We present ThingFlow, a software architecture to write event-processing pipelines for Internet-of-things (IoT) applications. Such applications typically involve sensing, stateful transformations of event streams, state estimation, and control/actuation, learning, and data analytics. They are currently programmed using a zoo of languages, systems, and APIs with ad hoc data passing protocols. ThingFlow provides three abstractions: sensors which can sample changing physical values, streams of (potentially real-valued) data, and stateful filters, which transform input streams to output streams, and can be composed. ThingFlow programs consist of compositions of filters scheduled and run by an explicit, asynchronous, scheduler. ThingFlow is implemented as a Python API whose core is compact enough to run on very limited microcontrollers such as the ESP8266, while providing support for sensors, message streams over the network, machine learning, and cloud backends. We show the expressiveness, versatility, and simplicity of ThingFlow on a number of examples from the IoT domain, incorporating sensing, filtering, actuation, data analysis, and learning.
{"title":"Programming event processors with thingflow","authors":"Jeffrey M. Fischer, R. Majumdar","doi":"10.1145/3302509.3311039","DOIUrl":"https://doi.org/10.1145/3302509.3311039","url":null,"abstract":"We present ThingFlow, a software architecture to write event-processing pipelines for Internet-of-things (IoT) applications. Such applications typically involve sensing, stateful transformations of event streams, state estimation, and control/actuation, learning, and data analytics. They are currently programmed using a zoo of languages, systems, and APIs with ad hoc data passing protocols. ThingFlow provides three abstractions: sensors which can sample changing physical values, streams of (potentially real-valued) data, and stateful filters, which transform input streams to output streams, and can be composed. ThingFlow programs consist of compositions of filters scheduled and run by an explicit, asynchronous, scheduler. ThingFlow is implemented as a Python API whose core is compact enough to run on very limited microcontrollers such as the ESP8266, while providing support for sensors, message streams over the network, machine learning, and cloud backends. We show the expressiveness, versatility, and simplicity of ThingFlow on a number of examples from the IoT domain, incorporating sensing, filtering, actuation, data analysis, and learning.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114199169","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this work, we consider the problem of selecting-or placing- sensors and control nodes in nonlinear dynamic networks (NDN) which model the evolution of many cyber-physical systems. Specifically, we illustrate here the need for computational methods that obtain the optimal combinations of sensors and actuators, while considering the nonlinear behavior of NDN and and systems-theoretic performance metrics. This work-in-progress abstract briefly show-cases our recent work in this problem, which is divided into two steps: (1) Characterizing the classes of nonlinearities encompassed in NDN; (2) Developing tractable computational algorithms to solve the joint problem of selecting control nodes/sensors and designing feedback control/state estimators.
{"title":"On the need for sensor and actuator placement algorithms in nonlinear systems: WIP abstract","authors":"Sebastian A. Nugroho, A. Taha","doi":"10.1145/3302509.3313313","DOIUrl":"https://doi.org/10.1145/3302509.3313313","url":null,"abstract":"In this work, we consider the problem of selecting-or placing- sensors and control nodes in nonlinear dynamic networks (NDN) which model the evolution of many cyber-physical systems. Specifically, we illustrate here the need for computational methods that obtain the optimal combinations of sensors and actuators, while considering the nonlinear behavior of NDN and and systems-theoretic performance metrics. This work-in-progress abstract briefly show-cases our recent work in this problem, which is divided into two steps: (1) Characterizing the classes of nonlinearities encompassed in NDN; (2) Developing tractable computational algorithms to solve the joint problem of selecting control nodes/sensors and designing feedback control/state estimators.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124916795","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Stephen A. Rees, T. Kecskés, Patrik Meijer, Taylor T. Johnson, Katie Dey, P. Tabuada, Marcus Lucas
The Cyber-Physical Systems Virtual Organization (CPS-VO)1 has been evolving from a shared repository of information into a destination for active collaboration, simulation, hands-on education, and demonstration. We would like to show-case advances in tool integration, particularly a set of verification tools, and how this integration enables reproducibility, improves accessibility, and lowers the barrier to entry in this field. We would also like to demonstrate use of our simulation and tool frameworks, have a poster showing results and progress over the last year, and invite others to host their tools on the CPS-VO infrastructure.
