providing data dissemination and content delivery services to connected Vehicular Clients (VCs). Edge (parking lot based) Fog computing (EFC) through road side sensor based monitoring is proposed to achieve ICCP. A real-time cloud to vehicular clients (VCs) in the context of smart car parking system (SCPS) which satisfies deterministic and non-deterministic constraints is introduced. Vehicular cloud computing (VCC) and intra-Edge-Fog node architecture is presented for ICCP. This is targeted at distributed mini-sized self-energized Fog nodes/data centers, placed between distributed remote cloud and VCs. The architecture processes data-disseminated real-time services to the connected VCs. The work built a prototype testbed comprising a black box PSU, Arduino IoT Duo, GH-311RT ultrasonic distance sensor and SHARP 2Y0A21 passive infrared sensor for vehicle detection; LinkSprite 2MP UART JPEG camera module, SD card module, RFID card reader, RDS3115 metal gear servo motors, FPM384 fingerprint scanner, GSM Module and a VCC web portal. The testbed functions at the edge of the vehicular network and is connected to the served VCs through Infrastructure-to-Vehicular (I2V) TCP/IP-based single-hop mobile links. This research seeks to facilitate urban renewal strategies and highlight the significance of ICCP prototype testbed. Open challenges and future research directions are discussed for an efficient VCC model which runs on networked fog centers (NetFCs).

The connection of automotive systems with other systems such as road-side units, other vehicles, and various servers in the Internet opens up new ways for attackers to remotely access safety relevant subsystems within connected cars. The security of connected cars and the whole vehicular ecosystem is thus of utmost importance for consumer trust and acceptance of this emerging technology. This paper describes an approach for on-board detection of unanticipated sequences of events in order to identify suspicious activities. The results show that this approach is fast enough for in-vehicle application at runtime. Several behavior models and synchronization strategies are analyzed in order to narrow down suspicious sequences of events to be sent in a privacy respecting way to a global security operations center for further in-depth analysis.

With the advances in the areas of mobile computing and wireless communications, V2X systems have become a promising technology enabling deployment of applications providing road safety, traffic efficiency and infotainment. Due to their increasing popularity, V2X networks have become a major target for attackers, making them vulnerable to security threats and network conditions, and thus affecting the safety of passengers, vehicles and roads. Existing research in V2X does not effectively address the safety, security and performance limitation threats to connected vehicles, as a result of considering these aspects separately instead of jointly. In this work, we focus on the analysis of the tradeoffs between safety, security and performance of V2X systems and propose a dynamic adaptability approach considering all three aspects jointly based on application needs and context to achieve maximum safety on the roads using an Internet of vehicles. Experiments with a simple V2V highway scenario demonstrate that an adaptive safety/security approach is essential and V2X systems have great potential for providing low reaction times.

Because of the nature of vehicular communications, security is a crucial aspect, involving the continuous development and analysis of the existing security architectures and punctual theoretical and practical aspects that have been proposed and are in need of continuous updates and integrations with newer technologies. But before an update, a good knowledge of the current aspects is mandatory. Identifying weaknesses and anticipating possible risks of vehicular communication networks through a failure modes and effects analysis (FMEA) represent an important aspect of the security analysis process and a valuable step in finding efficient security solutions for all kind of problems that might occur in these systems.

This paper presents the results of research and simulation of feature automated control of a hysteretic object and the difference between automated control and automatic control. The main feature of automatic control is in the fact that the control loop contains human being as a regulator with its limited response speed. The human reaction can be described as integrating link. The hysteretic object characteristic is switching from one state to another. This is followed by a transient process from one to another characteristic. For this reason, it is very difficult to keep the object in a desired state. Automatic operation ensures fast switching of the feedback signal that produces such a mode, which in many ways is similar to the sliding mode. In the sliding mode control signal abruptly switches from maximum to minimum and vice versa. The average value provides the necessary action to the object. Theoretical analysis and simulation show that the use of the maximum value of the control signal is not required. It is sufficient that the switching oscillation amplitude is such that the output signal varies with the movement of the object along both branches with hysteretic characteristics in the fastest cycle. The average output value in this case corresponds to the prescribed value of the control task. With automated control, the human response can be approximately modeled by integrating regulator. In this case the amplitude fluctuation could be excessively high and the frequency could be excessively low. The simulation showed that creating an artificial additional fluctuation in the control signal makes possible to provide a reduction in the amplitude and the resulting increase in the frequency of oscillation near to the prescribed value. This should be evaluated as a way to improve the quality of automated control with the helps of human being. The paper presents some practical examples of the examined method.

This article presents PrOLoc, a localization system that combines partially homomorphic encryption with a new way of structuring the localization problem to enable emcient and accurate computation of a target's location while preserving the privacy of the observers.

Safety and non-safety applications in the external communication systems of self-driving vehicles require authentication of control data, cooperative awareness messages and notification messages. Traditional security systems can prevent attackers from hacking or breaking important system functionality in autonomous vehicles. This paper presents a novel security system designed to protect vehicular ad hoc networks in self-driving and semi-autonomous vehicles that is based on Integrated Circuit Metric technology (ICMetrics). ICMetrics has the ability to secure communication systems in autonomous vehicles using features of the autonomous vehicle system itself. This security system is based on unique extracted features from vehicles behaviour and its sensors. Specifically, features have been extracted from bias values of infrared sensors which are used alongside semantically extracted information from a trace file of a simulated vehicular ad hoc network. The practical experimental implementation and evaluation of this system demonstrates the efficiency in identifying of abnormal/malicious behaviour typical for an attack.

The Internet of Things (IoT) is the latest evolution of the Internet, encompassing an enormous number of connected physical "things." The access-control oriented (ACO) architecture was recently proposed for cloud-enabled IoT, with virtual objects (VOs) and cloud services in the middle layers. A central aspect of ACO is to control communication among VOs. This paper develops operational and administrative access control models for this purpose, assuming topic-based publishsubscribe interaction among VOs. Operational models are developed using (i) access control lists for topics and capabilities for virtual objects and (ii) attribute-based access control, and it is argued that role-based access control is not suitable for this purpose. Administrative models for these two operational models are developed using (i) access control lists, (ii) role-based access control, and (iii) attribute-based access control. A use case illustrates the details of these access control models for VO communication, and their differences. An assessment of these models with respect to security and privacy preserving objectives of IoT is also provided.

In this paper we use car games as a simulator for real automobiles, and generate driving logs that contain the vehicle data. This includes values for parameters like gear used, speed, left turns taken, right turns taken, accelerator, braking and so on. From these parameters we have derived some more additional parameters and analyzed them. As the input from automobile driver is only routine driving, no explicit feedback is required; hence there are more chances of being able to accurately profile the driver. Experimentation and analysis from this logged data shows possibility that driver profiling can be done from vehicle data. Since the profiles are unique, these can be further used for a wide range of applications and can successfully exhibit typical driving characteristics of each user.