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All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Cyber-Physical Secure Observer-Based Corrective Control under Compromised Sensor Measurements

In this paper we introduce the objectives and design principles of corrective control under cyber-physical attacks. We propose two types of observer-based corrective control for both the open-loop stable and the open-loop unstable LTI systems. The basic idea of our corrective control design is to use the observer as the ground-truth during the attack, making the plant dynamics follow the observer behavior. This is the opposite to the no-attack-detected period in which the observer is designed to follow the plant dynamics. We show stability of the proposed control under compromised sensor measurements, and quantify the effects of the discrepancy between the observer and the plant. Numerical examples, with illustrations using microgrid energy dynamics, are presented to show benefits of the proposed corrective control.

Wu, Dan↗
DOE OSTI2023

Systems and methods for global cyber-attack or fault detection model

An industrial asset may have monitoring nodes that generate current monitoring node values representing a current operation of the industrial asset. An abnormality detection computer may detect when a monitoring node is currently being attacked or experiencing a fault based on a current feature vector, calculated in accordance with current monitoring node values, and a detection model that includes a decision boundary. A model updater (e.g., a continuous learning model updater) may determine an update time-frame (e.g., short-term, mid-term, long-term, etc.) associated with the system based on trigger occurrence detection (e.g., associated with a time-based trigger, a performance-based trigger, an event-based trigger, etc.). The model updater may then update the detection model in accordance with the determined update time-frame (and, in some embodiments, continuous learning).

Xu, Rui↗
DOE OSTI2020

Detection of DoS Attacks Using ARFIMA Modeling of GOOSE Communication in IEC 61850 Substations

Integration of Information and Communication Technology (ICT) in modern smart grids (SGs) offers many advantages including the use of renewables and an effective way to protect, control and monitor the energy transmission and distribution. To reach an optimal operation of future energy systems, availability, integrity and confidentiality of data should be guaranteed. Research on the cyber-physical security of electrical substations based on IEC 61850 is still at an early stage. In the present work, we first model the network traffic data in electrical substations, then, we present a statistical Anomaly Detection (AD) method to detect Denial of Service (DoS) attacks against the Generic Object Oriented Substation Event (GOOSE) network communication. According to interpretations on the self-similarity and the Long-Range Dependency (LRD) of the data, an Auto-Regressive Fractionally Integrated Moving Average (ARFIMA) model was shown to describe well the GOOSE communication in the substation process network. Based on this ARFIMA-model and in view of cyber-physical security, an effective model-based AD method is developed and analyzed. Two variants of the statistical AD considering statistical hypothesis testing based on the Generalized Likelihood Ratio Test (GLRT) and the cumulative sum (CUSUM) are presented to detect flooding attacks that might affect the availability of the data. Our work presents a novel AD method, with two different variants, tailored to the specific features of the GOOSE traffic in IEC 61850 substations. The statistical AD is capable of detecting anomalies at unknown change times under the realistic assumption of unknown model parameters. The performance of both variants of the AD method is validated and assessed using data collected from a simulation case study. We perform several Monte-Carlo simulations under different noise variances. The detection delay is provided for each detector and it represents the number of discrete time samples after which an anomaly is detected. In fact, our statistical AD method with both variants (CUSUM and GLRT) has around half the false positive rate and a smaller detection delay when compared with two of the closest works found in the literature. Our AD approach based on the GLRT detector has the smallest false positive rate among all considered approaches. Whereas, our AD approach based on the CUSUM test has the lowest false negative rate thus the best detection rate. Depending on the requirements as well as the costs of false alarms or missed anomalies, both variants of our statistical detection method can be used and are further analyzed using composite detection metrics.

IEC 61850 electrical substations↗
DOE OSTI2020

Modeling and Detection of Future Cyber-Enabled DSM Data Attacks

Demand-Side Management (DSM) is an essential tool to ensure power system reliability and stability. In future smart grids, certain portions of a customer’s load usage could be under the automatic control of a cyber-enabled DSM program, which selectively schedules loads as a function of electricity prices to improve power balance and grid stability. In this scenario, the security of DSM cyberinfrastructure will be critical as advanced metering infrastructure and communication systems are susceptible to cyber-attacks. Such attacks, in the form of false data injections, can manipulate customer load profiles and cause metering chaos and energy losses in the grid. The feedback mechanism between load management on the consumer side and dynamic price schemes employed by independent system operators can further exacerbate attacks. To study how this feedback mechanism may worsen attacks in future cyber-enabled DSM programs, we propose a novel mathematical framework for (i) modeling the nonlinear relationship between load management and real-time pricing, (ii) simulating residential load data and prices, (iii) creating cyber-attacks, and (iv) detecting said attacks. In this framework, we first develop time-series forecasts to model load demand and use them as inputs to an elasticity model for the price-demand relationship in the DSM loop. This work then investigates the behavior of such a feedback loop under intentional cyber-attacks. We simulate and examine load-price data under different DSM-participation levels with three types of random additive attacks: ramp, sudden, and point attacks. We conduct two investigations for the detection of DSM attacks. The first studies a supervised learning approach, with various classification models, and the second studies the performance of parametric and nonparametric change point detectors. Results conclude that higher amounts of DSM participation can exacerbate ramp and sudden attacks leading to better detection of such attacks, especially with supervised learning classifiers. We also find that nonparametric detection outperforms parametric for smaller user pools, and random point attacks are the hardest to detect with any method.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

