Secure Remote Attestation for Safety-Critical Embedded and IoT Devices

In recent years, embedded and cyber-physical systems (CPS), under the guise of Internet-of-Things (IoT), have entered many aspects of daily life. Despite many benefits, this develop-ment also greatly expands the so-called attack surface and turns these newly computerizedgadgets into attractive attack targets. One key component in securing IoT devices is malwaredetection, which is typically attained with (secure) remote attestation. Remote attestationis a distinct security service that allows a trusted verifier to verify the internal state of aremote untrusted device. Remote attestation is especially relevant for low/medium-end em-bedded devices that are incapable of protecting themselves against malware infection. Assafety-critical IoT devices become commonplace, it is crucial for remote attestation not tointerfere with the device’s normal operations. In this dissertation, we identify major issues inreconciling remote attestation and safety-critical application needs. We show that existingattestation techniques require devices to perform uninterruptible (atomic) operations duringattestation. Such operations can be time-consuming and thus may be harmful to the device’ssafety-critical functionality. On the other hand, simply relaxing security requirements of re-mote attestation can lead to other vulnerabilities. To resolve this conflict, this dissertationpresents the design, implementation, and evaluation of several mitigation techniques. In par-ticular, we propose two light-weight techniques capable of providing interruptible attestationmodality. In contrast to traditional techniques, our proposed techniques allow interrupts tooccur during attestation while ensuring malware detection via shuffled memory traversals ormemory locking mechanisms. Another type of techniques pursued in this dissertation aimsto minimize the real-time computation overhead during attestation. We propose using peri-odic self-measurements to measure and record the device’s state, resulting in more flexiblescheduling of the attestation process and also in no real-time burden as part of its interactionwith verifier. This technique is particularly suitable for swarm settings with a potentiallylarge number of safety-critical devices. Finally, we develop a remote attestation HYDRAarchitecture, based on a formally verified component, and use it as a building block in ourproposed mitigation techniques. We believe that this architecture may be of independentinterest

Thin Hypervisor-Based Security Architectures for Embedded Platforms

Virtualization has grown increasingly popular, thanks to its benefits of isolation, management, and utilization, supported by hardware advances. It is also receiving attention for its potential to support security, through hypervisor-based services and advanced protections supplied to guests. Today, virtualization is even making inroads in the embedded space, and embedded systems, with their security needs, have already started to benefit from virtualization’s security potential. In this thesis, we investigate the possibilities for thin hypervisor-based security on embedded platforms. In addition to significant background study, we present implementation of a low-footprint, thin hypervisor capable of providing security protections to a single FreeRTOS guest kernel on ARM. Backed by performance test results, our hypervisor provides security to a formerly unsecured kernel with minimal performance overhead, and represents a first step in a greater research effort into the security advantages and possibilities of embedded thin hypervisors. Our results show that thin hypervisors are both possible and beneficial even on limited embedded systems, and sets the stage for more advanced investigations, implementations, and security applications in the future

Sealed Computation: Abstract Requirements for Mechanisms to Support Trustworthy Cloud Computing

In cloud computing, data processing is delegated to a remote party for efficiency and flexibility reasons. A practical user requirement usually is that the confidentiality and integrity of data processing needs to be protected. In the common scenarios of cloud computing today, this can only be achieved by assuming that the remote party does not in any form act maliciously. In this paper, we propose an approach that avoids having to trust a single entity. Our approach is based on two concepts: (1) the technical abstraction of sealed computation, i.e., a technical mechanism to confine the processing of data within a tamper-proof hardware container, and (2) the additional role of an auditing party that itself cannot add functionality to the system but is able to check whether the system (including the mechanism for sealed computation) works as expected. We discuss the abstract technical and procedural requirements of these concepts and explain how they can be applied in practice

CheriOS: Designing an untrusted single-address-space capability operating system utilising capability hardware and a minimal hypervisor

