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Security of Critical Cyber-Physical Systems: Fundamentals and OptimizationEldosouky Mahmoud Salama, Abdelrahman A. 18 June 2019 (has links)
Cyber-physical systems (CPSs) are systems that integrate physical elements with a cyber layer that enables sensing, monitoring, and processing the data from the physical components. Examples of CPSs include autonomous vehicles, unmanned aerial vehicles (UAVs), smart grids, and the Internet of Things (IoT). In particular, many critical infrastructure (CI) that are vital to our modern day cities and communities, are CPSs. This wide range of CPSs domains represents a cornerstone of smart cities in which various CPSs are connected to provide efficient services. However, this level of connectivity has brought forward new security challenges and has left CPSs vulnerable to many cyber-physical attacks and disruptive events that can utilize the cyber layer to cause damage to both cyber and physical components. Addressing these security and operation challenges requires developing new security solutions to prevent and mitigate the effects of cyber and physical attacks as well as improving the CPSs response in face of disruptive events, which is known as the CPS resilience.
To this end, the primary goal of this dissertation is to develop novel analytical tools that can be used to study, analyze, and optimize the resilience and security of critical CPSs. In particular, this dissertation presents a number of key contributions that pertain to the security and the resilience of multiple CPSs that include power systems, the Internet of Things (IoT), UAVs, and transportation networks. First, a mathematical framework is proposed to analyze and mitigate the effects of GPS spoofing attacks against UAVs. The proposed framework uses system dynamics to model the optimal routes which UAVs can follow in normal operations and under GPS spoofing attacks. A countermeasure mechanism, built on the premise of cooperative localization, is then developed to mitigate the effects of these GPS spoofing attacks. To practically deploy the proposed defense mechanism, a dynamic Stackelberg game is formulated to model the interactions between a GPS spoofer and a drone operator. The equilibrium strategies of the game are analytically characterized and studied through a novel, computationally efficient algorithm. Simulation results show that, when combined with the Stackelberg strategies, the proposed defense mechanism will outperform baseline strategy selection techniques in terms of reducing the possibility of UAV capture. Next, a game-theoretic framework is developed to model a novel moving target defense (MTD) mechanism that enables CPSs to randomize their configurations to proactive deter impending attacks. By adopting an MTD approach, a CPS can enhance its security against potential attacks by increasing the uncertainty on the attacker. The equilibrium of the developed single-controller, stochastic MTD game is then analyzed. Simulation results show that the proposed framework can significantly improve the overall utility of the defender. Third, the concept of MTD is coupled with new cryptographic algorithms for enhancing the security of an mHealth Internet of Things (IoT) system. In particular, using a combination of theory and implementation, a framework is introduced to enable the IoT devices to update their cryptographic keys locally to eliminate the risk of being revealed while they are shared.
Considering the resilience of CPSs, a novel framework for analyzing the component- and system-level resilience of CIs is proposed. This framework brings together new ideas from Bayesian networks and contract theory – a Nobel prize winning theory – to define a concrete system-level resilience index for CIs and to optimize the allocation of resources, such as redundant components, monitoring devices, or UAVs to help those CIs improve their resilience. In particular, the developed resilience index is able to account for the effect of CI components on the its probability of failure. Meanwhile, using contract theory, a comprehensive resource allocation framework is proposed enabling the system operator to optimally allocate resources to each individual CI based on its economic contribution to the entire system. Simulation results show that the system operator can economically benefit from allocating the resources while dams can have a significant improvement in their resilience indices. Subsequently, the developed contract-theoretic framework is extended to account for cases of asymmetric information in which the system operator has only partial information about the CIs being in some vulnerability and criticality levels. Under such asymmetry, it is shown that the proposed approach maximizes the system operator's utility while ensuring that no CI has an incentive to ask for another contract. Next, a proof-of-concept framework is introduced to analyze and improve the resilience of transportation networks against flooding. The effect of flooding on road capacities and on the free-flow travel time, is considered for different rain intensities and roads preparedness. Meanwhile, the total system's travel time before and after flooding is evaluated using the concept of a Wardrop equilibrium. To this end, a proactive mechanism is developed to reduce the system's travel time, after flooding, by shifting capacities (available lanes) between same road sides. In a nutshell, this dissertation provides a suite of analytical techniques that allow the optimization of security and resilience across multiple CPSs. / Doctor of Philosophy / Cyber-physical systems (CPSs) have recently been used in many application domains because of their ability to integrate physical elements with a cyber layer allowing for sensing, monitoring, and remote controlling. This pervasive use of CPSs in different applications has brought forward new security challenges and threats. Malicious attacks can now leverage the connectivity of the cyber layer to launch remote attacks and cause damage to the physical components. Taking these threats into consideration, it became imperative to ensure the security of CPSs.
