A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> We present the problems associated with protecting privacy in smart grids and survey currently proposed solutions. First we discuss use-cases, the policy environment and the literature on attacks based on monitoring the electricity supply. Then we review the most commonly deployed policy tools, and dive into a detailed survey of privacy technologies for aggregation of readings, billing for consumption and even hiding the consumption from physical adversaries. Keywords-Smart Grid; Smart meter; Privacy Technology; <s> BIB001 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> Smart grid is a promising power delivery infrastructure integrated with communication and information technologies. Its bi-directional communication and electricity flow enable both utilities and customers to monitor, predict, and manage energy usage. It also advances energy and environmental sustainability through the integration of vast distributed energy resources. Deploying such a green electric system has enormous and far-reaching economic and social benefits. Nevertheless, increased interconnection and integration also introduce cyber-vulnerabilities into the grid. Failure to address these problems will hinder the modernization of the existing power system. In order to build a reliable smart grid, an overview of relevant cyber security and privacy issues is presented. Based on current literatures, several potential research fields are discussed at the end of this paper. <s> BIB002 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> The electricity industry is now at the verge of a new era—an era that promises, through the evolution of the existing electrical grids to smart grids, more efficient and effective power management, better reliability, reduced production costs, and more environmentally friendly energy generation. Numerous initiatives across the globe, led by both industry and academia, reflect the mounting interest around not only the enormous benefits but also the great risks introduced by this evolution. This paper focuses on issues related to the security of the smart grid and the smart home, which we present as an integral part of the smart grid. Based on several scenarios, we aim to present some of the most representative threats to the smart home/smart grid environment. The threats detected are categorized according to specific security goals set for the smart home/smart grid environment, and their impact on the overall system security is evaluated. A review of contemporary literature is then conducted with the aim of presenting promising security countermeasures with respect to the identified specific security goals for each presented scenario. An effort to shed light on open issues and future research directions concludes this paper. <s> BIB003 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> Balancing security, privacy, safety, and utility is a necessity in the health care domain, in which implantable medical devices (IMDs) and body area networks (BANs) have made it possible to continuously and automatically manage and treat a number of health conditions. In this work, we survey publications aimed at improving security and privacy in IMDs and health-related BANs, providing clear definitions and a comprehensive overview of the problem space. We analyze common themes, categorize relevant results, and identify trends and directions for future research. We present a visual illustration of this analysis that shows the progression of IMD/BAN research and highlights emerging threats. We identify three broad research categories aimed at ensuring the security and privacy of the telemetry interface, software, and sensor interface layers and discuss challenges researchers face with respect to ensuring reproducibility of results. We find that while the security of the telemetry interface has received much attention in academia, the threat of software exploitation and the sensor interface layer deserve further attention. In addition, we observe that while the use of physiological values as a source of entropy for cryptographic keys holds some promise, a more rigorous assessment of the security and practicality of these schemes is required. <s> BIB004 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> As technology progresses, cyber-physical systems are becoming susceptible to a wider range of attacks. In manufacturing, these attacks pose a significant threat to ensuring products conform to their original design intent and to maintaining the safety of equipment, employees, and consumers. This letter discusses the importance of research and development of cyber-security tools specifically designed for manufacturing. A case study of a cyber-attack on a small-scale manufacturing system is presented to (i) illustrate the ease of implementing attacks, (ii) highlight their drastic effects and (iii) demonstrate the need for educating the current and future manufacturing workforce. <s> BIB005 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> Cyber-physical systems (CPSs) integrate the computation with physical processes. Embedded computers and networks monitor and control the physical processes, usually with feedback loops where physical processes affect computations and vice versa. CPS was identified as one of the eight research priority areas in the August 2007 report of the President's Council of Advisors on Science and Technology, as CPS will be the core component of many critical infrastructures and industrial control systems in the near future. However, a variety of random failures and cyber attacks exist in CPS, which greatly restrict their growth. Fortunately, an