56 research outputs found

    Characterization of Model-Based Detectors for CPS Sensor Faults/Attacks

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    A vector-valued model-based cumulative sum (CUSUM) procedure is proposed for identifying faulty/falsified sensor measurements. First, given the system dynamics, we derive tools for tuning the CUSUM procedure in the fault/attack free case to fulfill a desired detection performance (in terms of false alarm rate). We use the widely-used chi-squared fault/attack detection procedure as a benchmark to compare the performance of the CUSUM. In particular, we characterize the state degradation that a class of attacks can induce to the system while enforcing that the detectors (CUSUM and chi-squared) do not raise alarms. In doing so, we find the upper bound of state degradation that is possible by an undetected attacker. We quantify the advantage of using a dynamic detector (CUSUM), which leverages the history of the state, over a static detector (chi-squared) which uses a single measurement at a time. Simulations of a chemical reactor with heat exchanger are presented to illustrate the performance of our tools.Comment: Submitted to IEEE Transactions on Control Systems Technolog

    Formal Approaches to Control System Security From Static Analysis to Runtime Enforcement

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    With the advent of Industry 4.0, industrial facilities and critical infrastructures are transforming into an ecosystem of heterogeneous physical and cyber components, such as programmable logic controllers, increasingly interconnected and therefore exposed to cyber-physical attacks, i.e., security breaches in cyberspace that may adversely affect the physical processes underlying industrial control systems. The main contributions of this thesis follow two research strands that address the security concerns of industrial control systems via formal methodologies. As our first contribution, we propose a formal approach based on model checking and statistical model checking, within the MODEST TOOLSET, to analyse the impact of attacks targeting nontrivial control systems equipped with an intrusion detection system (IDS) capable of detecting and mitigating attacks. Our goal is to evaluate the impact of cyber-physical attacks, i.e., attacks targeting sensors and/or actuators of the system with potential consequences on the safety of the inner physical process. Our security analysis estimates both the physical impact of the attacks and the performance of the IDS. As our second contribution, we propose a formal approach based on runtime enforcement to ensure specification compliance in networks of controllers, possibly compromised by colluding malware that may tamper with actuator commands, sensor readings, and inter-controller communications. Our approach relies on an ad-hoc sub-class of Ligatti et al.’s edit automata to enforce controllers represented in Hennessy and Regan’s Timed Process Language. We define a synthesis algorithm that, given an alphabet P of observable actions and a timed correctness property e, returns a monitor that enforces the property e during the execution of any (potentially corrupted) controller with alphabet P, and complying with the property e. Our monitors correct and suppress incorrect actions coming from corrupted controllers and emit actions in full autonomy when the controller under scrutiny is not able to do so in a correct manner. Besides classical requirements, such as transparency and soundness, the proposed enforcement enjoys deadlock- and diverge-freedom of monitored controllers, together with compositionality when dealing with networks of controllers. Finally, we test the proposed enforcement mechanism on a non-trivial case study, taken from the context of industrial water treatment systems, in which the controllers are injected with different malware with different malicious goals

    Security of Vehicular Platooning

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    Platooning concept involves a group of vehicles acting as a single unit through coordination of movements. While Platooning as an evolving trend in mobility and transportation diminishes the individual and manual driving concerns, it creates new risks. New technologies and passenger’s safety and security further complicate matters and make platooning attractive target for the malicious minds. To improve the security of the vehicular platooning, threats and their potential impacts on vehicular platooning should be identified to protect the system against security risks. Furthermore, algorithms should be proposed to detect intrusions and mitigate the effects in case of attack. This dissertation introduces a new vulnerability in vehicular platooning from the control systems perspective and presents the detection and mitigation algorithms to protect vehicles and passengers in the event of the attack

    State of the art of cyber-physical systems security: An automatic control perspective

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    Cyber-physical systems are integrations of computation, networking, and physical processes. Due to the tight cyber-physical coupling and to the potentially disrupting consequences of failures, security here is one of the primary concerns. Our systematic mapping study sheds light on how security is actually addressed when dealing with cyber-physical systems from an automatic control perspective. The provided map of 138 selected studies is defined empirically and is based on, for instance, application fields, various system components, related algorithms and models, attacks characteristics and defense strategies. It presents a powerful comparison framework for existing and future research on this hot topic, important for both industry and academia

    Impact Assessment, Detection, And Mitigation Of False Data Attacks In Electrical Power Systems