Given that many CPSs provide critical services, for instance many critical infrastructure (CI) are CPSs such as smart girds and nuclear reactors; it is then inevitable to ensure that these critical CPSs can maintain proper operation. One key measure of the CPS’s functionality, is resilience which evaluates the ability of a CPS to deliver its designated service under potentially disruptive situations. In general, resilience measures a CPS’s ability to adapt or rapidly recover from disruptive events. Therefore, it is crucial for CPSs to be resilient in face of potential failures.
To this end, the central goal of this dissertation is to develop novel analytical frameworks that can evaluate and improve security and resilience of CPSs. In these frameworks, cross-disciplinary tools are used from game theory, contract theory, and optimization to develop robust analytical solutions for security and resilience problems. In particular, these frameworks led to the following key contributions in cyber security: developing an analytical framework to mitigate the effects of GPS spoofing attacks against UAVs, introducing a game-theoretic moving target defense (MTD) framework to improve the cyber security, and securing data privacy in m-health Internet of Things (IoT) networks using a MTD cryptographic framework. In addition, the dissertation led to the following contributions in CI resilience: developing a general framework using Bayesian Networks to evaluate and improve the resilience of CIs against their components failure, introducing a contract-theoretic model to allocate resources to multiple connected CIs under complete and asymmetric information scenarios, providing a proactive plan to improve the resilience of transportation networks against flooding, and, finally, developing an environment-aware framework to deploy UAVs in disaster-areas.
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Prediction of user action in moving-target selection tasks / Etude de la prédiction de l'action de l'utilisateur dans une tâche de sélection de cibles en mouvementCasallas suarez, Juan Sebastian 26 June 2015 (has links)
La sélection de cibles en mouvement est une tâche courante et complexe dans l'interaction homme-machine (IHM) en général et en particulier dans le domaine de la réalité virtuelle (RV). La prédiction de l'action est une solution intégrale pour aborder les problèmes liés à l'interaction. Cependant, les techniques actuelles de prédiction sont basées sur le suivi continu des actions de l'utilisateur sans prendre en compte la possibilité que les actions d'atteinte d'une cible puissent avoir une composante importante préprogrammée—cette théorie est appelé la théorie du contrôle préprogrammé.En se basant sur la théorie du contrôle préprogrammé, cette thèse explore la possibilité de prédire les actions, avant leur exécution, de sélection d'objets en mouvement. Plus spécifiquement, trois niveaux de prédiction d'action sont étudiés : 1) la performance des actions, mesurée par le temps de mouvement (TM) nécessaire pour atteindre une cible, 2) la difficulté prospective (DP), qui représente la difficulté subjective de la tâche estimée avant son exécution, 3) l'intention de l'utilisateur, qui indique la cible visée par l'utilisateur.Dans le cadre de cette thèse, des modèles de prédiction d'intention sont développés à l'aide des arbres de décision ainsi que des fonctions de classement—ces modèles sont évalués dans deux expériences en RV. Des modèles 1-D et 2-D de DP pour des cibles en mouvement basés sur la loi de Fitts sont développés et évalués dans une expérience en ligne. Enfin, des modèles de TM avec les mêmes caractéristiques structurelles des modèles de DP sont évaluées dans une expérience 3-D en RV. / Selection of moving targets is a common, yet complex task in human–computer interaction (HCI), and more specifically in virtual reality (VR). Action prediction has proven to be the most comprehensive enhancement to address moving-target selection challenges. Current predictive techniques, however, heavily rely on continuous tracking of user actions, without considering the possibility that target-reaching actions may have a dominant pre-programmed component—this theory is known as the pre-programmed control theory.Thus, based on the pre-programmed control theory, this research explores the possibility of predicting moving-target selection prior to action execution. Specifically, three levels of action prediction are investigated: 1) action performance measured as the movement time (MT) required to reach a target, 2) prospective difficulty (PD), i.e., subjective assessments made prior to action execution; and 3) intention, i.e., the target that the user plans to reach.In this dissertation, intention prediction models are developed using decision trees and scoring functions—these models are evaluated in two VR studies. PD models for 1-D, and 2-D moving- target selection tasks are developed based on Fitts' Law, and evaluated in an online experiment. Finally, MT models with the same structural form of the aforementioned PD models are evaluated in a 3-D moving-target selection experiment deployed in VR.