intrusion detection mechanism could take effect for protecting CPS. When a misbehavior is found by the intrusion detector, the appropriate action can be taken immediately so that any harm to the system will be minimized. As CPSs are yet to be defined universally, the application of the instruction detection mechanism remain open presently. As a result, the effort will be made to discuss how to appropriately apply the intrusion detection mechanism to CPS in this paper. By examining the unique properties of CPS, it intends to define the specific requirements first. Then, the design outline of the intrusion detection mechanism in CPS is introduced in terms of the layers of system and specific detection techniques. Finally, some significant research problems are identified for enlightening the subsequent studies. <s> BIB006 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> Pervasive healthcare systems, smart grids, and unmanned aircraft systems are examples of Cyber-Physical Systems (CPSs) that have become highly integrated in the modern world. As this integration deepens, the importance of securing these systems increases. In order to identify gaps and propose research directions in CPS intrusion detection research, we survey the literature of this area. Our approach is to classify modern CPS Intrusion Detection System (IDS) techniques based on two design dimensions: detection technique and audit material. We summarize advantages and drawbacks of each dimension’s options. We also summarize the most and least studied CPS IDS techniques in the literature and provide insight on the effectiveness of IDS techniques as they apply to CPSs. Finally, we identify gaps in CPS IDS research and suggest future research areas. <s> BIB007 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> The integration of physical systems with distributed embedded computing and communication devices offers advantages on reliability, efficiency, and maintenance. At the same time, these embedded computers are susceptible to cyber-attacks that can harm the performance of the physical system, or even drive the system to an unsafe state; therefore, it is necessary to deploy security mechanisms that are able to automatically detect, isolate, and respond to potential attacks. Detection and isolation mechanisms have been widely studied for different types of attacks; however, automatic response to attacks has attracted considerably less attention. Our goal in this paper is to identify trends and recent results on how to respond and reconfigure a system under attack, and to identify limitations and open problems. We have found two main types of attack protection: i) preventive, which identifies the vulnerabilities in a control system and then increases its resiliency by modifying either control parameters or the redundancy of devices; ii) reactive, which responds as soon as the attack is detected (e.g., modifying the non-compromised controller actions). <s> BIB008 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> The smart grid is arguably one of the most complex cyber-physical systems (CPS). Complex security challenges have been revealed in both the physical and the cyber parts of the smart grid, and an integrative analysis on the cyber-physical (CP) security is emerging. This paper provides a comprehensive and systematic review of the critical attack threats and defence strategies in the smart grid. We start this survey with an overview of the smart grid security from the CP perspective, and then focuses on prominent CP attack schemes with significant impact on the smart grid operation and corresponding defense solutions. With an in-depth review of the attacks and defences, we then discuss the opportunities and challenges along the smart grid CP security. We hope this paper raises awareness of the CP attack threats and defence strategies in complex CPS-based infrastructures such as the smart grid and inspires research effort toward the development of secure and resilient CP infrastructures. <s> BIB009 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> The new culture of networked systems that offer everywhere accessible services has given rise to various types of security tradeoffs. In fact, with the evolution of physical systems that keep getting integrated with cyber frameworks, cyber threats have far more critical effects as they get reflected on the physical environment. As a result, the issue of security of cyber physical systems requires a special holistic treatment. In this paper, we study the tradeoff between security, safety, and availability in such systems and demonstrate these concepts on implantable medical devices as a case study. We discuss the challenges and constraints associated with securing such systems and focus on the tradeoff between security measures required for blocking unauthorized access to the device and the safety of the patient in emergency situations where such measures must be dropped to allow access. We analyze the up to date proposed solutions and discuss their strengths and limitations. <s> BIB010 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> The following decade will witness a surge in remote health-monitoring systems that are based on body-worn monitoring devices. These Medical Cyber Physical Systems (MCPS) will be capable of transmitting the acquired data to a private or public cloud for storage and processing. Machine learning algorithms running in the cloud and processing this data can provide decision support to healthcare professionals. There is no doubt that the security and privacy of the medical data is one of the most important concerns in designing an MCPS. In this paper, we depict the general