Adaptive anomaly detection for identifying attacks in cyber-physical systems: A systematic literature review

Modern cyberattacks in cyber-physical systems (CPS) rapidly evolve and cannot be deterred effectively with most current methods, which focus on characterizing past threats. Adaptive anomaly detection (AAD) is among the most promising techniques to detect evolving cyberattacks, with an emphasis on fast data processing and model adaptation. AAD has been researched extensively; however, to the best of our knowledge, our work is the first systematic literature review (SLR) on current research in this field. We present a comprehensive SLR, gathering 397 relevant papers and systematically analyzing 65 of them (47 research and 18 survey papers) on AAD in CPS from 2013 to November 2023. We introduce a novel taxonomy considering attack types, CPS application, learning paradigm, data management, and algorithms. Our findings show that most studies addressed either model adaptation or data processing, but rarely both simultaneously. This indicates a research gap in fully adaptive solutions. We also categorize algorithms, datasets, and attack characteristics, and summarize strengths and weaknesses across the literature. Our review provides a structured and accessible reference for researchers and practitioners, offering insights into key trends and highlighting limitations in current approaches. Finally, we outline several future research directions, including the need for integrated real-time processing and adaptive learning, explainability, and uncertainty quantification in AAD for CPS.

Adaptation↗
DOE OSTI2025

Securing Smart Manufacturing: Detection of Cyber-Physical Attacks in CNC-Based Systems

As Industry 4.0 advances, the integration of computer numerical control (CNC) machines and advanced manufacturing technologies is transforming production into smart manufacturing systems that blend physical and digital processes as cyber-physical systems. However, this increased cyber-physical connectivity exposes manufacturing systems to cyber threats that can cause severe operational and financial disruptions. This paper presents a comparative study on cyber attacks and anomaly detection techniques in manufacturing, focusing on network traffic from CNC machines. The data extracted from network packets includes machine commands and control signals exchanged between the machine's interface and control system, crucial for maintaining operational integrity. We explore two types of cyber attacks, design modification and command injection, which pose substantial risks to CNC machine productivity and system integrity. Our investigation involves experiments on a real CNC system, highlighting the urgent need for effective detection mechanisms. To address these threats, we evaluate three anomaly detection methods: dynamic time warping (DTW), rolling average, and a deep learning, long short-term memory (LSTM) time-series-based autoencoder. Each is assessed for its effectiveness in identifying anomalous behaviors caused by the attacks. Our findings demonstrate the unique strengths and limitations of each detection technique, providing a deeper understanding of their applicability in realworld manufacturing environments. The comparative analysis indicates that while certain methods are highly effective against specific attack types, others offer broader applicability across different attacks. This study contributes to the accurate detection of anomalies in CNC machining processes, thereby enhancing the reliability and security of smart manufacturing systems against diverse cyber threats.

Williams, Bethanie [Tennessee Technological Univer↗
DOE OSTI2024

Using Signal Clustering Similarity for Detecting CAN Masquerade Attacks

The computer code assumes that time series representing the physical signals of the vehicle have been extracted from the CAN bus. The main input of the computer code is the multivariate time series representation of the signals in the CAN bus. The computer code cluster these time series using agglomerative hierarchical clustering from benign and attack datasets. Based on this, it generates probability distributions from the similarity of the obtained clusters based in each scenario---benign and attack---using the CluSim method (https://github.com/Hoosier-Clusters/clusim). Finally, it compares how a new data collection compares with the previous distribution to provide and probability score for an intrusion.