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Adaptive radar detection in the presence of textured and discrete interferenceBang, Jeong Hwan 20 September 2013 (has links)
Under a number of practical operating scenarios, traditional moving target indicator (MTI) systems inadequately suppress ground clutter in airborne radar systems. Due to the moving platform, the clutter gains a nonzero relative velocity and spreads the power across Doppler frequencies. This obfuscates slow-moving targets of interest near the "direct current" component of the spectrum. In response, space-time adaptive processing (STAP) techniques have been developed that simultaneously operate in the space and time dimensions for effective clutter cancellation. STAP algorithms commonly operate under the assumption of homogeneous clutter, where the returns are described by complex, white Gaussian distributions. Empirical evidence shows that this assumption is invalid for many radar systems of interest, including high-resolution radar and radars operating at low grazing angles. We are interested in these heterogeneous cases, i.e., cases when the Gaussian model no longer suffices.
Hence, the development of reliable STAP algorithms for real systems depends on the accuracy of the heterogeneous clutter models. The clutter of interest in this work includes heterogeneous texture clutter and point clutter. We have developed a cell-based clutter model (CCM) that provides simple, yet faithful means to simulate clutter scenarios for algorithm testing. The scene generated by the CMM can be tuned with two parameters, essentially describing the spikiness of the clutter scene. In one extreme, the texture resembles point clutter, generating strong returns from localized range-azimuth bins. On the other hand, our model can also simulate a flat, homogeneous environment. We prove the importance of model-based STAP techniques, namely knowledge-aided parametric covariance estimation (KAPE), in filtering a gamut of heterogeneous texture scenes. We demonstrate that the efficacy of KAPE does not diminish in the presence of typical spiky clutter.
Computational complexities and susceptibility to modeling errors prohibit the use of KAPE in real systems. The computational complexity is a major concern, as the standard KAPE algorithm requires the inversion of an MNxMN matrix for each range bin, where M and N are the number of array elements and the number of pulses of the radar system, respectively. We developed a Gram Schmidt (GS) KAPE method that circumvents the need of a direct inversion and reduces the number of required power estimates. Another unavoidable concern is the performance degradations arising from uncalibrated array errors. This problem is exacerbated in KAPE, as it is a model-based technique; mismatched element amplitudes and phase errors amount to a modeling mismatch. We have developed the power-ridge aligning (PRA) calibration technique, a novel iterative gradient descent algorithm that outperforms current methods. We demonstrate the vast improvements attained using a combination of GS KAPE and PRA over the standard KAPE algorithm under various clutter scenarios in the presence of array errors.
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Software-defined Situation-aware Cloud SecurityJanuary 2020 (has links)
abstract: The use of reactive security mechanisms in enterprise networks can, at times, provide an asymmetric advantage to the attacker. Similarly, the use of a proactive security mechanism like Moving Target Defense (MTD), if performed without analyzing the effects of security countermeasures, can lead to security policy and service level agreement violations. In this thesis, I explore the research questions 1) how to model attacker-defender interactions for multi-stage attacks? 2) how to efficiently deploy proactive (MTD) security countermeasures in a software-defined environment for single and multi-stage attacks? 3) how to verify the effects of security and management policies on the network and take corrective actions?
