abstract: With growing complexity of power grid interconnections, power systems may become increasingly vulnerable to low frequency oscillations (especially inter-area oscillations) and dependent on stabilizing controls using either local signals or wide-area signals to provide adequate damping. In recent years, the ability and potential to use wide-area signals for control purposes has increased since a significant investment has been made in the U. S. in deploying synchrophasor measurement technology. Fast and reliable communication systems are essential to enable the use of wide-area signals in controls. If wide-area signals find increased applicability in controls the security and reliability of power systems could be vulnerable to disruptions in communication systems. Even though numerous modern techniques have been developed to lower the probability of communication errors, communication networks cannot be designed to be always reliable. Given this background the motivation of this work is to build resiliency in the power grid controls to respond to failures in the communication network when wide-area control signals are used. In addition, this work also deals with the delay uncertainty associated with the wide-area signal transmission. In order to counteract the negative impact of communication failures on control effectiveness, two approaches are proposed and both approaches are motivated by considering the use of a robustly designed supplementary damping control (SDC) framework associated with a static VAr compensator (SVC). When there is no communication failure, the designed controller guarantees enhanced improvement in damping performance. When the wide-area signal in use is lost due to a communication failure, however, the resilient control provides the required damping of the inter-area oscillations by either utilizing another wide-area measurement through a healthy communication route or by simply utilizing an appropriate local control signal. Simulation results prove that with either of the proposed controls included, the system is stabilized regardless of communication failures, and thereby the reliability and sustainability of power systems is improved. The proposed approaches can be extended without loss of generality to the design of any resilient controller in cyber-physical engineering systems. / Dissertation/Thesis / Ph.D. Electrical Engineering 2014

The modern smart grid would involve deep integration between measurement nodes, communication systems, artificial intelligence, power electronics and distributed resources. On one hand, this type of integration can dramatically improve the grid performance and efficiency, but on the other, it can also introduce new types of vulnerabilities to the grid. To obtain the best performance, while minimizing the risk of vulnerabilities, the physical power system must be designed as a security aware system. In this dissertation, an interoperability and communication framework for microgrid control and Cyber Physical system enhancements is designed and implemented taking into account cyber and physical security aspects. The proposed data-centric interoperability layer provides a common data bus and a resilient control network for seamless integration of distributed energy resources. In addition, a synchronized measurement network and advanced metering infrastructure were developed to provide real-time monitoring for active distribution networks. A hybrid hardware/software testbed environment was developed to represent the smart grid as a cyber-physical system through hardware and software in the loop simulation methods. In addition it provides a flexible interface for remote integration and experimentation of attack scenarios. The work in this dissertation utilizes communication technologies to enhance the performance of the DC microgrids and distribution networks by extending the application of the GPS synchronization to the DC Networks. GPS synchronization allows the operation of distributed DC-DC converters as an interleaved converters system. Along with the GPS synchronization, carrier extraction synchronization technique was developed to improve the system’s security and reliability in the case of GPS signal spoofing or jamming. To improve the integration of the microgrid with the utility system, new synchronization and islanding detection algorithms were developed. The developed algorithms overcome the problem of SCADA and PMU based islanding detection methods such as communication failure and frequency stability. In addition, a real-time energy management system with online optimization was developed to manage the energy resources within the microgrid. The security and privacy were also addressed in both the cyber and physical levels. For the physical design, two techniques were developed to address the physical privacy issues by changing the current and electromagnetic signature. For the cyber level, a security mechanism for IEC 61850 GOOSE messages was developed to address the security shortcomings in the standard.

The thesis reviews the current situation related to the Industry 4.0 and puts it into context. In the first part of the thesis, there is an introduction to the current economic situation and the major challenges. The concept and vision of Industry 4.0 is introduced together with the world's leading initiatives and examples of Industry 4.0 technologies in manufacturing processes presented by tech leaders. The thesis also includes examples of readiness models and simulated calculation ROCE. The finding of the thesis is that, although the very concept of Industry 4.0 is not well known, digitization and automation of production continues and both are considered a necessity. Interviews with experts from the business practice in the Czech Republic introduces key opportunities and challenges arising from new technologies and when they might become the new standard.