{"title":"Cyber-physical systems virtual organization: Active resources: enabling reproducibility, improving accessibility, and lowering the barrier to entry","authors":"Stephen A. Rees, T. Kecskés, Patrik Meijer, Taylor T. Johnson, Katie Dey, P. Tabuada, Marcus Lucas","doi":"10.1145/3302509.3313331","DOIUrl":"https://doi.org/10.1145/3302509.3313331","url":null,"abstract":"The Cyber-Physical Systems Virtual Organization (CPS-VO)1 has been evolving from a shared repository of information into a destination for active collaboration, simulation, hands-on education, and demonstration. We would like to show-case advances in tool integration, particularly a set of verification tools, and how this integration enables reproducibility, improves accessibility, and lowers the barrier to entry in this field. We would also like to demonstrate use of our simulation and tool frameworks, have a poster showing results and progress over the last year, and invite others to host their tools on the CPS-VO infrastructure.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131317886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a methodology to detect an object with an accelerometer potentially among many other moving objects in a camera scene. By matching sensor readings from a wearable accelerometer with analogous readings from a single camera or plurality of cameras, we detect instances of the same physical movement that both modalities capture. This has a wide range of potential applications in the cyber-physical systems domain such as identification, localization, and detecting context for activity recognition. We present an approach to project data from camera frames into accelerometer frames, where they share the same physical representation, allowing for comparing and determining similarities between the two modalities by using computational algorithms in the cyber world. This is challenging as depth is unknown when using a single 2D camera. We translate camera measurements into the acceleration physical domain and acquire an estimated depth, when the depth is not varying significantly during the motion. We model this translation as an optimization problem to find the optimal depth that maximizes the similarity between readings of the camera and accelerometer. Additionally, we discuss a potential solution with multiple cameras that works for arbitrary varying depth motions. Experimental results demonstrate that the system can detect matching between data stemming from physical movements observed by a wearable accelerometer and a single camera or plurality of cameras.
{"title":"Tagging wearable accelerometers in camera frames through information translation between vision sensors and accelerometers","authors":"A. Akbari, Peiming Liu, B. Mortazavi, R. Jafari","doi":"10.1145/3302509.3311057","DOIUrl":"https://doi.org/10.1145/3302509.3311057","url":null,"abstract":"This paper presents a methodology to detect an object with an accelerometer potentially among many other moving objects in a camera scene. By matching sensor readings from a wearable accelerometer with analogous readings from a single camera or plurality of cameras, we detect instances of the same physical movement that both modalities capture. This has a wide range of potential applications in the cyber-physical systems domain such as identification, localization, and detecting context for activity recognition. We present an approach to project data from camera frames into accelerometer frames, where they share the same physical representation, allowing for comparing and determining similarities between the two modalities by using computational algorithms in the cyber world. This is challenging as depth is unknown when using a single 2D camera. We translate camera measurements into the acceleration physical domain and acquire an estimated depth, when the depth is not varying significantly during the motion. We model this translation as an optimization problem to find the optimal depth that maximizes the similarity between readings of the camera and accelerometer. Additionally, we discuss a potential solution with multiple cameras that works for arbitrary varying depth motions. Experimental results demonstrate that the system can detect matching between data stemming from physical movements observed by a wearable accelerometer and a single camera or plurality of cameras.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123078676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this abstract and the poster associated with it, we present preliminary results on people's emotional perception of assisted driving interventions as a first step in the development of emotionally-aware smart wheelchairs. Current approaches to collaborative wheelchair navigation are designed to handle objective and functional information (such as goals and system states) but little subjective information (such as the user's feeling at the introduction of an intervention). We explore user affect as a potential communication channel through which users could communicate more richly with their smart mobility device.
