Biblio

In this paper, we present the concept of boosting the resiliency of optimization-based observers for cyber-physical systems (CPS) using auxiliary sources of information. Due to the tight coupling of physics, communication and computation, a malicious agent can exploit multiple inherent vulnerabilities in order to inject stealthy signals into the measurement process. The problem setting considers the scenario in which an attacker strategically corrupts portions of the data in order to force wrong state estimates which could have catastrophic consequences. The goal of the proposed observer is to compute the true states in-spite of the adversarial corruption. In the formulation, we use a measurement prior distribution generated by the auxiliary model to refine the feasible region of a traditional compressive sensing-based regression problem. A constrained optimization-based observer is developed using l1-minimization scheme. Numerical experiments show that the solution of the resulting problem recovers the true states of the system. The developed algorithm is evaluated through a numerical simulation example of the IEEE 14-bus system.

Learning-enabled components (LECs) are widely used in cyber-physical systems (CPS) since they can handle the uncertainty and variability of the environment and increase the level of autonomy. However, it has been shown that LECs such as deep neural networks (DNN) are not robust and adversarial examples can cause the model to make a false prediction. The paper considers the problem of efficiently detecting adversarial examples in LECs used for regression in CPS. The proposed approach is based on inductive conformal prediction and uses a regression model based on variational autoencoder. The architecture allows to take into consideration both the input and the neural network prediction for detecting adversarial, and more generally, out-of-distribution examples. We demonstrate the method using an advanced emergency braking system implemented in an open source simulator for self-driving cars where a DNN is used to estimate the distance to an obstacle. The simulation results show that the method can effectively detect adversarial examples with a short detection delay.

This paper presents a user-friendly design method for accurately sizing the distributed energy resources of a stand-alone microgrid to meet the critical load demands of a military, commercial, industrial, or residential facility when the utility power is not available. The microgrid combines renewable resources such as photovoltaics (PV) with an energy storage system to increase energy security for facilities with critical loads. The design tool's novelty includes compliance with IEEE standards 1562 and 1013 and addresses resilience, which is not taken into account in existing design methods. Several case studies, simulated with a physics-based model, validate the proposed design method. Additionally, the design and the simulations were validated by 24-hour laboratory experiments conducted on a microgrid assembled using commercial off the shelf components.

Energy Internet is a typical cyber-physical system (CPS), in which the disturbance on cyber part may result in the operation risks on the physical part. In order to perform CPS assessment and research the interactive influence between cyber part and physical part, an integrated energy internet CPS model which adopts information flow matrix, energy control flow matrix and information energy hybrid flow matrix is proposed in this paper. The proposed model has a higher computational efficacy compared with simulation based approaches. Then, based on the proposed model, the influence of cyber disturbances such as data dislocation, data delay and data error on the physical part are studied. Finally, a 3 MW PET based energy internet CPS is built using PSCAD/EMTDC software. The simulation results prove the validity of the proposed model and the correctness of the interactive influence analysis.

The increased power capacity and networking requirements in Extremely Fast Charging (XFC) systems for battery electric vehicles (BEVs) and the resulting increase in the adversarial attack surface call for security measures to be taken in the involved cyber-physical system (CPS). Within this system, the security of the BEV's battery management system (BMS) is of critical importance as the BMS is the first line of defense between the vehicle and the charge station. This study proposes an optimal control and moving-target defense (MTD) based novel approach for the security of the vehicle BMS) focusing on the charging process, during which a compromised vehicle may contaminate the XFC station and the whole grid. This paper is part of our ongoing research, which is one of the few, if not the first, reported studies in the literature on security-hardened BMS, aiming to increase the security and performance of operations between the charging station, the BMS and the battery system of electric vehicles. The developed MTD based switching strategy makes use of redundancies in the controller and feedback design. The performed simulations demonstrate an increased unpredictability and acceptable charging performance under adversarial attacks.