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    The global energy market has seen a massive increase in investment and capital flow in the last few decades. This has completely transformed the way power grids operate - legacy systems are now being replaced by advanced smart grid infrastructures that attest to better connectivity and increased reliability. One popular example is the extensive deployment of phasor measurement units, which is referred to PMUs, that constantly provide time-synchronized phasor measurements at a high resolution compared to conventional meters. This enables system operators to monitor in real-time the vast electrical network spanning thousands of miles. However, a targeted cyber attack on PMUs can prompt operators to take wrong actions that can eventually jeopardize the power system reliability. Such threats originating from the cyber-space continue to increase as power grids become more dependent on PMU communication networks. Additionally, these threats are becoming increasingly efficient in remaining undetected for longer periods while gaining deep access into the power networks. An attack on the energy sector immediately impacts national defense, emergency services, and all aspects of human life. Cyber attacks against the electric grid may soon become a tactic of high-intensity warfare between nations in near future and lead to social disorder. Within this context, this dissertation investigates the cyber security of PMUs that affects critical decision-making for a reliable operation of the power grid. In particular, this dissertation focuses on false data attacks, a key vulnerability in the PMU architecture, that inject, alter, block, or delete data in devices or in communication network channels. This dissertation addresses three important cyber security aspects - (1) impact assessment, (2) detection, and (3) mitigation of false data attacks. A comprehensive background of false data attack models targeting various steady-state control blocks is first presented. By investigating inter-dependencies between the cyber and the physical layers, this dissertation then identifies possible points of ingress and categorizes risk at different levels of threats. In particular, the likelihood of cyber attacks against the steady-state power system control block causing the worst-case impacts such as cascading failures is investigated. The case study results indicate that false data attacks do not often lead to widespread blackouts, but do result in subsequent line overloads and load shedding. The impacts are magnified when attacks are coordinated with physical failures of generators, transformers, or heavily loaded lines. Further, this dissertation develops a data-driven false data attack detection method that is independent of existing in-built security mechanisms in the state estimator. It is observed that a convolutional neural network classifier can quickly detect and isolate false measurements compared to other deep learning and traditional classifiers. Finally, this dissertation develops a recovery plan that minimizes the consequence of threats when sophisticated attacks remain undetected and have already caused multiple failures. Two new controlled islanding methods are developed that minimize the impact of attacks under the lack of, or partial information on the threats. The results indicate that the system operators can successfully contain the negative impacts of cyber attacks while creating stable and observable islands. Overall, this dissertation presents a comprehensive plan for fast and effective detection and mitigation of false data attacks, improving cyber security preparedness, and enabling continuity of operations

    Impact Assessment, Detection, and Mitigation of False Data Attacks in Electrical Power Systems

    Get PDF
    The global energy market has seen a massive increase in investment and capital flow in the last few decades. This has completely transformed the way power grids operate - legacy systems are now being replaced by advanced smart grid infrastructures that attest to better connectivity and increased reliability. One popular example is the extensive deployment of phasor measurement units, which is referred to PMUs, that constantly provide time-synchronized phasor measurements at a high resolution compared to conventional meters. This enables system operators to monitor in real-time the vast electrical network spanning thousands of miles. However, a targeted cyber attack on PMUs can prompt operators to take wrong actions that can eventually jeopardize the power system reliability. Such threats originating from the cyber-space continue to increase as power grids become more dependent on PMU communication networks. Additionally, these threats are becoming increasingly efficient in remaining undetected for longer periods while gaining deep access into the power networks. An attack on the energy sector immediately impacts national defense, emergency services, and all aspects of human life. Cyber attacks against the electric grid may soon become a tactic of high-intensity warfare between nations in near future and lead to social disorder. Within this context, this dissertation investigates the cyber security of PMUs that affects critical decision-making for a reliable operation of the power grid. In particular, this dissertation focuses on false data attacks, a key vulnerability in the PMU architecture, that inject, alter, block, or delete data in devices or in communication network channels. This dissertation addresses three important cyber security aspects - (1) impact assessment, (2) detection, and (3) mitigation of false data attacks. A comprehensive background of false data attack models targeting various steady-state control blocks is first presented. By investigating inter-dependencies between the cyber and the physical layers, this dissertation then identifies possible points of ingress and categorizes risk at different levels of threats. In particular, the likelihood of cyber attacks against the steady-state power system control block causing the worst-case impacts such as cascading failures is investigated. The case study results indicate that false data attacks do not often lead to widespread blackouts, but do result in subsequent line overloads and load shedding. The impacts are magnified when attacks are coordinated with physical failures of generators, transformers, or heavily loaded lines. Further, this dissertation develops a data-driven false data attack detection method that is independent of existing in-built security mechanisms in the state estimator. It is observed that a convolutional neural network classifier can quickly detect and isolate false measurements compared to other deep learning and traditional classifiers. Finally, this dissertation develops a recovery plan that minimizes the consequence of threats when sophisticated attacks remain undetected and have already caused multiple failures. Two new controlled islanding methods are developed that minimize the impact of attacks under the lack of, or partial information on the threats. The results indicate that the system operators can successfully contain the negative impacts of cyber attacks while creating stable and observable islands. Overall, this dissertation presents a comprehensive plan for fast and effective detection and mitigation of false data attacks, improving cyber security preparedness, and enabling continuity of operations