{"title":"Towards an emotionally-aware smart wheelchair: poster abstract","authors":"Ariadna Estrada, Ian M. Mitchell","doi":"10.1145/3302509.3313320","DOIUrl":"https://doi.org/10.1145/3302509.3313320","url":null,"abstract":"In this abstract and the poster associated with it, we present preliminary results on people's emotional perception of assisted driving interventions as a first step in the development of emotionally-aware smart wheelchairs. Current approaches to collaborative wheelchair navigation are designed to handle objective and functional information (such as goals and system states) but little subjective information (such as the user's feeling at the introduction of an intervention). We explore user affect as a potential communication channel through which users could communicate more richly with their smart mobility device.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127498163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
There has been increased focus on improving the security and efficiency of the electricity grid resources. Many solutions have been proposed. Demand Response (DR) and Demand Side Management (DSM) are popular solutions in studies towards achieving these goals. This paper elucidates on the work being done within a Horizon 2020 (H2020) project, Sim4Blocks, funded by the EU, on the implementation of DR for a group of buildings with thermal and electric demands. The project tackles three issues that are of importance to realization of DR for end-users: (1) What hardware and communication protocols are required to ensure that existing devices (especially thermal devices) can participate in the electricity market? Would it be possible to future-proof the methodology developed? (2) How do we optimise the thermal and electric energy flows such that demand and comfort are satisfied while minimising stress in the electric grid and (3) How do we integrate the optimisation algorithms and associated software with the hardware so that the entire hardware-software framework works seamlessly. With these questions in mind, hardware, communication protocols, Domain Specific Languages (DSL) and optimisation frameworks are utilised and developed such that end-user buildings with thermal and electrical devices can participate in the electricity market. The entire framework developed is validated through demonstration on three pilot sites in three different countries with different sets of devices (Switzerland, Germany and Spain). These sites consisting of end-user buildings that have thermal and electrical devices which are conventionally found in today's market. Thus, through the development and demonstration of such a framework, Sim4Blocks is able to analyse the strengths, weaknesses and bottlenecks existing in today's devices, control methodologies and market constraints and suggest solutions to overcome them.
{"title":"Implementation of demand response for a block of buildings for active participation in the electricity market","authors":"R. Menon, F. Amblard, Jessen Page","doi":"10.1145/3302509.3313326","DOIUrl":"https://doi.org/10.1145/3302509.3313326","url":null,"abstract":"There has been increased focus on improving the security and efficiency of the electricity grid resources. Many solutions have been proposed. Demand Response (DR) and Demand Side Management (DSM) are popular solutions in studies towards achieving these goals. This paper elucidates on the work being done within a Horizon 2020 (H2020) project, Sim4Blocks, funded by the EU, on the implementation of DR for a group of buildings with thermal and electric demands. The project tackles three issues that are of importance to realization of DR for end-users: (1) What hardware and communication protocols are required to ensure that existing devices (especially thermal devices) can participate in the electricity market? Would it be possible to future-proof the methodology developed? (2) How do we optimise the thermal and electric energy flows such that demand and comfort are satisfied while minimising stress in the electric grid and (3) How do we integrate the optimisation algorithms and associated software with the hardware so that the entire hardware-software framework works seamlessly. With these questions in mind, hardware, communication protocols, Domain Specific Languages (DSL) and optimisation frameworks are utilised and developed such that end-user buildings with thermal and electrical devices can participate in the electricity market. The entire framework developed is validated through demonstration on three pilot sites in three different countries with different sets of devices (Switzerland, Germany and Spain). These sites consisting of end-user buildings that have thermal and electrical devices which are conventionally found in today's market. Thus, through the development and demonstration of such a framework, Sim4Blocks is able to analyse the strengths, weaknesses and bottlenecks existing in today's devices, control methodologies and market constraints and suggest solutions to overcome them.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"324 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122026521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We present an autonomous measurement outlier detection and exclusion framework for ground vehicle navigation using cellular signals of opportunity (SOPs) and an inertial measurement unit (IMU). The experimental results demonstrate the proposed framework successfully detecting and excluding outlier measurements, improving the position root mean-squared error (RMSE) by 42%. The demo session will showcase work in progress, namely (1) demo (in the form of a video of our experiment driving in downtown Riverside, California) and (2) a poster that includes the navigation framework, the proposed outlier detection method, and the experimental results.