Though the deep penetration of cyber systems across the smart grid sub-domains enrich the operation of the wide-area protection, control, and smart grid applications, the stochastic nature of cyber-attacks by adversaries inflict their performance and the system operation. Various hardware-in-the-loop (HIL) cyber-physical system (CPS) testbeds have attempted to evaluate the cyberattack dynamics and power system perturbations for robust wide-area protection algorithms. However, physical resource constraints and modular integration designs have been significant barriers while modeling large-scale grid models (scalability) and have limited many of the CPS testbeds to either small-scale HIL environment or complete simulation environments. This paper proposes a meticulous design and efficient modeling of IEC-61850 logical nodes in physical relays to simulate large-scale grid models in a HIL real-time digital simulator environment integrated with industry-grade hardware and software systems for wide-area power system applications. The proposed meticulous design includes multi-breaker emulation in the physical relays, which extends the capacity of a physical relay to accommodate more number of CPS interfaces in the HIL CPS security testbed environment. We have used our existing HIL CPS security testbed to demonstrate scalability by the real-time performance of ten simultaneous IEEE-39 CPS grid models. The experiments demonstrated significant results by 100% real-time performance with zero overruns, and low latency while receiving and executing control signals from physical SEL relays via IEC-61850 and DNP-3 protocols to real-time digital simulator, substation remote terminal unit (RTU) software and supervisory control and data acquisition (SCADA) software at control center.

One important aspect in protecting Cyber Physical System (CPS) is ensuring that the proper control and measurement signals are propagated within the control loop. The CPS research community has been developing a large set of check blocks that can be integrated within the control loop to check signals against various types of attacks (e.g., false data injection attacks). Unfortunately, it is not possible to integrate all these “checks” within the control loop as the overhead introduced when checking signals may violate the delay constraints of the control loop. Moreover, these blocks do not completely operate in isolation of each other as dependencies exist among them in terms of their effectiveness against detecting a subset of attacks. Thus, it becomes a challenging and complex problem to assign the proper checks, especially with the presence of a rational adversary who can observe the check blocks assigned and optimizes her own attack strategies accordingly. This paper tackles the inherent state-action space explosion that arises in securing CPS through developing DeepBLOC (DB)-a framework in which Deep Reinforcement Learning algorithms are utilized to provide optimal/sub-optimal assignments of check blocks to signals. The framework models stochastic games between the adversary and the CPS defender and derives mixed strategies for assigning check blocks to ensure the integrity of the propagated signals while abiding to the real-time constraints dictated by the control loop. Through extensive simulation experiments and a real implementation on a water purification system, we show that DB achieves assignment strategies that outperform other strategies and heuristics.

The implication of Cyber-Physical Systems (CPS) in critical infrastructures (e.g., smart grids, water distribution networks, etc.) has introduced new security issues and vulnerabilities to those systems. In this paper, we demonstrate that black-box system identification using Support Vector Regression (SVR) can be used efficiently to build a model of a given industrial system even when this system is protected with a watermark-based detector. First, we briefly describe the Tennessee Eastman Process used in this study. Then, we present the principal of detection scheme and the theory behind SVR. Finally, we design an efficient black-box SVR algorithm for the Tennessee Eastman Process. Extensive simulations prove the efficiency of our proposed algorithm.

Developing mission-centric impact assessment techniques to address cyber resiliency in the cyber-physical systems (CPSs) requires integrating system inter-dependencies to the risk and resilience analysis process. Generally, network administrators utilize attack graphs to estimate possible consequences in a networked environment. Attack graphs lack to incorporate the operations-specific dependencies. Localizing the dependencies among operational missions, tasks, and the hosting devices in a large-scale CPS is also challenging. In this work, we offer a graphical modeling technique to integrate the mission-centric impact assessment of cyberattacks by relating the effect to the operational resiliency by utilizing a combination of the logical attack graph and mission impact propagation graph. We propose formal techniques to compute cyberattacks’ impact on the operational mission and offer an optimization process to minimize the same, having budgetary restrictions. We also relate the effect to the system functional operability. We illustrate our modeling techniques using a SCADA (supervisory control and data acquisition) case study for the cyber-physical power systems. We believe our proposed method would help evaluate and minimize the impact of cyber attacks on CPS’s operational missions and, thus, enhance cyber resiliency.

In the past decade we have seen an active research community proposing attacks and defenses to Cyber-Physical Systems (CPS). Most of these attacks and defenses have been heuristic in nature, limiting the attacker to a set of predefined operations, and proposing defenses with unclear security guarantees. In this paper, we propose a generic adversary model that can capture any type of attack (our attacker is not constrained to follow specific attacks such as replay, delay, or bias) and use it to design security mechanisms with provable security guarantees. In particular, we propose a new secure design paradigm we call DARIA: Designing Actuators to Resist arbItrary Attacks. The main idea behind DARIA is the design of physical limits to actuators in order to prevent attackers from arbitrarily manipulating the system, irrespective of their point of attack (sensors or actuators) or the specific attack algorithm (bias, replay, delays, etc.). As far as we are aware, we are the first research team to propose the design of physical limits to actuators in a control loop in order to keep the system secure against attacks. We demonstrate the generality of our proposal on simulations of vehicular platooning and industrial processes.