This thesis describes the implementation of a Digital Twin tied to Virtual Reality environment thatcould, by easy means be expanded to Augmented Reality-solution. The field is of interest due to thefact that movement into Industry 4.0 puts the traditional operator in a new seat of work. Previoushands-on tasks are replaced with system monitoring and supervision roles. New interconnectedindustrial hardware allows for extensive data collection, while interactive technology like VR/ARhelps monitoring live systems in completely new manners. An operator can overview and debugindustrial systems while not even being in close proximity of the physical system. This provides theopportunity to increase the level of system information presented to the operator. The Cyber PhysicalFactory created by Festo was targeted to be represented as a digital twin. The question asked: What arethe advantages and/or disadvantages of monitoring and troubleshooting a Festo CP-Factory by meansof a digital twin-driven visualization? proved to be extensive and the work included mapping ofimportant factory data and DRM-research to find visual improvements between the provided solutionsby Festo, and an implemented digital twin. The solution we produced focuses on overview anddebugging and it connects to OPC-servers on each mapped module of the Cyber Physical Factory andacquires the data. This data can then be used to expand, test and debug previous sessions. Each realimplementation of a factory has some type of logging of data, our solution allows visualization of thoselog entries as close to reality as possible, reducing the need to search databases for indications ofproblems. The Unity 3D created software also handles dynamic connections where the operator canmodify which nodes to connect to in an intuitive way, this enables our software to abstract and modifyinformation outside of the source code.

<p>Due to the rapid development of wireless communication and network technology, more and more wireless devices (e.g., Siemens, Lutron, etc.) are used in residential and commercial buildings. The wireless system has many advantages that traditional wired-based systems do not have, such as time-saving deployment and easy maintenance. However, the wireless system is also vulnerable to cyber-attacks since the data packets are transmitted by radio waves rather than by physical medium. The current cyber detection system (e.g., Intrusion detection system) monitors the data traffic to identify the anomalies in the network. However, it is unable to detect the attacks that tamper with the control logic or operating parameters, which results in the malfunction of the system. This thesis developed an integrated, cyber-security framework for cyber-attack detection in smart buildings.</p> <p>The objective of this research is to develop an integrated cyber-security framework for wireless-based smart building systems to protect buildings from the cyber-attacks. The wireless-based smart building systems are operated and controlled by either a two-position or continuous controlled approach. The efforts in this study have developed a cyber-security framework to deal with both two-position control and continuous control. For the two-position controlled smart buildings, the developed cyber-security framework integrates the data and models of both cyber and physical domains of building systems to detect faults, abnormal operations, and cyber attacks. The cyber-security framework developed for the continuous controlled system combines a data-driven model for detecting the faults of sensor measurements and a physical model based on engineering principle (e.g., laws of thermodynamics or control logic) to detect the anomaly of system operation.</p> <p>To develop the cyber-security frameworks, the testbeds corresponding to the two-position and continuous wireless systems were constructed for attack-oriented tests. A wireless-based lighting system for smart homes was used as the testbed for the study of the two-position control. It has a wireless occupancy sensor, an actuator for the light switch, and an open-source operating platform (OpenHAB) for system control and monitor. The platform of the wireless is the ZigBee. An indoor shading system at a living lab in new Herrick building at Purdue University was utilized as the testbed for the study of the continuous controlled system. The indoor shading system exploits the roller shades to block the excess daylighting to provide an acceptable illuminance condition for occupants. The shading system uses the wireless illuminance sensor, weather condition, and wire-based controller to automatically operate the shades for the acceptable illuminance. </p> <p>The study implemented designed cyber-attacks to validate the effectiveness of the developed frameworks. The final results show that the developed two models were able to detect the attacks effectively (95-100% attacks identified and isolated). The abnormal operations tested in two-position control system were identified when an abnormal state was triggered, or the modelled state and real state did not match in the finite state machine model developed. For continuous control, the abnormal operations were detected when there is a significant deviation between the modelled measurement and the actual measurement. The cybersecurity framework developed in the thesis demonstrates an effective approach for detecting system faults caused by attacks. The frameworks could be widely used for other different building systems and beyond buildings, such as transportation or industrial manufacturing systems.</p>

