This paper establishes a fundamental theory of secure clock synchronization. Accurate clock synchronization is the backbone of systems managing power distribution, financial transactions, telecommunication operations, database services, etc. Some clock synchronization (time transfer) systems, such as the global navigation satellite systems, are based on one-way communication from a master to a slave clock. Others, such as the network transport protocol, and the IEEE 1588 precision time protocol (PTP), involve two-way communication between the master and slave. This paper shows that all one-way time transfer protocols are vulnerable to replay attacks that can potentially compromise timing information. A set of conditions for secure two-way clock synchronization is proposed and proved to be necessary and sufficient. It is shown that IEEE 1588 PTP, although a two-way synchronization protocol, is not compliant with these conditions, and is therefore insecure. Requirements for secure IEEE 1588 PTP are proposed, and a second example protocol is offered to illustrate the range of compliant systems.
@cite_5 propose measuring the propagation delays during initialization of clock synchronization and monitoring the propagation delays during the normal operation of the time synchronization protocol. However, @cite_5 does not prove that such a defense would be sufficient to prevent the delay attacks.
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Due to the increasing dependency of critical infrastructure on synchronized clocks, network time synchronization protocols have become an attractive target for attackers. We identify data origin authentication as the key security objective and suggest to employ recently proposed high-performance digital signature schemes (Ed25519 and MQQ-SIG)) as foundation of a novel set of security measures to secure multicast time synchronization. We conduct experiments to verify the computational and communication efficiency for using these signatures in the standard time synchronization protocols NTP and PTP. We propose additional security measures to prevent replay attacks and to mitigate delay attacks. Our proposed solutions cover 1-step mode for NTP and PTP and we extend our security measures specifically to 2-step mode (PTP) and show that they have no impact on time synchronization's precision. Recently, a few efficient timing synchronization protocols for wireless sensor networks (WSNs) have been proposed with the goal of maximizing the accuracy and minimizing the power utilization. This paper proposes novel clock skew estimators assuming different delay environments to achieve energy-efficient network-wide synchronization for WSNs. The proposed clock skew correction mechanism significantly increases the re-synchronization period, which is a critical factor in reducing the overall power consumption. The proposed synchronization scheme can be applied to the conventional protocols without additional overheads. Moreover, this paper derives the Cramer-Rao lower bounds and the maximum likelihood estimators under different delay models and assumptions. These analytical metrics serves as good benchmarks for the thus far reported experimental results In this paper specific variants of delay attacks are examined. First, the Network Time Protocol is regarded. Second, delay attacks and implications on the time synchronization of the Precise Time Protocol are described. In particular, consequences for the offset calculation O prox are regarded. At the end of the paper possible countermeasurements are described. The authors address the problem of clustering a circuit for minimizing its delay, subject to capacity constraints on the clusters. They present an algorithm for combinational circuits and give sufficient conditions under which it is optimum. In addition, they address the problem of minimizing the number of clusters and nodes without increasing the maximum delay found by the algorithm. Finally, they extend the clustering algorithm to minimize the clock cycle of a sequential synchronous circuit. > We examine the problem of determining the relative time delay between IMU and camera data streams. The primary difficulty is that the correspondences between measurements from the sensors are not initially known, and hence, the time delay cannot be computed directly. We instead formulate time delay calibration as a registration problem, and introduce a calibration algorithm that operates by aligning curves in a three-dimensional orientation space. Results from simulation studies and from experiments with real hardware demonstrate that the delay can be accurately calibrated. cessing, integration, filtering, etc. If the delays are incorrectly estimated, then any fusion algorithm will produce suboptimal results. At best, this will degrade the accuracy of the output—in the worst case, it may lead to significant navigation errors. In this paper, we examine the problem of determining the relative time delay between inertial and visual sensor measure- ments. It may be possible in some cases to directly synchronize the sensors using a hardware timing signal. Our interest here is primarily in low-cost "black box" IMUs and cameras, for which direct time synchronization is not possible. We assume that there is a constant but unknown time shift (delay) when the different sensor measurements arrive and are timestamped at a centralized receiver. Distributed denial of service (DDoS) is one of the most persecution network attack techniques to be confronted in recent years. From the definition of DDoS, thousands of network attacks must initiate simultaneously and continuously to achieve a successful DDoS attacking. Therefore, almost all of the information system cannot survive as they confront the DDoS attacks. Although there are a lot of intrusion detection system (IDS) developed, preventing DDoS attack