Cyber-Physical Systems Security—A Survey

Abstract

Abstract-With the exponential growth of cyber-physical systems (CPS), new security challenges have emerged. Various vulnerabilities, threats, attacks, and controls have been introduced for the new generation of CPS. However, there lack a systematic study of CPS security issues. In particular, the heterogeneity of CPS components and the diversity of CPS systems have made it very difficult to study the problem with one generalized model.In this paper, we capture and systematize existing research on CPS security under a unified framework. The framework consists of three orthogonal coordinates: (1) from the security perspective, we follow the well-known taxonomy of threats, vulnerabilities, attacks and controls; (2)from the CPS components perspective, we focus on cyber, physical, and cyber-physical components; and (3) from the CPS systems perspective, we explore general CPS features as well as representative systems (e.g., smart grids, medical CPS and smart cars). The model can be both abstract to show general interactions of a CPS application and specific to capture any details when needed. By doing so, we aim to build a model that is abstract enough to be applicable to various heterogeneous CPS applications; and to gain a modular view of the tightly coupled CPS components. Such abstract decoupling makes it possible to gain a systematic understanding of CPS security, and to highlight the potential sources of attacks and ways of protection.

Cybersecurity of Robotics and Autonomous Systems: Privacy and Safety

“…Table 5 shows some examples of cyberatacks to service robots indicating if it generates a privacy [1] or a safety problem [2].…”

“…Cyber-physical atacks present several challenges that have to be faced [2]. In this study, we have focused in two particular cases: safety and privacy.…”

Conceptualizing the key features of cyber‐physical systems in a multi‐layered representation for safety and security analysis

“…The realization of cyber threats disrupting SCADA systems and provoking physical consequences could be traced back to the Maroochy water breach in 2000 . This cyber‐attack against the Maroochy Water Services in Australia led to release of one million liters of untreated water into local rivers and parks.…”

“…For more historical attacks to CPSs and empirical demonstrations in research environments, Humayed et al described an ample list of attacks to ICSs, smart grids, smart medical devices, and modern cars. They used the description of cross‐domain attacks proposed by Yampolskiy et al to discretize the influenced elements (targeted by the attack) from the affected elements (causing the actual damages).…”

“…To facilitate the identification of safety and security risks in a wide range of CPSs, we refine the model of CPS aspects proposed by Humayed et al . In their comprehensive review, they conceived a high‐level abstraction of CPSs as the integration of cyber, cyber‐physical, and physical aspects.…”