Thesis (M.S.)--University of Missouri--Rolla, 2007. / Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed March 27, 2008) Includes bibliographical references (p. 55-56).

Thesis (M.S.)--University of Missouri--Rolla, 2007. / Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed April 21, 2008) Includes bibliographical references (p. 48).

Thesis (MScEng)--Stellenbosch University, 2003. / ENGLISH ABSTRACT: The aim of this thesis is to investigate a design of a microcontroller based embedded system that will be used to minimise cable harness on the SUNSAT micro-satellite. The system is called CAN node. The CAN node(s) implements CAN (Controller Area Network) serial bus architecture protocol. The protocol is implemented on the two nodes to transport data from the TCMD tot he 0 ther trays 0 f SUNSAT. CAN node( s) design proj ect focuses on the TCMD tray, because it is the central point for data communication in SUNSAT and it acts as the eyes and hands of the satellite's operator. As a result most of the communication cables are located at this tray. The two nodes are called TX-node and RX-nodes. The TX-node is used to collect data from the TCMD tray and transmits them serially to RX-node. The RX-nodes receives the TCMD data from TX-node and transmits these data to their respective nodes. In application RX-nodes need to be ten, but only one is used for testing purpose. The design had its shortcomings, of which they are discussed in this thesis. The recommendations of an ideal system are also given to elaborate how the system should behave in the real situation. Despite its shortcomings, the CAN node(s) project has successfully proven that cable harness on the TCMD tray of SUNSAT can be minimised by using CAN technology. / AFRIKAANSE OPSOMMING: Die doel van hierdie tesis is om die ontwerp van 'n mikro-beheerder gebaseerde stelsel wat die SUNSA T mikro-satelliet kabel harnas sal verklein, te ondersoek. Die stelsel word die CAN nodus genoem. Die CAN nodus implementeer die CAN (Controller Area Network) bus argitektuur protokol. Die protokol is op twee nodusse geïmplementeer om data vanaf die TCMD na ander laaie van SUNSAT te voer. Die CAN nodus ontwerp fokus op die TCMD laai, want dit is die sentrale punt vir data kommunikasie in SUNSA T en dit tree soos die oog en hande van die satelliet operateur op. As 'n gevolg, is die meeste van die kommunikasie kabels in hierdie laai. Die twee nodusse is genoem TXnodus en RX-nodus. TX-nodus word gebruik om die data van die TCMD af te kollekteer en dan versprei hulle tot hulle onderskeie nodusse. In die toepaslik moet daar tien RX-nodusse wees, maar net een is gebruik terwille van die toets. Die ontwerp het sy eie tekortkomings, wat in hierdie tesis bespreek word. Die rekommendasie van 'n ideale stelsel is ook gemaak om te bewys hoe die stelsel dit in 'n ware situasie moet gedra. Ongeag die tekortkomings daarvan, het die CAN-nodus projek suksesvol bewys dat die kabel harnas in die TCMD laai van SUNSAT kan verminder word deur die gebruik van die CAN tegnologie.

