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Security and Privacy in Cyber-Physical Systems

As you have seen from the previous chapters, cyber-physical systems (CPS) are broadly used across technology and industrial domains. While these systems enable process optimization and efficiency and allow previously impossible functionality, security and privacy are key concerns for their design, development, and operation. CPS have been key components utilized in some of the highest publicized security breaches over the last decade. In this chapter, we will look over the CPS described in the previous chapters from a security perspective. In this chapter, we explain classical information and physical security fundamentals in the context of CPS and contextualize them across application domains. We give examples where the interplay of functionality and diverse communication can introduce unexpected vulnerabilities and produce larger impacts. We will discuss how CPS security and privacy is inherently different from that of pure cyber or physical systems and what may be done to secure these systems, considering their emergent cyber-physical properties. Finally, we will discuss security and privacy implications of merging infrastructural and personal CPS. Our hope is to impart the knowledge of what CPS security and privacy are, why they are important, and explain existing processes and challenges.

Cyber-physical systems↗

Dragonstone Strategy – State of Cybersecurity in the Oil & Natural Gas Sector

The oil & natural gas (ONG) system touches every corner of the nation and increased communications & control capabilities have not only allowed for greater efficiency of system operation, but have also created a massive target for adversaries to launch cyber-attacks. Like any other heavy industrial process, the ONG system relies on a complex system of information technology (IT) and operational technology (OT) devices. The current state of cyber-preparedness across the ONG industry varies from organization to organization. Among the most common challenges that ONG companies face are remote locations, longlived field assets, and lacking capabilities to find and track malware on their systems. ONG companies tend to be concerned with lack of cyber-awareness from employees, risk stemming from remote access for operations & maintenance, and software vulnerabilities within third-party equipment. Various industry and government organizations are performing research and development activities to address some of these challenges, but in many cases industry stakeholders are not aware of solutions that already exist. It is clear that a need exists for a coherent, comprehensive, multi-layered strategy for assuring the security and resilience of the nation's pipeline infrastructure against cyber threats. For a variety of reasons, the general consensus from stakeholders interviewed by LLNL is that the state of cyber-security within the electric grid is currently outpacing its ONG cousin. Existing strategies for the resilience and cyber-security of the electric grid can and should be leveraged to provide immediate benefits to the ONG system. In LLNL’s view, there are two key factors currently limiting the development of necessary cyber-practices within the ONG industry: The sheer number of differing regulatory bodies and trade groups offering both standards and best-practice recommendations for ONG cyber-security makes it difficult to create a comprehensive, directed, and coherent strategy that is applicable to all players within the ONG industry. The ONG industry is unaware of potentially useful technologies that have been developed for ensuring cyber-security of other infrastructure systems, such as the electric grid. Leveraging these technologies—and the science and engineering behind them—can provide some low-hanging fruit that can greatly improve cyber-security in the ONG industry without significant investments in terms of time and money. In the months following this report, LLNL will continue to perform outreach to key oil & gas industry stakeholders in a continual effort to identify the most pressing cyber-resilience issues in the industry. This outreach will be supplemented with LLNL’s threat intelligence capabilities to begin painting a clearer picture of the overall threat landscape faced by this sector. This assessment will be threat-informed and while the strategy itself will not be classified we will leverage intelligence analysis and adversary capabilities to identify gaps in current cybersecurity practices for oil & gas pipeline systems. Recommended efforts will be compiled into a cyber-resilience roadmap for the oil & gas pipeline sector, in which LLNL will highlight priority activities to immediately improve the state of cyber-resilience in the industry.

02 PETROLEUM↗

Multiparameter Outstation Agents for Cyber-Physical Electrical Grid Security and Restoration

This paper describes the development and deployment of cyberaware sensors to monitor the electrical grid and aid with disaster relief. These cyberaware sensors, outstation agents, provide information of multiple parameters simultaneously acting like a black box. The sensors embedded in the outstation agents and the communication architectures are described. These outstation agents are deployed around electrical substations in stationary and mobile platforms. The data collected from the outstation agents is sent to the utility control center providing information of the current status of the electrical grid. In the event of a disaster, the outstation agents make available information on the state of the grid, failures, and resources available to create an effective restoration pathway.

Morales Rodriguez, Marissa↗

GPLADD: Quantifying Trust in Government and Commercial Systems A Game-Theoretic Approach

Trust in a microelectronics-based system can be characterized as the level of confidence that a system is free of subversive alterations made during system development, or that the development process of a system has not been manipulated by a malicious adversary. Trust in systems has become an increasing concern over the past decade. This report introduces a novel game-theoretic framework, called GPLADD (Graph-based Probabilistic Learning Attacker and Dynamic Defender), for analyzing and quantifying system trustworthiness at the end of the development process, through the analysis of risk of development-time system manipulation. GPLADD represents attacks and attacker-defender contests over time. Here, time is an explicit constraint and allows incorporating the informational asymmetries between the attacker and defender into analysis. GPLADD includes an explicit representation of attack steps via multi-step attack graphs, attacker and defender strategies, and player actions at different times. GPLADD allows quantifying the attack success probability over time and the attacker and defender costs based on their capabilities and strategies. This ability to quantify different attacks provides an input for evaluation of trust in the development process. We demonstrate GPLADD on an example attack and its variants. We develop a method for representing success probability for arbitrary attacks and derive an explicit analytic characterization of success probability for a specific attack. We present a numeric Monte Carlo study of a small set of attacks, quantify attack success probabilities, attacker and defender costs, and illustrate the options the defender has for limiting the attack success and improving trust in the development process.