Moriano, Pablo↗
DOE OSTI2021

Detecting False Data Injection Attacks in Smart Grids: A Semi-Supervised Deep Learning Approach

The dependence on advanced information and communication technology increases the vulnerability in smart grids under cyber-attacks. Recent research on unobservable false data injection attacks (FDIAs) reveals the high risk of secure system operation, since these attacks can bypass current bad data detection mechanisms. To mitigate this risk, this paper proposes a data-driven learning-based algorithm for detecting unobservable FDIAs in distribution systems. We use autoencoders for efficient dimension reduction and feature extraction of measurement datasets. Further, we integrate the autoencoders into an advanced generative adversarial network (GAN) framework, which successfully detects anomalies under FDIAs by capturing the unconformity between abnormal and secure measurements. Also, considering that the datasets collected from practical power systems are partially labeled due to expensive labeling costs and missing labels, the proposed method only requires a few labeled measurement data in addition to unlabeled data for training. Numerical simulations in three-phase unbalanced IEEE 13-bus and 123-bus distribution systems validate the detection accuracy and efficiency of this method.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

Learning method and system for separating independent and dependent attacks

Streams of monitoring node signal values over time, representing a current operation of the industrial asset, are used to generate current monitoring node feature vectors. Each feature vector is compared with a corresponding decision boundary separating normal from abnormal states. When a first monitoring node passes a corresponding decision boundary, an attack is detected and classified as an independent attack. When a second monitoring node passes a decision boundary, an attack is detected and a first decision is generated based on a first set of inputs indicating if the attack is independent/dependent. From the beginning of the attack on the second monitoring node until a final time, the first decision is updated as new signal values are received for the second monitoring node. When the final time is reached, a second decision is generated based on a second set of inputs indicating if the attack is independent/dependent.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Detection of Control Injection Attacks using Energy Data Anomalies in CNC Machining

The widespread adoption of networked devices, sophisticated automation, and data-driven processes in the industry - also known as Industry 4.0 - has boosted the quantity and quality of manufacturing products. With these benefits, however, comes a substantial increase in the attack surface of these systems. In addition to affecting the readiness and the quality of critical products, the attacks against manufacturing processes and systems carry the potential to have severe physical consequences, including human injury and death. In this paper we present the results of a remote network-based control injection attack on a CNC mill. Specifically, we focus on the impact of this type of the attack on the movement of CNC mill during operation. Evaluating the physical effect of these attacks on a workpiece, we provide machine agnostic, affordable, and scalable solution for their monitoring. We then demonstrate a simple threshold-based method for the detection of these attacks and evaluate the effectiveness of detection.

Taylor, Curtis↗
DOE OSTI2023

Detection of False Data Injection Attacks in Battery Stacks Using Input Noise-Aware Nonlinear State Estimation and Cumulative Sum Algorithms

Grid-scale battery energy storage systems (BESSs) are vulnerable to false data injection attacks (FDIAs), which could be used to disrupt state of charge (SoC) estimation. Inaccurate SoC estimation has negative impacts on system availability, reliability, safety, and the cost of operation. In this article a combination of a Cumulative Sum (CUSUM) algorithm and an improved input noise-aware extended Kalman filter (INAEKF) is proposed for the detection and identification of FDIAs in the voltage and current sensors of a battery stack. The series-connected stack is represented by equivalent circuit models, the SoC is modeled with a charge reservoir model and the states are estimated using the INAEKF. Further, the root mean squared error of the states’ estimation by the modified INAEKF was found to be superior to the traditional EKF. By employing the INAEKF, this article addresses the research gap that many state estimators make asymmetrical assumptions about the noise corrupting the system. Additionally, the INAEKF estimates the input allowing for the identification of FDIA, which many alternative methods are unable to achieve. The proposed algorithm was able to detect attacks in the voltage and current sensors in 99.16% of test cases, with no false positives. Utilizing the INAEKF compared to the standard EKF allowed for the identification of FDIA in the input of the system in 98.43% of test cases.

25 ENERGY STORAGE↗
DOE OSTI2024

Achieving Cyber-Resilience for Power Systems using a Learning, Model-Assisted Blockchain Framework

The secure integration and management of distributed energy resources (DER) and power aggregators in the electric grid requires secure communications and a physics-aware Command and Control (C2) strategy. A Blockchain (BC)-based overlay network was developed to provide a security layer for the existing power grid network that mitigates risks in current and legacy network and C2 protocols. By integrating a Model-Assisted Machine Learning (MAML) framework with a Secure Blockchain Overlay Network (SBON) a defense-in-depth strategy was achieved. In our approach, the MAML framework leveraged a smart contract framework to gather network data and learn the dynamics of DER to develop detection strategies for attacks targeting sensors and actuators used by DER. The MAML framework learned dynamical systems models for individual DERs to detect sensor attacks. For DER we utilized a Digital Twin (DT) to accelerate the learning process for a model resistant to stealthy attacks. The project created DT for PV inverters and BESS. The DTs were coupled with a model-assisted, data-driven learning of DER behavior. Specifically, we evaluated architectures for model-based learning with model-free fine-tuning. Additionally, differential privacy techniques were used to obfuscate data, while still allowing the computation of attack detection results based on obfuscated data. The SBON developed leverages a private permissioned blockchain network orchestrated with the Hyperledger Fabric framework. To connect the cyber world, which orchestrates the blockchain fabric, and the physical world where the power network resides, we developed a system implementation to enable the secure interaction of the physical world and the abstracted blockchain.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