Thesis (MEng)--University of Stellenbosch, 2000. / ENGLISH ABSTRACT: The Attitude Determination and Control System (ADCS) of the Stellenbosch University Satellite (SUNSAT I) is an integrated system providing some redundancy and the necessary data management to control the spacecraft. However, the redundancy is not easily accessible and there is a lack in flexibility when testing individual modules during integration or when the system needs to be extended. The objective of this thesis was thus to develop a high reliability, flexible, modular communication system that included some type of redundancy to manage real-time data and to prevent severe malfunctioning of the entire system. The first step in the project's development methodology was to summarise the requirements and specifications by studying the current ADCS architecture and data management. An investigation into the Controller Area Network (CAN) protocol showed that this technology would fit the requirements very well, leading to the design and implementation of several concept topologies based on CAN. Thereafter, a demonstration model consisting of three prototype nodes was composed. The performance of the so called dual CAN node was analysed and an extrapolation was 'made to determine whether the architecture could support the complete ADCS. It was demonstrated that the dual CAN node provides enough room to accommodate all the processors, actuators and sensors of the ADCS. At the same time, it was shown that reliability and robustness was increased by enhanced redundancy at a node-level as well as at the greater system-level. A dual CAN bus was provided for redundancy at a node-level. At the system-level, the command and data-gathering modules (ACP or OBC's) can now effectively be multiplexed on the network of actuators and sensors. Furthermore, it was shown that error detection capabilities and diagnostics can be enhanced and the complexity of the communication architecture and related wiring harnesses can be reduced. This allows easier access to modules and simplifies development. / AFRIKAANSE OPSOMMING: Die Attitude Determination and Control System (ADCS) van Stellenbosch University Satellite (SUNSAT I) is 'n geïntegreerde stelsel wat voorsiening maak vir 'n mate van oortolligheid en 'n vermoeë om stelseldata te bestuur vir goeie satellietbeheer. Nietemin, hierdie oortolligheid is nie baie toeganklik nie en daar is 'n gebrek aan aanpasbaarheid tydens die toets en integrasie van individuele modules of moontlike stelseluitbreidings. Die doelwit van hierdie tesis was dus die ontwikkeling van 'n betroubare, aanpasbare, modulêre kommunikasie stelsel wat 'n tipe oortolligheid insluit sodat intydse data bestuur kan word en algehele stelselondergang vermy kan word. Die eerste stap in die projek se ontwikkelings metodiek was om 'n opsomming te verkry van die vereistes en spesifikasies deur die huidige ADCS se argitektuur en databestuur te ondersoek. 'n Ondersoek na die Controller Area Network (CAN) protokol het getoon dat hierdie tegnologie aan baie van die vereistes voldoen. Dit het aanleiding gegee tot die ontwerp en implementering van 'n paar konsep ontwerpe gebaseer op CAN. Daarna is 'n demonstrasie model bestaande uit drie prototipe nodusse gebou. Die werksverrigting van die sogenoemde dual CAN node, is ondersoek en 'n ekstrapolasie was gemaak om vas te stelof die argitektuur die volkome ADCS kan huisves. Deur demonstrasie was daar getoon dat die dual CAN node wel genoeg ruimte verskaf om al die verwerkers, aktueerders en sensors van die ADCS te akkommodeer. Daar was terselfdertyd getoon dat betroubaarheid en robuustheid verhoog is deur die verbeterde oortolligheid op 'n node-vlak sowel as op die groter stelsel-vlak. 'n Dubbele CAN bus is gebruik vir oortolligheid op 'n node-vlak. Op 'n stelsel-vlak kan die bevel-en-dataversamelings modules (ACP en aBC's) effektief gemultipleks word op die netwerk van aktueerders en sensors. Daar was verder getoon dat die foutopspoorings vermoeë en diagnostiese vermoeë verbeter kan word en die kompleksiteit van die kommunikasie argitektuur en ooreenkomstige kabelharnasse vereenvoudig kan word. Die gevolg is vereenvoudigde toegang tot modules en vergemaklikde opgradering.

The goal of this thesis is to design units with Control Area Network support. These modules can be connected into the network to test new CAN transceivers’ functionality. Next part of the thesis is programming of a firmware for the microcontroller and a user program for PC which is used for network parameters’ settings and for detecting various errors during communication.

<div>Cyber-physical systems, through various sensors and actuators, are used to handle interactions of the cyber-world with the physical-world. Conventionally, the temporal component of the physical-world has been used only for estimating real-time deadlines and responsiveness of control-loop algorithms. However, there are various other applications where the relationship of the temporal component and the cyber-world are of interest. An example is the ability to reconstruct a sequence of past temporal activities from the current state of the cyber-world, which is of obvious interest to cyber-forensic investigators. Another example is the ability to control the temporal components in broadcast communication networks, which leads to new attack and defense capabilities. These relationships have not been explored traditionally.</div><div><br></div><div>To address this gap, this dissertation proposes three systems that cast light on the effect of temporal component of the physical-world on the cyber-world. First, we present Timeliner, a smartphone cyber-forensics technique that recovers past actions from a single static memory image. Following that, we present work on CAN (Controller Area Network), a broadcast communication network used in automotive applications. We show in DUET that the ability to control communication temporally allows two compromised ECUs, an attacker and an accomplice, to stealthily suppress and impersonate a victim ECU, even in the presence of a voltage-based intrusion detection system. In CANDID, we show that the ability to temporally control CAN communication opens up new defensive capabilities that make the CAN much more secure.</div><div><br></div><div>The evaluation results show that Timeliner is very accurate and can reveal past evidence (up to an hour) of user actions across various applications on Android devices. The results also show that DUET is highly effective at impersonating victim ECUs while evading both message-based and voltage-based intrusion detection systems, irrespective of the features and the training algorithms used. Finally, CANDID is able to provide new defensive capabilities to CAN environments with reasonable communication and computational overheads.</div><div><br></div>