37 attack↗

Secure State Estimation with Asynchronous Measurements for Coordinated Cyber Attack Detection in Active Distribution Systems

Coordinated cyber attacks tamper with measurement data to disrupt the situational awareness of active distribution systems. Various sensors report measurements asynchronously at different rates, which introduces challenges during state estimation. In addition, this forces cyber intruders to exert greater effort to compromise multiple communication channels and launch coordinated attacks. Therefore, multi-channel and asynchronous measurements could be harnessed to develop more secure cyber defense strategies. In this paper, a prediction-correction-based multi-rate observer is designed to exploit the value of asynchronous measurements for the detection of coordinated false data injection (FDI) attacks. First, a time-function-dependent prediction-correction strategy is proposed to adjust the sampling interval for each sensor’s measurement. Then, an observer is designed based on the trade-off between estimation error and the optimal period of the most recent sampling instant, with the convergence of estimation error with the maximum permitted sampling interval. Moreover, the conditions for exponential stability are developed using the Lyapunov–Krasovskii functional technique. Next, a coordinated FDI attack detection strategy is developed based on the dual nonlinear minimization problem. The proposed attack detection and secure state estimation strategies are tested on the IEEE 13-node system. Simulation results show that these schemes are effective in enhancing attack detection based on asynchronous measurements or compromised data.

asynchronous measurements↗

Preliminary Cyber-Informed Dynamic Branch Conditions for Analysis with the Dynamic Simplified Cyber MELCOR Model

Instrumentation and control of nuclear power is transforming from analog to modern digital assets. These control systems perform key safety and security functions. This transformation is occurring in new plant designs as well as in the existing fleet of plants as the operation of those plants is extended to 60 years. This transformation introduces new and unknown exploits involving both digital asset induced safety issues and security exploits. Traditional the open literature of nuclear power risk assessment tools and cyber security assessment methods have not been modified or developed to address the unique nature of cyber failure modes and of cyber security threats. Starting in 2015, Sandia National Laboratories (SNL) embarked on a two year dynamic cyber-risk informed project to facilitate the analysis of unique cyber failure modes and the time sequencing of cyber faults, both malicious and non-malicious, and impose those cyber exploits and cyber faults onto a nuclear power plant accident sequence simulator code to assess how cyber exploits and cyber faults could interact with a plant's digital instrumentation and control (DI and C) system in the absence of digital controls. This will be achieved by coupling SNL's existing dynamic scheduler code (ADAPT), nuclear accident simulator code (MELCOR), and cyber Emulytics code (SCEPTRE) to demonstrate real-time simulation of cyber exploits and their impact on automatic DI and C responses. Studying such potential time-sequenced cyber-attacks and their risks (i.e., the associated impact and the associated degree of difficulty to achieve the attack vector) as they pertain to accident management will provide a risk informed basis for developing effective cyber security controls for nuclear power. This paper will discuss the rationale behind the proposed generic cyber exploits for an abstracted Pressurized Water Reactor that has adopted a unified DI and C System. Other papers related to this project submitted to this conference discuss: - The MELCOR model for this abstracted reactor, called the Dynamic Simplified Cyber (DSC) model, - Modifications to ADAPT to: Extend the framework for multiple simulators, Incorporation of importance measures into dynamic event tree analysis, Sort and reduce the dynamic event tree based upon inputs to or outputs from the tree, and - A feasibility study for using density based clustering methods with dynamic time wrapping to cluster and prune dynamic event trees. (authors)

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Cross-Layered Cyber-Physical Power System State Estimation towards a Secure Grid Operation

In the Smart Grid paradigm, this critical infrastructure operation is increasingly exposed to cyber-threats due to the increased dependency on communication networks. An adversary can launch an attack on a power grid operation through False Data Injection into system measurements and/or through attacks on the communication network, such as flooding the communication channels with unnecessary data or intercepting messages. A cross-layered strategy that combines power grid data, communication grid monitoring and Machine Learning based processing is a promising solution for detecting cyberthreats. In this paper, an implementation of an integrated solution of a cross-layer framework is presented. The advantage of such a framework is the augmentation of valuable data that enhances the detection of anomalies in the operation of power grid. IEEE 118-bus system is built in Simulink to provide a power grid testing environment and communication network data is emulated using SimComponents. The performance of the framework is investigated under various FDI and communication attacks.

cyber security, network security, cyber-physical s↗

Cyber Hygiene for Control System Security

There are many resources from government and private industry available to assist organizations in reducing their attack surface and enhancing their security posture. Furthermore, standards are being written and improved upon to make the practice of securing a network more manageable. And while the specifics of network security are complex, most system vulnerabilities can be mitigated using fairly simple cyber hygiene techniques like those offered above.

