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Cyber-Physical Systems Security -- A Survey (1701.04525v1)

Published 17 Jan 2017 in cs.CR

Abstract: With the exponential growth of cyber-physical systems (CPS), new security challenges have emerged. Various vulnerabilities, threats, attacks, and controls have been introduced for the new generation of CPS. However, there lack a systematic study of CPS security issues. In particular, the heterogeneity of CPS components and the diversity of CPS systems have made it very difficult to study the problem with one generalized model. In this paper, we capture and systematize existing research on CPS security under a unified framework. The framework consists of three orthogonal coordinates: (1) from the \emph{security} perspective, we follow the well-known taxonomy of threats, vulnerabilities, attacks and controls; (2)from the \emph{CPS components} perspective, we focus on cyber, physical, and cyber-physical components; and (3) from the \emph{CPS systems} perspective, we explore general CPS features as well as representative systems (e.g., smart grids, medical CPS and smart cars). The model can be both abstract to show general interactions of a CPS application and specific to capture any details when needed. By doing so, we aim to build a model that is abstract enough to be applicable to various heterogeneous CPS applications; and to gain a modular view of the tightly coupled CPS components. Such abstract decoupling makes it possible to gain a systematic understanding of CPS security, and to highlight the potential sources of attacks and ways of protection.

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Authors (4)
  1. Abdulmalik Humayed (1 paper)
  2. Jingqiang Lin (7 papers)
  3. Fengjun Li (13 papers)
  4. Bo Luo (24 papers)
Citations (746)

Summary

  • The paper introduces a unified taxonomy for analyzing threats, vulnerabilities, and controls in cyber-physical systems.
  • It systematically categorizes cyber, cyber-physical, and physical vulnerabilities affecting critical infrastructures like smart grids and medical devices.
  • The survey discusses real-world attacks and proposes innovative security measures, driving future research in CPS safety.

Essay on "Cyber-Physical Systems Security -- A Survey"

The paper, "Cyber-Physical Systems Security -- A Survey," by Abdulmalik Humayed, Jingqiang Lin, Fengjun Li, and Bo Luo, provides a comprehensive review of the security aspects in Cyber-Physical Systems (CPS). The authors systematize CPS security issues under a unified framework which encompasses three orthogonal coordinates: security aspects (threats, vulnerabilities, attacks, and controls), CPS components (cyber, physical, and cyber-physical), and CPS systems (general features and representative systems like smart grids, medical CPS, and smart cars). By blending these dimensions, the paper aims to offer an abstract yet detailed model to understand the interactions and security dynamics within CPS applications.

Overview of CPS and Security Challenges

CPS are deeply integrated into critical infrastructures such as power grids, transportation systems, healthcare devices, and industrial control systems (ICS). The heterogeneity and interconnectedness of CPS components introduce significant security and privacy challenges. Critical issues originate from the complex interactions between cyber and physical components, increasing the system's vulnerability to both cyber and physical threats.

Taxonomy of CPS Security

The paper provides a meticulous taxonomy of CPS security, analyzing threats, vulnerabilities, attacks, and controls.

1. Security Threats

The discussion on security threats is diversified across different sources (adversarial, accidental, and environmental), motives (criminal, political, espionage), and methods (interception, interruption, modification, fabrication). For instance, an attacker might exploit wireless capabilities in ICS to remotely control operations, or intelligence agencies could engage in reconnaissance operations targeting national critical infrastructure.

2. Vulnerabilities

The classification of vulnerabilities is another key aspect of the survey. They are divided into cyber, cyber-physical, and physical vulnerabilities:

  • Cyber Vulnerabilities: Notable ones include the use of standardized Internet protocols with known vulnerabilities, software flaws in applications and operating systems, and lack of proper encryption and authentication.
  • Cyber-Physical Vulnerabilities: These involve interactions that can bridge cyber and physical components, such as unsecured communications between field devices and controllers, and inadequate security measures in low-level control systems.
  • Physical Vulnerabilities: Physical tampering with sensors or field devices can cause misleading data in the cyber-physical components, leading to erroneous system behavior.

3. Attacks

The survey catalogues various real-world cyber, cyber-physical, and physical attacks on ICS, smart grids, medical devices, and smart cars. For example, the Maroochy water system incident, where an ex-employee disrupted sewage operations using insider knowledge, exemplifies a significant cyber-physical attack. Similarly, false data injection attacks on smart grids can disrupt state estimation processes, posing severe threats to grid stability and reliability.

4. Security Controls

The authors discuss existing controls and propose several novel solutions to enhance CPS security:

  • Encryption and Key Management: Effective encryption algorithms and secure key management are essential to protect communication channels and stored data.
  • IDS: Intrusion Detection Systems tailored for CPS environments can significantly mitigate risks by detecting abnormal activities and potential security breaches.
  • Device Attestation: Solutions like Trusted Platform Module (TPM) for device integrity verification are recommended.
  • Physical and Cyber-Physical Controls: Ensuring tamper-resistant designs for field devices and integrating robust authentication mechanisms can mitigate physical and cyber-physical vulnerabilities.

Implications and Future Directions

The research highlights the importance of an integrated approach that considers both cyber and physical aspects of CPS security. The survey identifies gaps and challenges such as the need for real-time security solutions, secure integration of heterogeneous components, and comprehensive change management practices. As the deployment of CPS expands, these challenges necessitate innovative security measures and interdisciplinary collaboration.

Conclusion

In summary, this survey encapsulates the complexity of CPS security, providing an invaluable resource for researchers and practitioners. The systematic framework and detailed taxonomy presented in the paper establish a foundation for developing more resilient and secure CPS. By highlighting current vulnerabilities and proposing targeted controls, the paper steers future research towards addressing the dynamic and evolving threats facing cyber-physical systems. The survey's comprehensive nature underscores the need for ongoing research efforts to enhance the security posture of CPS in critical infrastructures, healthcare, and beyond.

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