I propose a Software-defined Situation-aware Cloud Security framework, that, 1) analyzes the attacker-defender interactions using an Software-defined Networking (SDN) based scalable attack graph. This research investigates Advanced Persistent Threat (APT) attacks using a scalable attack graph. The framework utilizes a parallel graph partitioning algorithm to generate an attack graph quickly and efficiently. 2) models single-stage and multi-stage attacks (APTs) using the game-theoretic model and provides SDN-based MTD countermeasures. I propose a Markov Game for modeling multi-stage attacks. 3) introduces a multi-stage policy conflict checking framework at the SDN network's application plane. I present INTPOL, a new intent-driven security policy enforcement solution. INTPOL provides a unified language and INTPOL grammar that abstracts the network administrator from the underlying network controller's lexical rules. INTPOL develops a bounded formal model for network service compliance checking, which significantly reduces the number of countermeasures that needs to be deployed. Once the application-layer policy conflicts are resolved, I utilize an Object-Oriented Policy Conflict checking (OOPC) framework that identifies and resolves rule-order dependencies and conflicts between security policies. / Dissertation/Thesis / Doctoral Dissertation Computer Science 2020
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Détection et segmentation robustes de cibles mobiles par analyse du mouvement résiduel, à l'aide d'une unique caméra, dans un contexte industriel. Une application à la vidéo-surveillance automatique par drone. / A robust moving target detection by the analysis of the residual motion, with a mono-camera, in an industrial context. An application to the automatic aerial video surveillance.Pouzet, Mathieu 05 November 2015 (has links)
Nous proposons dans cette thèse une méthode robuste de détection d’objets mobiles depuis une caméra en mouvement montée sur un vecteur aérien de type drone ou hélicoptère. Nos contraintes industrielles sont particulièrement fortes : robustesse aux grands mouvements de la caméra, robustesse au flou de focus ou de bougé, et précision dans la détection et segmentation des objets mobiles. De même, notre solution doit être optimisée afin de ne pas être trop consommatrice en termes de puissance de calcul. Notre solution consiste en la compensation du mouvement global, résultant du mouvement de la caméra, puis en l’analyse du mouvement résiduel existant entre les images pour détecter et segmenter les cibles mobiles. Ce domaine a été particulièrement exploré dans la littérature, ce qui se traduit par une richesse des méthodes proposées fondamentalement différentes. Après en avoir étudié un certain nombre, nous nous sommes aperçus qu’elles avaient toutes un domaine d’applications restreint, malheureusement incompatible avec nos préoccupations industrielles. Pour pallier à ce problème, nous proposons une méthodologie consistant à analyser les résultats des méthodes de l’état de l’art de manière à en comprendre les avantages et inconvénients de chacune. Puis, des hybridations de ces méthodes sont alors mis en place. Ainsi, nous proposons trois étapes successives : la compensation du mouvement entre deux images successives, l’élaboration d’un arrière plan de la scène afin de pouvoir segmenter de manière correcte les objets mobiles dans l’image et le filtrage de ces détections par confrontation entre le mouvement estimé lors de la première étape et le mouvement résiduel estimé par un algorithme local. La première étape consiste en l’estimation du mouvement global entre deux images à l’aide d’une méthode hybride composée d’un algorithme de minimisation ESM et d’une méthode de mise en correspondance de points d’intérêt Harris. L’approche pyramidale proposée permet d’optimiser les temps de calcul et les estimateursrobustes (M-Estimateur pour l’ESM et RANSAC pour les points d’intérêt) permettent de répondre aux contraintes industrielles. La deuxième étape établit un arrière plan de la scène à l’aide d’une méthode couplant les résultats d’une différence d’images successives (après compensation) et d’une segmentation en régions. Cette méthode réalise une fusion entre les informations statiques et dynamiques de l’image. Cet arrière plan est ensuite comparé avec l’image courante afin de détecter les objets mobiles. Enfin, la dernière étape confronte les résultats de l’estimation de mouvement global avec le mouvement résiduel estimé par un flux optique local Lucas-Kanade afin de valider les détections obtenues lors de la seconde étape. Les expériences réalisées dans ce mémoire sur de nombreuses séquences de tests (simulées ou réelles) permettent de valider la solution retenue. Nous montrons également diverses applications possibles de notre méthode