{"title":"Pseudorange measurement outlier detection for navigation with cellular signals: WIP abstract","authors":"Mahdi Maaref, Joe J. Khalife, Z. Kassas","doi":"10.1145/3302509.3313334","DOIUrl":"https://doi.org/10.1145/3302509.3313334","url":null,"abstract":"We present an autonomous measurement outlier detection and exclusion framework for ground vehicle navigation using cellular signals of opportunity (SOPs) and an inertial measurement unit (IMU). The experimental results demonstrate the proposed framework successfully detecting and excluding outlier measurements, improving the position root mean-squared error (RMSE) by 42%. The demo session will showcase work in progress, namely (1) demo (in the form of a video of our experiment driving in downtown Riverside, California) and (2) a poster that includes the navigation framework, the proposed outlier detection method, and the experimental results.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122719401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We consider the problem of implementing a Linear Quadratic Gaussian (LQG) controller on a distributed system, while maintaining the privacy of the measurements, state estimates, control inputs and system model. The component sub-systems and actuator outsource the LQG computation to a cloud controller and encrypt their signals and matrices. The encryption scheme used is Labeled Homomorphic Encryption, which supports the evaluation of degree-2 polynomials on encrypted data, by attaching a unique label to each piece of data and using the fact that the outsourced computation is known by the actuator. We write the state estimate update and control computation as multivariate polynomials in the encrypted data and propose an extension to the Labeled Homomorphic Encryption scheme that achieves the evaluation of low-degree polynomials on encrypted data, with degree larger than two. We showcase the numerical results of the proposed protocol for a temperature control application that indicates competitive online times.
{"title":"Encrypted LQG using labeled homomorphic encryption","authors":"A. Alexandru, George J. Pappas","doi":"10.1145/3302509.3311049","DOIUrl":"https://doi.org/10.1145/3302509.3311049","url":null,"abstract":"We consider the problem of implementing a Linear Quadratic Gaussian (LQG) controller on a distributed system, while maintaining the privacy of the measurements, state estimates, control inputs and system model. The component sub-systems and actuator outsource the LQG computation to a cloud controller and encrypt their signals and matrices. The encryption scheme used is Labeled Homomorphic Encryption, which supports the evaluation of degree-2 polynomials on encrypted data, by attaching a unique label to each piece of data and using the fact that the outsourced computation is known by the actuator. We write the state estimate update and control computation as multivariate polynomials in the encrypted data and propose an extension to the Labeled Homomorphic Encryption scheme that achieves the evaluation of low-degree polynomials on encrypted data, with degree larger than two. We showcase the numerical results of the proposed protocol for a temperature control application that indicates competitive online times.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128116698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yehan Ma, Jianlin Guo, Yebin Wang, A. Chakrabarty, Heejin Ahn, P. Orlik, Chenyang Lu
Wireless networked control system is gaining momentum in industrial cyber-physical systems, e.g., smart factory. Suffering from limited bandwidth and nondeterministic link quality, a critical challenge in its deployment is how to optimize the closed-loop control system performance as well as maintain stability. In order to bridge the gap between network design and control system performance, we propose an optimal dynamic scheduling strategy that optimizes performance of multi-loop control systems by allocating network resources based on predictions of both link quality and control performance at run-time. The optimal dynamic scheduling strategy boils down to solving a nonlinear integer programming problem, which is further relaxed to a linear programming problem. The proposed strategy provably renders the closed-loop system mean-square stable under mild assumptions. Its efficacy is demonstrated by simulating a four-loop control system over an IEEE 802.15.4 wireless network simulator - TOSSIM. Simulation results show that the optimal dynamic scheduling can enhance control system performance and adapt to both constant and variable network background noises as well as physical disturbance.