This thesis presents the design, implementation, and evaluation of a novel capability operating system: CheriOS. The guiding motivation behind CheriOS is to provide strong security guarantees to programmers, even allowing them to continue to program in fast, but typically unsafe, languages such as C. Furthermore, it does this in the presence of an extremely strong adversarial model: in CheriOS, every compartment -- and even the operating system itself -- is considered actively malicious. Building on top of the architecturally enforced capabilities offered by the CHERI microprocessor, I show that only a few more capability types and enforcement checks are required to provide a strong compartmentalisation model that can facilitate mutual distrust. I implement these new primitives in software, in a new abstraction layer I dub the nanokernel. Among the new OS primitives I introduce are one for integrity and confidentiality called a Reservation (which allows allocating private memory without trusting the allocator), as well as another that can provide attestation about the state of the system, a Foundation (which provides a key to sign and protect capabilities based on a signature of the starting state of a program). I show that, using these new facilities, it is possible to design an operating system without having to trust the implementation is correct. CheriOS is fundamentally fail-safe; there are no assumptions about the behaviour of the system, apart from the CHERI processor and the nanokernel, to be broken. Using CHERI and the new nanokernel primitives, programmers can expect full isolation at scopes ranging from a whole program to a single function, and not just with respect to other programs but the system itself. Programs compiled for and run on CheriOS offer full memory safety, both spatial and temporal, enforced control flow integrity between compartments and protection against common vulnerabilities such as buffer overflows, code injection and Return-Oriented-Programming attacks. I achieve this by designing a new CHERI-based ABI (Application Binary Interface) which includes a novel stack structure that offers temporal safety. I evaluate how practical the new designs are by prototyping them and offering a detailed performance evaluation. I also contrast with existing offerings from both industry and academia. CHERI capabilities can be used to restrict access to system resources, such as memory, with the required dynamic checks being performed by hardware in parallel with normal operation. Using the accelerating features of CHERI, I show that many of the security guarantees that CheriOS offers can come at little to no cost. I present a novel and secure IO/IPC layer that allows secure marshalling of multiple data streams through mutually distrusting compartments, with fine-grained authenticated access control for end-points, and without either copying or encryption. For example, CheriOS can restrict its TCP stack from having access to packet contents, or restrict an open socket to ensure data sent on it to arrives at an endpoint signed as a TLS implementation. Even with added security requirements, CheriOS can perform well on real workloads. I showcase this by running a state-of-the-art webserver, NGINX, atop both CheriOS and FreeBSD and show improvements in performance ranging from 3x to 6x when running on a small-scale low-power FPGA implementation of CHERI-MIPS

