Detecting anomalies of a cyber physical system (CPS), which is a complex system consisting of both physical and software parts, is important because a CPS often operates autonomously in an unpredictable environment. However, because of the ever-changing nature and lack of a precise model for a CPS, detecting anomalies is still a challenging task. To address this problem, we propose applying an outlier detection method to a CPS log. By using a log obtained from an actual aquarium management system, we evaluated the effectiveness of our proposed method by analyzing outliers that it detected. By investigating the outliers with the developer of the system, we confirmed that some outliers indicate actual faults in the system. For example, our method detected failures of mutual exclusion in the control system that were unknown to the developer. Our method also detected transient losses of functionalities and unexpected reboots. On the other hand, our method did not detect anomalies that were too many and similar. In addition, our method reported rare but unproblematic concurrent combinations of operations as anomalies. Thus, our approach is effective at finding anomalies, but there is still room for improvement.
There is extensive literature on anomaly detection of a hybrid system @cite_2 @cite_0 @cite_1 @cite_4 @cite_8 ; all of them presuppose a model of a system. On the other hand, our method does not assume a system model because preparing the model for CPS and its environment is a difficult task.
@cite_4 @cite_8 @cite_1 @cite_0 @cite_2
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Detecting anomalies of a cyber physical system (CPS), which is a complex system consisting of both physical and software parts, is important because a CPS often operates autonomously in an unpredictable environment. However, because of the ever-changing nature and lack of a precise model for a CPS, detecting anomalies is still a challenging task. To address this problem, we propose applying an outlier detection method to a CPS log. By using a log obtained from an actual aquarium management system, we evaluated the effectiveness of our proposed method by analyzing outliers that it detected. By investigating the outliers with the developer of the system, we confirmed that some outliers indicate actual faults in the system. For example, our method detected failures of mutual exclusion in the control system that were unknown to the developer. Our method also detected transient losses of functionalities and unexpected reboots. On the other hand, our method did not detect anomalies that were too many and similar. In addition, our method reported rare but unproblematic concurrent combinations of operations as anomalies. Thus, our approach is effective at finding anomalies, but there is still room for improvement. Prevention of security breaches completely using the existing security technologies is unrealistic. As a result, intrusion detection is an important component in network security. However, many current intrusion detection systems (IDSs) are rule-based systems, which have limitations to detect novel intrusions. Moreover, encoding rules is time-consuming and highly depends on the knowledge of known intrusions. Therefore, we propose new systematic frameworks that apply a data mining algorithm called random forests in misuse, anomaly, and hybrid-network-based IDSs. In misuse detection, patterns of intrusions are built automatically by the random forests algorithm over training data. After that, intrusions are detected by matching network activities against the patterns. In anomaly detection, novel intrusions are detected by the outlier detection mechanism of the random forests algorithm. After building the patterns of network services by the random forests algorithm, outliers related to the patterns are determined by the outlier detection algorithm. The hybrid detection system improves the detection performance by combining the advantages of the misuse and anomaly detection. We evaluate our approaches over the knowledge discovery and data mining 1999 (KDDpsila99) dataset. The experimental results demonstrate that the performance provided by the proposed misuse approach is better than the best KDDpsila99 result; compared to other reported unsupervised anomaly detection approaches, our anomaly detection approach achieves higher detection rate when the false positive rate is low; and the presented hybrid system can improve the overall performance of the aforementioned IDSs. High-dimensional problem domains pose significant challenges for anomaly detection. The presence of irrelevant features can conceal the presence of anomalies. This problem, known as the 'curse of dimensionality', is an obstacle for many anomaly detection techniques. Building a robust anomaly detection model for use in high-dimensional spaces requires the combination of an unsupervised feature extractor and an anomaly detector. While one-class support vector machines are effective at producing decision surfaces from well-behaved feature vectors, they can be inefficient at modelling the variation in large, high-dimensional datasets. Architectures such as deep belief networks (DBNs) are a promising technique for learning robust features. We present a hybrid model where an unsupervised DBN is trained to extract generic underlying features, and a one-class SVM is trained from the features learned by the DBN. Since a linear kernel can be substituted for nonlinear ones in our hybrid model without loss of accuracy, our model is scalable and computationally efficient. The experimental results show that our proposed model yields comparable anomaly detection performance with a deep autoencoder, while reducing its training and testing time by a factor of 3 and 1000, respectively. HighlightsWe use a combination of a one-class SVM and deep learning.In our model linear kernels can be used rather than nonlinear ones.Our model delivers a comparable accuracy with a deep autoencoder.Our model executes 3times faster in training and 1000 faster than a deep autoencoder. 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.