{"title":"Optimal dynamic scheduling of wireless networked control systems","authors":"Yehan Ma, Jianlin Guo, Yebin Wang, A. Chakrabarty, Heejin Ahn, P. Orlik, Chenyang Lu","doi":"10.1145/3302509.3311040","DOIUrl":"https://doi.org/10.1145/3302509.3311040","url":null,"abstract":"Wireless networked control system is gaining momentum in industrial cyber-physical systems, e.g., smart factory. Suffering from limited bandwidth and nondeterministic link quality, a critical challenge in its deployment is how to optimize the closed-loop control system performance as well as maintain stability. In order to bridge the gap between network design and control system performance, we propose an optimal dynamic scheduling strategy that optimizes performance of multi-loop control systems by allocating network resources based on predictions of both link quality and control performance at run-time. The optimal dynamic scheduling strategy boils down to solving a nonlinear integer programming problem, which is further relaxed to a linear programming problem. The proposed strategy provably renders the closed-loop system mean-square stable under mild assumptions. Its efficacy is demonstrated by simulating a four-loop control system over an IEEE 802.15.4 wireless network simulator - TOSSIM. Simulation results show that the optimal dynamic scheduling can enhance control system performance and adapt to both constant and variable network background noises as well as physical disturbance.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123994637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Xuhang Ying, Giuseppe Bernieri, M. Conti, R. Poovendran
Nowadays, the interconnection of automotive systems with modern digital devices offers advanced user experiences to drivers. Electronic Control Units (ECUs) carry out a multitude of operations using the insecure Controller Area Network (CAN) bus in automotive Cyber-Physical Systems (CPSs). Therefore, dangerous attacks, such as disabling brakes, are possible and the safety of passengers is at risk. In this paper, we present TACAN (Transmitter Authentication in CAN), which provides secure authentication of ECUs by exploiting the covert channels without introducing CAN protocol modifications or traffic overheads (i.e., no extra bits or messages are used). TACAN turns upside-down the originally malicious concept of covert channels and exploits it to build an effective defensive technique that facilitates transmitter authentication via a trusted Monitor Node. TACAN consists of three different covert channels for ECU authentication: 1) Inter-Arrival Time (IAT)-based, leveraging the IATs of CAN messages; 2) offset-based, exploiting the clock offsets of CAN messages; 3) Least Significant Bit (LSB)-based, concealing authentication messages into the LSBs of normal CAN data. We implement the covert channels on the University of Washington (UW) EcoCAR testbed and evaluate their performance through extensive experiments. We demonstrate the feasibility of TACAN, highlighting no traffic overheads and attesting the regular functionality of ECUs. In particular, the bit error ratios are within 0.1% and 0.42% for the IAT-based and offset-based covert channels, respectively. Furthermore, the bit error ratio of the LSB-based covert channel is equal to that of a normal CAN bus, which is 3.1 x 10-7%.
{"title":"TACAN","authors":"Xuhang Ying, Giuseppe Bernieri, M. Conti, R. Poovendran","doi":"10.1145/3302509.3313783","DOIUrl":"https://doi.org/10.1145/3302509.3313783","url":null,"abstract":"Nowadays, the interconnection of automotive systems with modern digital devices offers advanced user experiences to drivers. Electronic Control Units (ECUs) carry out a multitude of operations using the insecure Controller Area Network (CAN) bus in automotive Cyber-Physical Systems (CPSs). Therefore, dangerous attacks, such as disabling brakes, are possible and the safety of passengers is at risk. In this paper, we present TACAN (Transmitter Authentication in CAN), which provides secure authentication of ECUs by exploiting the covert channels without introducing CAN protocol modifications or traffic overheads (i.e., no extra bits or messages are used). TACAN turns upside-down the originally malicious concept of covert channels and exploits it to build an effective defensive technique that facilitates transmitter authentication via a trusted Monitor Node. TACAN consists of three different covert channels for ECU authentication: 1) Inter-Arrival Time (IAT)-based, leveraging the IATs of CAN messages; 2) offset-based, exploiting the clock offsets of CAN messages; 3) Least Significant Bit (LSB)-based, concealing authentication messages into the LSBs of normal CAN data. We implement the covert channels on the University of Washington (UW) EcoCAR testbed and evaluate their performance through extensive experiments. We demonstrate the feasibility of TACAN, highlighting no traffic overheads and attesting the regular functionality of ECUs. In particular, the bit error ratios are within 0.1% and 0.42% for the IAT-based and offset-based covert channels, respectively. Furthermore, the bit error ratio of the LSB-based covert channel is equal to that of a normal CAN bus, which is 3.1 x 10-7%.","PeriodicalId":413733,"journal":{"name":"Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems","volume":"204 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115446052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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