Les travaux menés dans cette thèse de doctorat s’inscrivent dans le cadre d’un effort pluslarge d’automatisation des systèmes de simulation industriels. Dans l’industrie aéronautique,et plus particulièrement au sein d’Airbus, l’application historique de la simulation est laformation des pilotes. Il existe aussi des utilisations plus récentes dans la conception desystèmes, ainsi que dans l’intégration de ces systèmes. Ces dernières utilisations exigent untrès haut degré de représentativité, là où historiquement le plus important était le ressenti dupilote. Les systèmes sont aujourd’hui divisés en plusieurs sous-systèmes qui sont conçus, implémentéset validés indépendamment, afin de maintenir leur contrôle malgré l’augmentationde leurs complexités et la réduction des temps de mise sur le marché. Airbus maîtrise déjà lasimulation de ces sous-systèmes, ainsi que leurs intégrations en simulation. Cettemaîtriseest empirique, les spécialistes de la simulation reprennent l’ordonnancement d’intégrationsprécédentes, et l’adaptent à une nouvelle intégration. C’est un processus qui peut parfois êtrechronophage, et qui peut introduire des erreurs. Les tendances actuelles de l’industrie sont à la flexibilité des moyens de production, àl’intégration d’outils logistiques permettant le suivi, à l’utilisation d’outils de simulation enproduction, et à l’optimisation des ressources. Les produits sont de plus en plus souvent desitérations d’anciens produits améliorés, et les tests et simulations intégrés à leurs cycles de vie.Travailler de manière empirique dans une industrie qui nécessite de la flexibilité estune contrainte, et il est aujourd’hui important de facilement modifier des simulations. Laproblématique est donc de mettre en place des méthodes et outils permettant a priori degénérer des ordonnancements de simulations représentatifs.Afin de répondre à ce problème, nous avons mis en place une méthode permettant de décrireles composants d’une simulation, la manière dont cette simulation pourra être exécutée,ainsi que des fonctions permettant de générer des ordonnancements. Par la suite, nous avonsimplémenté un outil afin d’automatiser la recherche d’ordonnancement, en se basant sur desheuristiques. Enfin nous avons testé et vérifié notre méthode et outils sur des cas d’étudesacadémiques et industriels. / The work carried out in this Ph.D. thesis is part of a broader effort to automate industrialsimulation systems. In the aeronautics industry, and more especially within Airbus, thehistorical application of simulation is pilot training. There are also more recent uses in thedesign of systems, as well as in the integration of these systems. These latter applicationsrequire a very high degree of representativeness, where historically the most important factorhas been the pilot’s feeling. Systems are now divided into several subsystems that are designed, implemented andvalidated independently, in order tomaintain their control despite the increase in their complexity,and the reduction in time-to-market. Airbus already has expertise in the simulationof these subsystems, as well as their integration into a simulation. This expertise is empirical;simulation specialists use the previous integrations schedulings and adapt it to a newintegration. This is a process that can sometimes be time-consuming and can introduce errors.The current trends in the industry are towards flexible production methods, integrationof logistics tools for tracking, use of simulation tools in production, as well as resourcesoptimization. Products are increasingly iterations of older, improved products, and tests andsimulations are increasingly integrated into their life cycles. Working empirically in an industry that requires flexibility is a constraint, and nowadays itis essential to facilitate the modification of simulations. The problem is, therefore, to set upmethods and tools allowing a priori to generate representative simulation schedules.In order to solve this problem, we have developed a method to describe the elementsof a simulation, as well as how this simulation can be executed, and functions to generateschedules. Subsequently, we implemented a tool to automate the scheduling search, based onheuristics. Finally, we tested and verified our method and tools in academic and industrialcase studies.

