Diverse and wide-range applications of integrated circuits (ICs) and the development of Cyber Physical System (CPS), more and more third-party manufacturers are involved in the manufacturing of ICs. Unfortunately, like software, hardware can also be subjected to malicious attacks. Untrusted outsourced manufacturing tools and intellectual property (IP) cores may bring enormous risks from highly integrated. Attributed to this manufacturing model, the malicious circuits (known as Hardware Trojans, HTs) can be implanted during the most designing and manufacturing stages of the ICs, causing a change of functionality, leakage of information, even a denial of services (DoS), and so on. In this paper, a survey of HTs is presented, which shows the threatens of chips, and the state-of-the-art preventing and detecting techniques. Starting from the introduction of HT structures, the recent researches in the academic community about HTs is compiled and comprehensive classification of HTs is proposed. The state-of-the-art HT protection techniques with their advantages and disadvantages are further analyzed. Finally, the development trends in hardware security are highlighted.

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