Cars are getting more technically advanced and more ECUs are being developed that results in increased safety and comfort, and a lower environmental impact. This leads to a complex work to test and verify that all the different ECUs are functioning as intended in various situations. Vehicle diagnostics often requires software from third parties that are often expensive. Syntronic AB are currently using software with a much larger functionality than needed to perform vehicle diagnostics and much of the unneces-sary functionality in the software leads to unnecessarily long runtimes for the program. By studying CAN and UDS and analyzing how they interact, I was able to create a software by systematically developing the software with two interfaces connected to each computer and continuously testing the implementation against the theoretical basis and then finally testing the software in a vehicle. The created software was better suited to the needs of the company and the more functionality-adapted software could perform the same diagnostics faster than the company’s current software. The most used UDS-service by the company could be implemented and the created software enabled more UDS services to be added without modifications of the main program or its features. / Bilar blir allt mer tekniskt avancerade och fler ECU:er har utvecklats som har medfört ökad säkerhet och komfort samt minskad miljöpåverkan. Det resulterar i ett komplext arbete med att testa och verifiera att alla olika ECU:er fungerar som de skall i olika situationer. Fordonsdiagnostik kräver ofta program-varor från olika aktörer där licenserna ofta är dyra. Idag använder Syntronic AB en programvara med en mycket större funktionalitet än de behöver för att utföra fordonsdiagnostik och all denna onödiga funktionalitet i programvaran har medfört onödigt långa körtider. Genom att studera CAN och UDS och genom att analysera hur de samverkar kunde jag skapa en programvara genom att systematiskt utveckla programvaran med två gränssnitt inkopplade i var sin dator och kontinuerligt testa implementationen mot den teoretiska grunden för att slutligen testa programvaran i en bil. Den skapade programvaran var bättre anpassad för företagets behov och den mer funktionalitetsanpassade programvaran kunde utföra samma diagnostik snabbare än företagets nuvarande programvara. Den UDS-tjänst företaget använde mest kunde implementeras och den skapade programvaran konstruerades så att fler UDS-tjänster kunde läggas till utan modifikation av huvudprogrammet eller dess funktioner.

Plastic optical fiber (POF) for use in automotive applications is not a new concept and has been used in some vehicles for infotainment media distribution within the Media Oriented Systems Transport protocol. However, the use of POF for the control network’s physical layer is a concept that has not been implemented in automotive applications. Many aspects of a vehicle can be improved by implementing POF as the physical backbone for the control network. Currently, the Controller Area Network (CAN) is used as the primary backbone control network protocol for most automobiles as it is inexpensive and reliable. However, CAN is limited to 500 kbps in most vehicles and is easily accessible. Ethernet may provide the improvements of speed and security needed in today’s feature rich and connected vehicles. The feasibility of implementing Ethernet over POF as the control network for automotive applications is the topic of this research investigation.

<p>The rapid expansion of intra-vehicle networks has increased the number of threats to such networks. Most modern vehicles implement various physical and data-link layer technologies. Vehicles are becoming increasingly autonomous and connected. Controller Area Network (CAN) is a serial bus system that is used to connect sensors and controllers (Electronic Control Units – ECUs) within a vehicle. ECUs vary widely in processing power, storage, memory, and connectivity. The goal of this research is to design, implement, and test an efficient and effective intrusion detection system for intra-vehicle CANs. Such a system must be capable of detecting intrusions in almost real-time with minimal resources. The research proposes a specific type of recursive neural network called Long Short-Term Memory (LSTM) to detect anomalies. It also proposes a decision engine that will use LSTM-classified anomalies to detect intrusions by using multiple contextual parameters. We have conducted multiple experiments on the optimal choice of various LSTM hyperparameters. We have tested our classification algorithm and our decision engine using data from real automobiles. We will present the results of our experiments and analyze our findings. After detailed evaluation of our intrusion detection system, we believe that we have designed a vehicle security solution that meets all the outlined requirements and goals.</p>

Today's Cyber-Physical Systems (CPS) are typically distributed over several computing nodes communicating by way of shared buses such as Controller Area Network (CAN). Their control performance gets degraded due to variable delays (jitters) incurred by messages on the shared CAN bus due to contention and network overhead. This work presents a novel online delay prediction approach that predicts the message delay at runtime based on real-time traffic information on CAN. It leverages the proposed method to improve control quality, by compensating for the message delay using the Model Predictive Control (MPC) algorithm in designing the controller. By simulating an automotive Cruise Control system and a DC Motor plant in a CAN environment, it goes on to demonstrate that the delay prediction is accurate, and that the MPC design which takes the message delay into consideration, performs considerably better. It also implements the proposed method on an 8-bit 16MHz ATmega328P microcontroller and measures the execution time overhead. The results clearly indicate that the method is computationally feasible for online usage. / Master of Science / In today’s world, most complicated systems such as automobiles employ a decentralized modular architecture with several nodes communicating with each other over a shared medium. The Controller Area Network (CAN) is the most widely accepted standard as far as automobiles are concerned. The performance of such systems gets degraded due to the variable delays (jitters) incurred by messages on the CAN. These delays can be caused by messages of higher importance delaying bus access to the messages of lower importance, or due to other network related issues. This work presents a novel approach that predicts the message delays in real-time based on the traffic information on CAN. This approach leverages the proposed method to improve the control quality by compensating for the message delay using an advanced controller algorithm called Model Predictive Control (MPC). By simulating an automotive Cruise Control system and a DC motor plant in a CAN environment, this work goes on to demonstrate that the delay prediction is accurate, and that the MPC design which takes the message delay into consideration, performs considerably better. It also implements the proposed approach on a low end microcontroller (8bit, 16MHz ATmega328P) and measures the time taken for predicting the delay for each message (execution overhead). The obtained results clearly indicate that the method is computationally feasible for use in a real-time scenario.