One way to tackle the climate change society is facing today is through the change to renewable energy sources, such as wind power. Today, a trend when it comes to technology is that products are evolving into becoming more cyber-physical systems (CPS) by integrating functions realized with mechanics, control and communication. One challenge for CPS is to find cost-effective and reliable sensor solutions.  The purpose of this project is to lay the foundations for an intelligent CPS with the help of sensors and condition monitoring methods that, with further development, can reduce the downtime of a wind turbine. Thus, the reliability of the wind turbine and the profitability of its investors increase. The aim of the work is to develop an overall concept for a sensor package with analysis methods that enable real-time diagnosis in the gearbox of a wind turbine. This sensor package should be able to monitor the most common problems that arise in the gearbox and it should also be able to be used as a basis for a possible development of a CPS in the future.  The work is based on an information search that enables the creation of a list of requirements. This then forms the basis for concept generation through the use of a function/means tree and concept evaluation through the use of elimination matrix, weight determination matrix and weighted criteria matrix.  The work concludes that there are four main types of failures that occur in the gearbox and that should be monitored. These are scuffing, micropitting, propagation of cracks and bearing failure. The final concept uses vibration analysis for monitoring of micropitting, crack propagation and bearing failure, oil analysis for monitoring of scuffing and micropitting and temperature measurement for monitoring of scuffing and bearing failure. For vibration analysis, piezoelectric sensors are used, for oil analysis electromagnetic sensors and for temperature measurement resistance thermometers are used.  The work finds that it is appropriate in this day and age to use well-established methods for condition monitoring in the gearbox of wind turbines. / Ett sätt att tackla de klimatförändringar samhället står inför idag är genom omställningen till förnybara energikällor, såsom vindkraft. Idag är en trend när det kommer till teknik att produkter utvecklas till att allt mer bli cyberfysiska system (CPS) genom att de integrerar funktioner som realiseras med mekanik, reglering och kommunikation. En utmaning för CPS är att hitta kostnadseffektiva och tillförlitliga sensorlösningar.  Syftet med detta projekt är att lägga grunden till ett intelligent CPS med hjälp av sensorer och tillståndsövervakningsmetoder som med vidare utveckling ska kunna minska stilleståndstiden hos ett vindkraftverk. Således ökar tillförlitligheten hos vindkraftverket samt räntabiliteten för investerarna av dessa. Arbetets mål är att utveckla ett övergripande koncept för ett sensorpaket med analysmetoder som möjliggör realtidsdiagnos i växellådan hos ett vindkraftverk. Detta sensorpaket ska kunna övervaka de vanligaste problemen som uppstår i växellådan och ska kunna användas som grund för eventuell utveckling av ett CPS i framtiden.  Arbetet grundas i en informationssökning som möjliggör skapandet av en kravspecifikation. Denna ligger sedan till grund för konceptgenerering genom användandet av funktions/medelträd samt konceptutvärdering genom användandet av elimineringsmatris, viktbestämningsmatris samt kriterieviktsmetoden.  I arbetet framkommer att det finns fyra huvudsakliga skador som uppkommer i växellådan och som bör övervakas. Dessa är scuffing, mikropitting, sprickpropagering och lagerhaveri. Det slutgiltiga konceptet använder vibrationsanalys för övervakning av mikropitting, sprickpropagering och lagerhaveri, oljeanalys för övervakning av scuffing och mikropitting samt temperaturmätning för övervakning av scuffing och lagerhaveri. Vid vibrationsanalys används piezoelektriska sensorer, vid oljeanalys elektromagnetiska sensorer och för temperaturmätning resistanstermometrar.  Arbetet konstaterar att det i dagsläget är lämpligt att använda väletablerade metoder för tillståndsövervakning i växellådan hos vindkraftverk.

No description available.

No description available.

<p dir="ltr">The world is increasingly dependent on cyber-physical systems (CPSs), e.g., robotic vehicles (RVs) and industrial control systems (ICSs). CPSs operate autonomously by processing data coming from both “cyberspace”—such as user commands—and “physical space”—such as sensors that measure the physical environment in which they operate. However, even after decades of research, CPSs remain susceptible to threats from attackers, primarily due to the increased complexity created by interaction with cyber and physical space (e.g., the cascading effects that changes in one space can impact on the other). In particular, the complexity causes two primary threats that increase the risk of causing physical damage to RVs: (1) logic bugs causing undesired physical behavior from the developers expectations; and (2) physical sensor attacks—such as GPS or acoustic noise spoofing—that disturb an RV’s sensor readings. Dealing with these threats requires addressing the interplay between cyber and physical space. In this dissertation, we systematically analyze the interplay between cyber and physical space, thereby tackling security problems created by such complexity. We present novel algorithms to detect logic bugs (PGFuzz in Chapter 2), help developers fix them (PGPatch in Chapter 3), and test the correctness of the patches attempting to address them (PatchVerif in Chapter 4). Further, we explain algorithms to discover the root causes and formulate countermeasures against physical sensor attacks that target RVs in Chapter 5.</p>