is still difficult and perplexing. In this paper, an early warning system for detecting DDoS attacking has been mounted to a traditional IDS to form a completely system. This early warning system is developed based on the rationale of time delay neural network. In the networking topology, each node is monitored with the deployment of detectors to establish a multilayer architecture. In addition, the activities of each node will be monitored by their neighboring nodes to check whether it is still survival or not mutually. After then, all of the attacking information will be collected and transferred to the expert module for integrating analysis. As those nodes dispatched on the DMZ or between the first and second layer of firewall face some attacking similar as the pattern of DDoS, the kernel expert module which dispatched behind the second firewall will take some feasible actions and initiate the defense strategies to protect the kernel information system. In the meanwhile, those failed nodes will be restarted and act as the role of vanguard to assure the networking under normal operation. We introduce the distributed gradient clock synchronization problem. As in traditional distributed clock synchronization, we consider a network of nodes equipped with hardware clocks with bounded drift. Nodes compute logical clock values based on their hardware clocks and message exchanges, and the goal is to synchronize the nodes' logical clocks as closely as possible, while satisfying certain validity conditions. The new feature of gradient clock synchronization (GCS for short) is to require that the skew between any two nodes' logical clocks be bounded by a nondecreasing function of the uncertainty in message delay (call this the distance) between the two nodes. That is, we require nearby nodes to be closely synchronized, and allow faraway nodes to be more loosely synchronized. We contrast GCS with traditional clock synchronization, and discuss several practical motivations for GCS, mostly arising in sensor and ad hoc networks. Our main result is that the worst case clock skew between two nodes at distance d from each other is Ω(d + log D log log D), where D is the diameter1 of the network. This means that clock synchronization is not a local property, in the sense that the clock skew between two nodes depends not only on the distance between the nodes, but also on the size of the network. Our lower bound implies, for example, that the TDMA protocol with a fixed slot granularity will fail as the network grows, even if the maximum degree of each node stays constant. The performance of Internet services is intrinsically tied to propagation delays between end points (i.e., network latency). Standard active probe-based or passive host-based methods for measuring end-to-end latency are difficult to deploy at scale and typically offer limited precision and accuracy. In this paper, we investigate a novel but non-obvious source of latency measurement---logs from network time protocol (NTP) servers. Using NTP-derived data for studying latency is compelling due to NTP's pervasive use in the Internet and its inherent focus on accurate end-to-end delay estimation. We consider the efficacy of an NTP-based approach for studying propagation delays by analyzing logs collected from 10 NTP servers distributed across the United States. These logs include over 73M latency measurements to 7.4M worldwide clients (as indicated by unique IP addresses) collected over the period of one day. Our initial analysis of the general characteristics of propagation delays derived from the log data reveals that delay measurements from NTP must be carefully filtered in order to extract accurate results. We develop a filtering process that removes measurements that are likely to be inaccurate. After applying our filter to NTP measurements, we report on the scope and reach for US-based clients and the characteristics of the end-to-end latency for those clients. Solutions for time synchronization based on coupled oscillators operate in a self-organizing and adaptive manner and can be applied to various types of dynamic networks. The basic idea was inspired by swarms of fireflies, whose flashing dynamics shows an emergent behavior. This article introduces such a synchronization technique whose main components are “inhibitory coupling” and “self-adjustment.” Based on this new technique, a number of contributions are made. First, we prove that inhibitory coupling can lead to perfect synchrony independent of initial conditions for delay-free environments and homogeneous oscillators. Second, relaxing the assumptions to systems with delays and different phase rates, we prove that such systems synchronize up to a certain precision bound. We derive this bound assuming inhomogeneous delays and show by simulations that it gives a good estimate in strongly-coupled systems. Third, we show that inhibitory coupling with self-adjustment quickly leads to synchrony with a precision comparable to that of excitatory coupling. Fourth, we analyze the robustness against faulty members performing incorrect coupling. While the specific precision-loss encountered by such disturbances depends on system parameters, the system always regains synchrony for the investigated scenarios. We give an asynchronous adaptive algorithm for power control in cellular radio systems, which relaxes the demands of coordination and synchrony between the various mobiles and base stations. It relaxes the need for strict clock synchronization and also allows different links to update their power at different rates; unpredictable, bounded propagation delays are taken into account. The algorithm uses only local measurements and incorporates receiver noise. The overall objective is to minimize transmitters’ powers in a Pareto sense while giving each link a Carrier-to-Interference ratio which is not