Verbesserung von Cloud Sicherheit mithilfe von vertrauenswürdiger Ausführung

The increasing popularity of cloud computing also leads to a growing demand for security guarantees in cloud settings. Cloud customers want to be able to execute sensitive data processing in clouds only if a certain level of security can be guaranteed to them despite the unlimited power of the cloud provider over her infrastructure. However, security models for cloud computing mostly require the customers to trust the provider, its infrastructure and software stack completely. While this may be viable to some, it is by far not to all customers, and in turn reduces the speed of cloud adoption. In this thesis, the applicability of trusted execution technology to increase security in a cloud scenario is elaborated, as these technologies are recently becoming widespread available even in commodity hardware. However, applications should not naively be ported completely for usage of trusted execution technology as this would affect the resulting performance and security negatively. Instead they should be carefully crafted with specific characteristics of the used trusted execution technology in mind. Therefore, this thesis first comprises the discussion of various security goals of cloud-based applications and an overview of cloud security. Furthermore, it is investigated how the ARM TrustZone technology can be used to increase security of a cloud platform for generic applications. Next, securing standalone applications using trusted execution is described at the example of Intel SGX, focussing on relevant metrics that influence security as well as performance of such an application. Also based on Intel SGX, in this thesis a design of a trusted serverless cloud platform is proposed, reflecting the latest evolution of cloud-based applications.Die steigende Popularität von Cloud Computing führt zu immer mehr Nachfrage und auch strengeren Anforderungen an die Sicherheit in der Cloud. Nur wenn trotz der technischen Möglichkeiten eines Cloud Anbieters über seine eigene Infrastruktur ein entsprechendes Maß an Sicherheit garantiert werden kann, können Cloud Kunden sensible Daten einer Cloud Umgebung anvertrauen und diese dort verarbeiten. Das vorherrschende Paradigma bezüglich Sicherheit erfordert aktuell jedoch zumeist, dass der Kunde dem Cloud Provider, dessen Infrastruktur sowie den damit verbundenen Softwarekomponenten komplett vertraut. Während diese Vorgehensweise für manche Anwendungsfälle einen gangbaren Weg darstellen mag, ist dies bei Weitem nicht für alle Cloud Kunden eine Option, was nicht zuletzt auch die Annahme von Cloud Angeboten durch potentielle Kunden verlangsamt. In dieser Dissertation wird nun die Anwendbarkeit verschiedener Technologien für vertrauenswürdige Ausführung zur Verbesserung der Sicherheit in der Cloud untersucht, da solche Technologien in letzter Zeit auch in preiswerteren Hardwarekomponenten immer verbreiteter und verfügbarer werden. Es ist jedoch keine triviale Aufgabe existierende Anwendungen zur portieren, sodass diese von solch gearteten Technologien profitieren können, insbesondere wenn neben Sicherheit auch Effizienz und Performanz der Anwendung berücksichtigt werden soll. Stattdessen müssen Anwendungen sorgfältig unter verschiedenen spezifischen Gesichtspunkten der jeweiligen Technologie umgestaltet werden. Aus diesem Grund umfasst diese Dissertation zunächst eine Diskussion verschiedener Sicherheitsziele für Cloud-basierte Anwendungen und eine Übersicht über die Thematik "Cloud Sicherheit". Zunächst wird dann das Potential der ARM TrustZone Technologie zur Absicherung einer Cloud Plattform für generische Anwendungen untersucht. Anschließend wird beschrieben wie eigenständige und bestehende Anwendungen mittels vertrauenswürdiger Ausführung am Beispiel Intel SGX abgesichert werden können. Dabei wurde der Fokus auf relevante Metriken gesetzt, die die Sicherheit und Performanz einer solchen Anwendung beeinflussen. Zuletzt wird, ebenfalls basierend auf Intel SGX, eine vertrauenswürdige "Serverless" Cloud Plattform vorgestellt und damit auf aktuelle Trends für Cloud Plattformen eingegangen