proposée. / We propose a robust method about moving target detection from a moving UAV-mounted or helicopter-mounted camera. The industrial solution has to be robust to large motion of the camera, focus and motion blur in the images, and need to be accurate in terms of the moving target detection and segmentation. It does not have to need a long computation time. The proposed solution to detect the moving targets consists in the global camera motion compensation, and the residual motion analysis, that exists between the successive images. This research domain has been widely explored in the literature, implying lots of different proposed methods. The study of these methods show us that they all have a different and limited application scope, incompatible with our industrial constraints. To deal with this problem, we propose a methodology consisting in the analysis of the state-of-the-art method results, to extract their strengths and weaknesses. Then we propose to hybrid them. Therefore, we propose three successive steps : the inter-frame motion compensation, thecreation of a background in order to correctly detect the moving targets in the image and then the filtering of these detections by a comparison between the estimated global motion of the first step and the residual motion estimated by a local algorithm. The first step consists in the estimation of the global motion between two successive images thanks to a hybrid method composed of a minimization algorithm (ESM) and a feature-based method (Harris matching). The pyramidal implementation allows to optimize the computation time and the robust estimators (M-Estimator for the ESM algorithm and RANSAC for the Harris matching) allow to deal with the industrial constraints. The second step createsa background image using a method coupling the results of an inter-frame difference (after the global motion compensation) and a region segmentation. This method merges the static and dynamic information existing in the images. This background is then compared with the current image to detect the moving targets. Finally, the last step compares the results of the global motion estimation with the residual motion estimated by a Lucas-Kanade optical flow in order to validate the obtained detections of the second step. This solution has been validated after an evaluation on a large number of simulated and real sequences of images. Additionally, we propose some possible applications of theproposed method.
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Clutter Removal in Single Radar Sensor Reflection Data via Digital Signal ProcessingKazemisaber, Mohammadreza January 2020 (has links)
Due to recent improvements, robots are more applicable in factories and various production lines where smoke, fog, dust, and steam are inevitable. Despite their advantages, robots introduce new safety requirements when combined with humans. Radars can play a crucial role in this context by providing safe zones where robots are operating in the absence of humans. The goal of this Master’s thesis is to investigate different clutter suppression methods for single radar sensor reflection data via digital signal processing. This was done in collaboration with ABB Jokab AB, Sweden. The calculations and implementation of the digital signal processing algorithms are made with Octave. A critical problem is false detection that could possibly cause irreparable damage. Therefore, a safety system with an extremely low false alarm rate is desired to reduce costs and damages. In this project, we have studied four different digital low pass filters: moving average, multiple-pass moving average, Butterworth, and window-based filters. The results are compared, and it is ascertained that all the results are logically compatible, broadly comparable, and usable in this context.
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Propulsion System Development for the CanX-4 and CanX-5 Dual Nanosatellite Formation Flying MissionRisi, Benjamin 04 July 2014 (has links)
The Canadian Nanosatellite Advanced Propulsion System is a liquefied cold-gas thruster system that provides propulsive capabilities to CanX-4/-5, the Canadian Advanced Nanospace eXperiment 4 and 5. With a launch date of early 2014, CanX-4/-5's primary mission objective is to demonstrate precise autonomous formation flight of nanosatellites in low Earth orbit. The high-level CanX-4/-5 mission and system architecture is described. The final design and assembly of the propulsion system is presented along with the lessons learned. A high-level test plan provides a roadmap of the testing required to qualify the propulsion system for flight. The setup and execution of these tests, as well as the analyses of the results found therein, are discussed in detail.
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