text: A Cyber Physical System (CPS) consists of cyber components for computation and communication, and physical components such as sensors and actuators for process control. These components are networked and interact in a feedback loop. CPS are found in critical infrastructure such as water distribution, power grid, and mass transportation. Often these systems are vulnerable to attacks as the cyber components such as Supervisory Control and Data Acquisition workstations, Human Machine Interface and Programmable Logic Controllers are potential targets for attackers. In this work, we report a study to investigate the impact of cyber attacks on a water distribution (WADI) system. Attacks were designed to meet attacker objectives and launched on WADI using a specially designed tool. This tool enables the launch of single and multi-point attacks where the latter are designed to specifically hide one or more attacks. The outcome of the experiments led to a better understanding of attack propagation and behavior of WADI in response to the attacks as well as to the design of an attack detection mechanism for water distribution system.
  @cite_18: This paper presents a general theory of event compensation as an information flow security enforcement mechanism for Cyber-Physical Systems (CPSs). The fundamental research problem being investigated is that externally observable events in modern CPSs have the propensity to divulge sensitive settings to adversaries, resulting in a confidentiality violation. This is a less studied yet emerging concern in modern system security. A viable method to mitigate such violations is to use information flow security based enforcement mechanisms since access control based security models cannot impose restrictions on information propagation. Further, the disjoint nature of security analysis is not appropriate for systems with highly integrated physical and cyber infrastructures. The proposed compensation based security framework is foundational work that unifies cyber and physical aspects of security through the shared semantics of information flow. A DC circuit example is presented to demonstrate this concept.
  @cite_4: This paper presents a novel unsupervised approach to detect cyber attacks in Cyber-Physical Systems (CPS). We describe an unsupervised learning approach using a Recurrent Neural network which is a time series predictor as our model. We then use the Cumulative Sum method to identify anomalies in a replicate of a water treatment plant. The proposed method not only detects anomalies in the CPS but also identifies the sensor that was attacked. The experiments were performed on a complex dataset which is collected through a Secure Water Treatment Testbed (SWaT). Through the experiments, we show that the proposed technique is able to detect majority of the attacks designed by our research team with low false positive rates.
  @cite_28: Industrial Control Systems (ICS) such as water and power are critical to any society. Process anomaly detection mechanisms have been proposed to protect such systems to minimize the risk of damage or loss of resources. In this paper, a graphical model-based approach is proposed for profiling normal operational behavior of an operational ICS referred to as SWaT (Secure Water Treatment). Timed automata are learned as a model of regular behaviors shown in sensors signal like fluctuations of water level in tanks. Bayesian networks are learned to discover dependencies between sensors and actuators. The models are used as a one-class classifier for process anomaly detection, recognizing irregular behavioral patterns and dependencies. The detection results can be interpreted and the abnormal sensors or actuators localized due to the interpretability of the graphical models. This approach is applied to a dataset collected from SWaT. Experimental results demonstrate the model's superior performance on both precision and run-time over methods including support vector machine and deep neural networks. The underlying idea is generic and applicable to other industrial control systems such as power and transportation.
  @cite_55: The rise in attempted and successful attacks on critical infrastructure, such as power grid and water treatment plants, has led to an urgent need for the creation and adoption of methods for detecting such attacks often launched either by insiders or state actors. This paper focuses on one such method that aims at the detection of attacks that compromise one or more actuators and sensors in a plant either through successful intrusion in the plant's communication network or directly through the plant computers. The method, labelled as Distributed Attack Detection (DAD), detects attacks in real-time by identifying anomalies in the behavior of the physical process in the plant. Anomalies are identified by using monitors that are implementations of invariants derived from the plant design. Each invariant must hold either throughout the plant operation, or when the plant is in a given state. The effectiveness of DAD was assessed experimentally on an operational water treatment plant named SWaT that is a near-replica of commercially available large treatment plants. The method used in DAD was found to be effective in detecting stealthy and coordinated attacks.
  @cite_27: Pervasive healthcare systems, smart grids, and unmanned aircraft systems are examples of Cyber-Physical Systems (CPSs) that have become highly integrated in the modern world. As this integration deepens, the importance of securing these systems increases. In order to identify gaps and propose research directions in CPS intrusion detection research, we survey the literature of this area. Our approach is to classify modern CPS Intrusion Detection System (IDS) techniques based on two design dimensions: detection technique and audit material. We summarize advantages and drawbacks of each dimension’s options. We also summarize the most and least studied CPS IDS techniques in the literature and provide insight on the effectiveness of IDS techniques as they apply to CPSs. Finally, we identify gaps in CPS IDS research and suggest future research areas.
  @cite_51: A distributed detection method is proposed to detect single stage multi-point (SSMP) attacks on a Cyber Physical System (CPS). Such attacks aim at compromising two or more sensors or actuators at any one stage of a CPS and could totally compromise a controller and prevent it from detecting the attack. However, as demonstrated in this work, using the flow properties of water from one stage to the other, a neighboring controller was found effective in detecting such attacks. The method is based on physical invariants derived for each stage of the CPS from its design. The attack detection effectiveness of the method was evaluated experimentally against an operational water treatment testbed containing 42 sensors and actuators. Results from the experiments point to high effectiveness of the method in detecting a variety of SSMP attacks but also point to its limitations. Distributing the attack detection code among various controllers adds to the scalability of the proposed method.
  @cite_12: Cyber-physical systems (CPS) consist of sensors, actuators, and controllers all communicating over a network; if any subset becomes compromised, an attacker could cause significant damage. With access to data logs and a model of the CPS, the physical effects of an attack could potentially be detected before any damage is done. Manually building a model that is accurate enough in practice, however, is extremely difficult. In this paper, we propose a novel approach for constructing models of CPS automatically, by applying supervised machine learning to data traces obtained after systematically seeding their software components with faults ("mutants"). We demonstrate the efficacy of this approach on the simulator of a real-world water purification plant, presenting a framework that automatically generates mutants, collects data traces, and learns an SVM-based model. Using cross-validation and statistical model checking, we show that the learnt model characterises an invariant physical property of the system. Furthermore, we demonstrate the usefulness of the invariant by subjecting the system to 55 network and code-modification attacks, and showing that it can detect 85 of them from the data logs generated at runtime.
summary: Attack detection in water systems: Mitchel and Chen surveyed , @cite_27 intrusion detection techniques for CPS. They presented existing works based on a classification tree. They also presented the advantages and limitations of the techniques. The use of invariants for detecting attacks on CPS has been proposed and evaluated by several researchers such as in , @cite_18 @cite_51 @cite_55 . In this work it is claimed that the use of controlled invariant sets in detecting cyber attacks uses little information about the controller and hence is useful for a large range of control laws. Yuqi et. al. , @cite_12 proposed an approach for learning physical invariants that combine machine learning with ideas from mutation testing. Data driven , @cite_4 @cite_28 approaches for attack detection is studied on a water treatment system.