97 MATHEMATICS AND COMPUTING↗

Facility Energy Saving and Securing Technology Using Multi-Source Data (FEST) (Final Report)

Facility Energy Saving and Securing Technology (FEST) project focuses on developing algorithmic tools and techniques for analyzing cyber-physical security of DoD’s military site facilities, and optimal scheduling, operation and planning of their Distributed Energy Resources (DER). The project is led by LLNL with the team including University of Michigan-Dearborn and XENDEE. The military site partner providing the energy metering data is White Sands Missile Range (WSMR). This report summarizes the work performed during the project and future directions for follow-on research.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Evaluation of Anomaly Detection for Wide-Area Protection Using Cyber Federation Testbed

Cyber physical security research for smart grid is currently one of the nation's top R&D priorities. The existing vulnerabilities in the legacy grid infrastructure make it particularly susceptible to countless cyber-attacks. There is a growing emphasis towards building interconnected, sophisticated federated testbeds to perform realistic experiments by allowing the integration of geographically-dispersed resources in the dynamic cyber-physical environment. In this paper, we present a cyber (network) based federation testbed to validate the performance of an anomaly detector in context of a Wide Area Protection (WAP) security. Specifically, we have utilized the resources available at the Iowa State University Power Cyber (ISU PCL) Laboratory to emulate the substation and local center networks; and the US Army Research Laboratory (ARL); to emulate the regional control center network. Initially, we describe a hardware-in-the loop based experimental setup for implementing data integrity attacks on an IEEE 39 bus system. We then perform network packet analysis focusing on latency and bandwidth as well as evaluate the performance of a decision tree based anomaly detector in measuring its ability to identify different attacks. Our experimental results reveal the computed wide area network latency; bandwidth requirement for minimum packet loss; and successful performance of the anomaly detector. Our studies also highlight the conceptual architecture necessary for developing the federated testbed, inspired by the NASPI network.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Literature Review on Modeling Cyber Networks and Evaluating Cyber Risks

The National Infrastructure Simulations and Analysis Center (NISAC) conducted a literature review on modeling cyber networks and evaluating cyber risks. The literature review explores where modeling is used in the cyber regime and ways that consequence and risk are evaluated. The relevant literature clusters in three different spaces: network security, cyber-physical, and mission assurance. In all approaches, some form of modeling is utilized at varying levels of detail, while the ability to understand consequence varies, as do interpretations of risk. This document summarizes the different literature viewpoints and explores their applicability to securing enterprise networks.

97 MATHEMATICS AND COMPUTING↗

Concept for Cyber-Physical Consequence Process

The Department of Homeland Security’s Office of Cyber and Infrastructure Analysis (DHS/OCIA) has a mission and vision that promotes innovation as central to expanding the organization’s capability to conduct consequence analysis. To pursue such innovation, OCIA is sponsoring a seedling effort with Idaho National Laboratory (INL) to leverage data from the proposed Automated Vulnerability Assessment (AVA) capability, which the DHS Science and Technology (S&T) Directorate is developing through a separate INL effort. The first phase of this effort is to develop a process by which recognized vulnerabilities can be scored relative to importance, reflected primarily in the ability to initiate high consequence and potentially cascading events. This report documents a cyber-physical metrics process (CPMP) to tie physical impact to the malicious exploitation of cyber vulnerabilities in industrial control systems (ICS) with the potential for initiating consequence in the critical infrastructure. The scale of achieving any particular physical consequence is dependent upon the ICS Component the vulnerability exists on, the Level of Access that the exploit would allow to component function and the Physical Impact (CLAPI) to the power system that the component is tied. A modified common vulnerability scoring system (CVSS) was detailed and demonstrated for the power sector with three case studies associated with a recognized vulnerability, with significant consequence detail provided to apply the process across the power sector. A detailed table that provides background on the power system components, ICS-enabled monitoring and control, potential consequence effects, and CVSS scoring is provided. To demonstrate the applicability of the CPMP, tables are provided as examples for other sectors that include chemical, water/wastewater and oil/gas.

42 ENGINEERING↗

SDN-Based Dynamic Cybersecurity Framework of IEC-61850 Communications in Smart Grid

In recent years, critical infrastructure and power grids have experienced a series of cyber-attacks, leading to temporary, widespread blackouts of considerable magnitude. Since most substations are unmanned and have limited physical security protection, cyber breaches into power grid substations present a risk. Nowadays, the susceptibility of SDN architecture to cyber-attacks has exhibited a notable increase in recent years, as indicated by research findings. This suggests a growing concern regarding the potential for cybersecurity breaches within the SDN framework. In this paper, we propose a hybrid intrusion detection system (IDS)-integrated SDN architecture for detecting and preventing the injection of malicious IEC 61850-based generic object-oriented system event (GOOSE) messages in a digital substation. Additionally, this program locates the fault’s location and, as a form of mitigation, disables a certain port. Furthermore, implementation examples are demonstrated and verified using a hardware-in-the-loop (HIL) testbed that mimics the functioning of a digital substation.

Liu, Chen-Ching [Virginia Tech] (ORCID:00000002894↗