    Stochastic Bayesian Games for the Cybersecurity of Nuclear Power Plants

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    The goal of this research is to reduce the likelihood of successful attacks on nuclear power plants. Cyber-physical systems such as nuclear power plants consist of interconnected physical processes and computational resources. Because the cyber and physical worlds are integrated, vulnerabilities in both the cyber and physical domains can result in physical damage to the system. Nuclear power plants can be targeted by a variety of adversaries — each with a unique motivation and set of resources. To secure nuclear power plants and other cyber-physical systems, we require an approach to security that also accounts for the interactions of human decision-makers. This research uses a game-theoretic approach to nuclear cybersecurity. The cybersecurity of the plant can be viewed as a non-cooperative game between a defender and an attacker. The field of game theory provides a mathematical framework to analyze the interactions of the defender and attacker as both players seek to accomplish their objectives. In this research, a stochastic Bayesian game is used to optimize cybersecurity decision-making. A stochastic Bayesian game is a combination of a stochastic game and a Bayesian game. The stochastic elements of the game enable the consideration of uncertainty in the interactions of the attacker and defender. The Bayesian elements of the game enable the consideration of the uncertainty regarding the attacker's characteristics. This combination is useful for the analysis of nuclear power plant cybersecurity because it enables plant defenders to optimize their security decisions in the presence of uncertainty

    Darknet as a Source of Cyber Threat Intelligence: Investigating Distributed and Reflection Denial of Service Attacks

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    Cyberspace has become a massive battlefield between computer criminals and computer security experts. In addition, large-scale cyber attacks have enormously matured and became capable to generate, in a prompt manner, significant interruptions and damage to Internet resources and infrastructure. Denial of Service (DoS) attacks are perhaps the most prominent and severe types of such large-scale cyber attacks. Furthermore, the existence of widely available encryption and anonymity techniques greatly increases the difficulty of the surveillance and investigation of cyber attacks. In this context, the availability of relevant cyber monitoring is of paramount importance. An effective approach to gather DoS cyber intelligence is to collect and analyze traffic destined to allocated, routable, yet unused Internet address space known as darknet. In this thesis, we leverage big darknet data to generate insights on various DoS events, namely, Distributed DoS (DDoS) and Distributed Reflection DoS (DRDoS) activities. First, we present a comprehensive survey of darknet. We primarily define and characterize darknet and indicate its alternative names. We further list other trap-based monitoring systems and compare them to darknet. In addition, we provide a taxonomy in relation to darknet technologies and identify research gaps that are related to three main darknet categories: deployment, traffic analysis, and visualization. Second, we characterize darknet data. Such information could generate indicators of cyber threat activity as well as provide in-depth understanding of the nature of its traffic. Particularly, we analyze darknet packets distribution, its used transport, network and application layer protocols and pinpoint its resolved domain names. Furthermore, we identify its IP classes and destination ports as well as geo-locate its source countries. We further investigate darknet-triggered threats. The aim is to explore darknet inferred threats and categorize their severities. Finally, we contribute by exploring the inter-correlation of such threats, by applying association rule mining techniques, to build threat association rules. Specifically, we generate clusters of threats that co-occur targeting a specific victim. Third, we propose a DDoS inference and forecasting model that aims at providing insights to organizations, security operators and emergency response teams during and after a DDoS attack. Specifically, this work strives to predict, within minutes, the attacks’ features, namely, intensity/rate (packets/sec) and size (estimated number of compromised machines/bots). The goal is to understand the future short-term trend of the ongoing DDoS attacks in terms of those features and thus provide the capability to recognize the current as well as future similar situations and hence appropriately respond to the threat. Further, our work aims at investigating DDoS campaigns by proposing a clustering approach to infer various victims targeted by the same campaign and predicting related features. To achieve our goal, our proposed approach leverages a number of time series and fluctuation analysis techniques, statistical methods and forecasting approaches. Fourth, we propose a novel approach to infer and characterize Internet-scale DRDoS attacks by leveraging the darknet space. Complementary to the pioneer work on inferring DDoS activities using darknet, this work shows that we can extract DoS activities without relying on backscattered analysis. The aim of this work is to extract cyber security intelligence related to DRDoS activities such as intensity, rate and geographic location in addition to various network-layer and flow-based insights. To achieve this task, the proposed approach exploits certain DDoS parameters to detect the attacks and the expectation maximization and k-means clustering techniques in an attempt to identify campaigns of DRDoS attacks. Finally, we conclude this work by providing some discussions and pinpointing some future work
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