below a prefixed target. The condition for the existence and uniqueness of such a power distribution is obtained. Conditions are obtained for the asynchronous adaptation to converge to the optimal solution at a geometric rate. These conditions are surprisingly not burdensome. Smart grid applications demand the availability of a reliable and accurate time signal. Measurements and events need to be correctly aligned to enable proper actions and decisions. Precision time protocol (PTP) is the favored protocol for time distribution across smart grid domains. The correct functionality of PTP is of paramount importance and its security is of high priority. To harden its security, detection, and prevention mechanisms against attacks targeting PTP are needed. In this paper, we propose detection and mitigation mechanisms against the known PTP delay attack. We apply model checking to quantify the effect of the delay attack. Moreover, the validity of the proposed mechanism is formally proven. The suggested approach is tested on a physical system. The collected results support the usefulness of the mechanism in detecting the delay attacks targeting PTP, and preserving the system functionality. We study contention resolution in a multiple-access channel such as the Ethernet channel. In the model that we consider, n users generate messages for the channel according to a probability distribution. Raghavan and Upfal have given a protocol in which the expected delay (time to get serviced) of every message is O(log n ) when messages are generated according to a Bernoulli distribution with generation rate up to about 1 10. Our main results are the following protocols: (a) one in which the expected average message delay is O(1) when messages are generated according to a Bernoulli distribution with a generation rate smaller than 1 e , and (b) one in which the expected delay of any message is O(1) for an analogous model in which users are synchronized (i.e., they agree about the time), there are potentially an infinite number of users, and messages are generated according to a Poisson distribution with generation rate up to 1 e . (Each message constitutes a new user.) To achieve (a), we first show how to simulate (b) using n synchronized users, and then show how to build the synchronization into the protocol. Wireless sensor network applications, similarly to other distributed systems, often require a scalable time synchronization service enabling data consistency and coordination. This paper describes the Flooding Time Synchronization Protocol (FTSP), especially tailored for applications requiring stringent precision on resource limited wireless platforms. The proposed time synchronization protocol uses low communication bandwidth and it is robust against node and link failures. The FTSP achieves its robustness by utilizing periodic flooding of synchronization messages, and implicit dynamic topology update. The unique high precision performance is reached by utilizing MAC-layer time-stamping and comprehensive error compensation including clock skew estimation. The sources of delays and uncertainties in message transmission are analyzed in detail and techniques are presented to mitigate their effects. The FTSP was implemented on the Berkeley Mica2 platform and evaluated in a 60-node, multi-hop setup. The average per-hop synchronization error was in the one microsecond range, which is markedly better than that of the existing RBS and TPSN algorithms. We describe the design and the experimental evaluation of a playout delay control mechanism we have developed in order to support unicast, voice-based audio communications over the Internet. The proposed mechanism was designed to dynamically adjust the talkspurt playout delays to the traffic conditions of the underlying network without assuming either the existence of an external mechanism for maintaining an accurate clock synchronization between the sender and the receiver during the audio communication, or a specific distribution of the audio packet transmission delays. Performance figures derived from several experiments are reported that illustrate the adequacy of the proposed mechanism in dynamically adjusting the audio packet playout delay to the network traffic conditions while maintaining a small percentage of packet loss. Phasor measurement units (PMUs) are time synchronized sensors primarily used for power system state estimation. Despite their increasing incorporation and the ongoing research on state estimation using measurements from these sensors, estimation with imperfect phase synchronization has not been sufficiently investigated. Inaccurate synchronization is an inevitable problem that large scale deployment of PMUs has to face. In this paper, we introduce a model for power system state estimation using PMUs with phase mismatch. We propose alternating minimization and parallel Kalman filtering for state estimation using static and dynamic models, respectively, under different assumptions. Numerical examples demonstrate the improved accuracy of our algorithms compared with traditional algorithms when imperfect synchronization is present. We conclude that when a sufficient number of PMUs with small delays are employed, the imperfect synchronization can be largely compensated in the estimation stage. Powered by cloud computing, Dropbox not only provides reliable file storage but also enables effective file synchronization and user collaboration. This new generation of service, beyond conventional client server or peer-to-peer file hosting with storage only, has attracted a vast number of Internet users. It is however known that the synchronization delay of Dropbox-like systems is increasing with their expansion, often beyond the accepted level for practical collaboration. In this paper, we present an initial measurement to understand the design and performance