Secure and safe virtualization-based framework for embedded systems development

Tese de Doutoramento - Programa Doutoral em Engenharia Electrónica e de Computadores (PDEEC)The Internet of Things (IoT) is here. Billions of smart, connected devices are proliferating at rapid pace in our key infrastructures, generating, processing and exchanging vast amounts of security-critical and privacy-sensitive data. This strong connectivity of IoT environments demands for a holistic, end-to-end security approach, addressing security and privacy risks across different abstraction levels: device, communications, cloud, and lifecycle managment. Security at the device level is being misconstrued as the addition of features in a late stage of the system development. Several software-based approaches such as microkernels, and virtualization have been used, but it is proven, per se, they fail in providing the desired security level. As a step towards the correct operation of these devices, it is imperative to extend them with new security-oriented technologies which guarantee security from the outset. This thesis aims to conceive and design a novel security and safety architecture for virtualized systems by 1) evaluating which technologies are key enablers for scalable and secure virtualization, 2) designing and implementing a fully-featured virtualization environment providing hardware isolation 3) investigating which "hard entities" can extend virtualization to guarantee the security requirements dictated by confidentiality, integrity, and availability, and 4) simplifying system configurability and integration through a design ecosystem supported by a domain-specific language. The developed artefacts demonstrate: 1) why ARM TrustZone is nowadays a reference technology for security, 2) how TrustZone can be adequately exploited for virtualization in different use-cases, 3) why the secure boot process, trusted execution environment and other hardware trust anchors are essential to establish and guarantee a complete root and chain of trust, and 4) how a domain-specific language enables easy design, integration and customization of a secure virtualized system assisted by the above mentioned building blocks.Vivemos na era da Internet das Coisas (IoT). Biliões de dispositivos inteligentes começam a proliferar nas nossas infraestruturas chave, levando ao processamento de avolumadas quantidades de dados privados e sensíveis. Esta forte conectividade inerente ao conceito IoT necessita de uma abordagem holística, em que os riscos de privacidade e segurança são abordados nas diferentes camadas de abstração: dispositivo, comunicações, nuvem e ciclo de vida. A segurança ao nível dos dispositivos tem sido erradamente assegurada pela inclusão de funcionalidades numa fase tardia do desenvolvimento. Têm sido utilizadas diversas abordagens de software, incluindo a virtualização, mas está provado que estas não conseguem garantir o nível de segurança desejado. De forma a garantir a correta operação dos dispositivos, é fundamental complementar os mesmos com novas tecnologias que promovem a segurança desde os primeiros estágios de desenvolvimento. Esta tese propõe, assim, o desenvolvimento de uma solução arquitetural inovadora para sistemas virtualizados seguros, contemplando 1) a avaliação de tecnologias chave que promovam tal realização, 2) a implementação de uma solução de virtualização garantindo isolamento por hardware, 3) a identificação de componentes que integrados permitirão complementar a virtualização para garantir os requisitos de segurança, e 4) a simplificação do processo de configuração e integração da solução através de um ecossistema suportado por uma linguagem de domínio específico. Os artefactos desenvolvidos demonstram: 1) o porquê da tecnologia ARM TrustZone ser uma tecnologia de referência para a segurança, 2) a efetividade desta tecnologia quando utilizada em diferentes domínios, 3) o porquê do processo seguro de inicialização, juntamente com um ambiente de execução seguro e outros componentes de hardware, serem essenciais para estabelecer uma cadeia de confiança, e 4) a viabilidade em utilizar uma linguagem de um domínio específico para configurar e integrar um ambiente virtualizado suportado pelos artefactos supramencionados

Towards End-to-End Data Privacy: from Generation to Consumption

Preserving data privacy is a formidable challenge in today’s interconnected and data-centric world. Individuals are surrounded by “smart” devices that collect and generate massive amounts of sensitive data. Moreover, organizations collect personalized data, including private information, to provide more functionalities and better quality for their data-driven services. Therefore, ensuring data privacy throughout its lifecycle, i.e., from generation to consumption, is paramount.To this end, this dissertation tackles several challenges to attain such end-to-end data privacy. We first investigate lower-end devices to preserve data privacy from its generation, and propose two secure architectures: one for mid-range devices with memory management unit and the other for low-end devices with no security features. Then, we revisit cryptographic computing, a promising privacy-enhancing technology for data in use, focusing on input correctness, generalized adversary models, and challenges in real-world applications

A survey on the (in)security of trusted execution environments

As the number of security and privacy attacks continue to grow around the world, there is an ever increasing need to protect our personal devices. As a matter of fact, more and more manufactures are relying on Trusted Execution Environments (TEEs) to shield their devices. In particular, ARM TrustZone (TZ) is being widely used in numerous embedded devices, especially smartphones, and this technology is the basis for secure solutions both in industry and academia. However, as shown in this paper, TEE is not bullet-proof and it has been successfully attacked numerous times and in very different ways. To raise awareness among potential stakeholders interested in this technology, this paper provides an extensive analysis and categorization of existing vulnerabilities in TEEs and highlights the design flaws that led to them. The presented vulnerabilities, which are not only extracted from existing literature but also from publicly available exploits and databases, are accompanied by some effective countermeasures to reduce the likelihood of new attacks. The paper ends with some appealing challenges and open issues.Funding for open access charge: Universidad de Málaga / CBUA This work has been partially supported by the Spanish Ministry of Science and Innovation through the SecureEDGE project (PID2019-110565RB-I00), and by the by the Andalusian FEDER 2014–2020 Program through the SAVE project (PY18-3724)