Enhancing Automotive Intrusion Detection Through Multi-Modal Fusion: A CAN FD-LiDAR Approach

As vehicles become smarter and more autonomous, they increasingly depend on advanced sensors and communication technologies to operate securely. However, such growing dependence on technology—whether it’s CAN (Controller Area Network) for internal communication or LiDAR (Light Detection and Ranging) for sensing the world around them—also expands the attack surface for the types of cyber attacks. Traditional intrusion detection systems (IDS) typically monitor these systems in isolation, limiting their ability to detect sophisticated, crosssystem attacks. To address this, we propose a multi-modal fusion approach that combines real-world CAN FD signals (from the HCRL dataset) with LiDAR features (from the nuScenes dataset) to enhance attack detection. Our method employs a twostage ensemble approach. Calibrated XGBoost and LightGBM models initially process CAN FD (Fuzzing Data) and LiDAR data independently, detecting timing anomalies and space abnormalities. They are subsequently logarithmically combined with a logistic regression meta-model along with 17 engineered features capturing cross-modal behavior, prediction conflicts, and nonlinear interactions. This approach achieves an AUC of 0.87 and an F1-score of 0.82, surpassing single-modality baselines and early fusion methods, at merely 2 ms inference latency. Compared with deep learning competitors, it is 3 times more efficient, providing a lightweight, interpretable, and real time solution to automotive cybersecurity.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Trust-Based Detection and Mitigation of Cyber Attacks in Distributed Cooperative Control of Islanded AC Microgrids

In this study, we address the challenge of detecting and mitigating cyber attacks in the distributed cooperative control of islanded AC microgrids, with a particular focus on detecting False Data Injection Attacks (FDIAs), a significant threat to the Smart Grid (SG). The SG integrates traditional power systems with communication networks, creating a complex system with numerous vulnerable links, making it a prime target for cyber attacks. These attacks can lead to the disclosure of private data, control network failures, and even blackouts. Unlike machine learning-based approaches that require extensive datasets and mathematical models dependent on accurate system modeling, our method is free from such dependencies. To enhance the microgrid’s resilience against these threats, we propose a resilient control algorithm by introducing a novel trustworthiness parameter into the traditional cooperative control algorithm. Our method evaluates the trustworthiness of distributed energy resources (DERs) based on their voltage measurements and exchanged information, using Kullback-Leibler (KL) divergence to dynamically adjust control actions. We validated our approach through simulations on both the IEEE-34 bus feeder system with eight DERs and a larger microgrid with twenty-two DERs. The results demonstrated a detection accuracy of around 100%, with millisecond range mitigation time, ensuring rapid system recovery. Additionally, our method improved system stability by up to almost 100% under attack scenarios, showcasing its effectiveness in promptly detecting attacks and maintaining system resilience. These findings highlight the potential of our approach to enhance the security and stability of microgrid systems in the face of cyber threats.

Computer Science↗
DOE OSTI2021

Systematic planning of moving target defence for maximising detection effectiveness against false data injection attacks in smart grid

Abstract Moving target defence (MTD) has been gaining traction to thwart false data injection attacks against state estimation (SE) in the power grid. MTD actively perturbs the reactance of transmission lines equipped with distributed flexible AC transmission system (D‐FACTS) devices to falsify the attacker's knowledge about the system configuration. However, the existing literature has not systematically studied what influences the detection effectiveness of MTD and how it can be improved based on the topology analysis. These problems are tackled here from the perspective of an MTD plan in which the D‐FACTS placement is determined. We first exploit the relation between the rank of the composite matrix and the detecting effectiveness. Then, we rigorously derive upper and lower bounds on the attack detecting probability of MTDs with a given rank of the composite matrix. Furthermore, we analyse existing planning methods and highlight the importance of bus coverage by D‐FACTS devices. To improve the detection effectiveness, we propose a novel graph theory–based planning algorithm to retain the maximum rank of the composite matrix while covering all necessary buses. Comparative results on multiple systems show the high detecting effectiveness of the proposed algorithm in both DC‐ and AC‐SE.

24 POWER TRANSMISSION AND DISTRIBUTION↗