bottleneck of the proprietary Dropbox system. Our measurement identifies the cloud servers instances utilized by Dropbox, revealing its hybrid design with both Amazon's S3 (for storage) and Amazon's EC2 (for computation). The mix of bandwidth-intensive tasks (such as content delivery) and computation-intensive tasks (such as compare hash values for the contents) in Dropbox enables seamless collaboration and file synchronization among multiple users; yet their interference, revealed in our experiments, creates a severe bottleneck that prolongs the synchronization delay with virtual machines in the cloud, which has not seen in conventional physical machines. We thus re-model the resource provisioning problem in the Dropbox-like systems and present an interference-aware solution that smartly allocates the Dropbox tasks to different cloud instances. Evaluation results show that our solution remarkably reduces the synchronization delay for this new generation of file hosting service. We initiate a study of bounded clock synchronization under a more severe fault model than that proposed by Lamport and Melliar-Smith [1985]. Realistic aspects of the problem of synchronizing clocks in the presence of faults are considered. One aspect is that clock synchronization is an on-going task, thus the assumption that some of the processors never fail is too optimistic. To cope with this reality, we suggest self-stabilizing protocols that stabilize in any (long enough) period in which less than a third of the processors are faulty. Another aspect is that the clock value of each processor is bounded. A single transient fault may cause the clock to reach the upper bound. Therefore, we suggest a bounded clock that wraps around when appropriate.We present two randomized self-stabilizing protocols for synchronizing bounded clocks in the presence of Byzantine processor failures. The first protocol assumes that processors have a common pulse, while the second protocol does not. A new type of distributed counter based on the Chinese remainder theorem is used as part of the first protocol. We present a distributed clock synchronization algorithm that guarantees an exponentially improved bound of O(log D) on the clock skew between neighboring nodes in any graph G of diameter D. In light of the lower bound of Omega(log D log log D), this result is almost tight. Moreover, the global clock skew between any two nodes, particularly nodes that are not directly connected, is bounded by O(D), which is optimal up to a constant factor. Our algorithm further ensures that the clock values are always within a linear envelope of real time. A better bound on the accuracy with respect to real time cannot be achieved in the absence of an external timer. These results all hold in a general model where both the clock drifts and the message delays may vary arbitrarily within pre-specified bounds. Bitcoin is a potentially disruptive new crypto-currency based on a decentralized opensource protocol which is gradually gaining popularity. Perhaps the most important question that will affect Bitcoin’s success, is whether or not it will be able to scale to support the high volume of transactions required from a global currency system. We investigate the restrictions on the rate of transaction processing in Bitcoin as a function of both the bandwidth available to nodes and the network delay, both of which lower the efficiency of Bitcoin’s transaction processing. The security analysis done by Bitcoin’s creator Satoshi Nakamoto [12] assumes that block propagation delays are negligible compared to the time between blocks—an assumption that does not hold when the protocol is required to process transactions at high rates. We improve upon the original analysis and remove this assumption. Using our results, we are able to give bounds on the number of transactions per second the protocol can handle securely. Building on previously published measurements by Decker and Wattenhofer [5], we show these bounds are currently more restrictive by an order of magnitude than the bandwidth needed to stream all transactions. We additionally show how currently planned improvements to the protocol, namely the use of transaction hashes in blocks (instead of complete transaction records), will dramatically alleviate these restrictions. Finally, we present an easily implementable modification to the way Bitcoin constructs its main data structure, the blockchain, that immensely improves security from attackers, especially when the network operates at high rates. This improvement allows for further increases in the number of transactions processed per second. We show that with our proposed modification, significant speedups can be gained in confirmation time of transactions as well. The block generation rate can be securely increased to more than one block per second – a 600 fold speedup compared to today’s rate, while still allowing the network to processes many transactions per second. Distributed optimization algorithms are highly attractive for solving big data problems. In particular, many machine learning problems can be formulated as the global consensus optimization problem, which can then be solved in a distributed manner by the alternating direction method of multipliers (ADMM) algorithm. However, this suffers from the straggler problem as its updates have to be synchronized. In this paper, we propose an asynchronous ADMM algorithm by using two conditions to control the asynchrony: partial barrier and bounded delay. The proposed algorithm has a simple structure and good convergence guarantees (its convergence rate can be reduced to that of its synchronous counterpart). Experiments on different distributed ADMM applications show that asynchrony reduces the time on network waiting, and achieves faster convergence than its synchronous counterpart in terms of the wall clock time.