architecture of an MCPS consisting of four layers: data acquisition, data aggregation, cloud processing, and action. Due to the differences in hardware and communication capabilities of each layer, different encryption schemes must be used to guarantee data privacy within that layer. We survey conventional and emerging encryption schemes based on their ability to provide secure storage, data sharing, and secure computation. Our detailed experimental evaluation of each scheme shows that while the emerging encryption schemes enable exciting new features such as secure sharing and secure computation, they introduce several orders-of-magnitude computational and storage overhead. We conclude our paper by outlining future research directions to improve the usability of the emerging encryption schemes in an MCPS. <s> BIB011 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> Internet of Things (IoT) has given rise to the fourth industrial revolution (Industrie 4.0), and it brings great benefits by connecting people, processes and data. However, cybersecurity has become a critical challenge in the IoT enabled cyber physical systems, from connected supply chain, Big Data produced by huge amount of IoT devices, to industry control systems. Evolutionary computation combining with other computational intelligence will play an important role for cybersecurity, such as artificial immune mechanism for IoT security architecture, data mining/fusion in IoT enabled cyber physical systems, and data driven cybersecurity. This paper provides an overview of security challenges in IoT enabled cyber-physical systems and what evolutionary computation and other computational intelligence technology could contribute for the challenges. The overview could provide clues and guidance for research in IoT security with computational intelligence. <s> BIB012 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> Abstract In this paper, some recent advances on the filtering and control problems are reviewed for cyber-physical systems under security and resource constraints. Three types of cyber-attacks, namely, denial-of-service (DoS) attacks, replay attacks and deception attacks, are discussed from the security viewpoint. The resource constraints under consideration mainly include energy constraints, timing constraints and communication constraints. Firstly, cyber-physical systems are introduced and their board range of applications is discussed. Then, with security and resource constraints, the developments on various filtering and control issues for cyber-physical systems are reviewed in great details. In addition, some latest results on cyber-physical systems are presented. Finally, conclusions are given and some possible future research directions are pointed out. <s> BIB013 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> An increasing interest is emerging on the development of smart grid cyber-physical system testbeds. As new communication and information technologies emerge, innovative cyber-physical system testbeds need to leverage realistic and scalable platforms. Indeed, the interdisciplinary structure of the smart grid concept compels heterogeneous testbeds with different capabilities. There is a significant need to evaluate new concepts and vulnerabilities as opposed to counting on solely simulation studies especially using hardware-in-the-loop test platforms. In this paper, we present a comprehensive survey on cyber-physical smart grid testbeds aiming to provide a taxonomy and insightful guidelines for the development as well as to identify the key features and design decisions while developing future smart grid testbeds. First, this survey provides a four step taxonomy based on smart grid domains, research goals, test platforms, and communication infrastructure. Then, we introduce an overview with a detailed discussion and an evaluation on existing testbeds from the literature. Finally, we conclude this paper with a look on future trends and developments in cyber-physical smart grid testbed research. <s> BIB014 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> With the integration of advanced computing and communication technologies, smart grid is considered as the next-generation power system, which promises self healing, resilience, sustainability, and efficiency to the energy critical infrastructure. The smart grid innovation brings enormous challenges and initiatives across both industry and academia, in which the security issue emerges to be a critical concern. In this paper, we present a survey of recent security advances in smart grid, by a data driven approach. Compared with existing related works, our survey is centered around the security vulnerabilities and solutions within the entire lifecycle of smart grid data, which are systematically decomposed into four sequential stages: 1) data generation; 2) data acquisition; 3) data storage; and 4) data processing. Moreover, we further review the security analytics in smart grid, which employs data analytics to ensure smart grid security. Finally, an effort to shed light on potential future research concludes this paper. <s> BIB015 </s> A Survey of Physics-Based Attack Detection in Cyber-Physical Systems <s> RELATED WORK <s> The Internet of Things (IoT) has transformed many aspects of modern manufacturing, from design to production to quality control. In particular, IoT and digital manufacturing technologies have substantially accelerated product development- cycles and manufacturers can now create products of a complexity and precision not heretofore possible. New threats to supply chain security have arisen from connecting machines to the Internet and introducing complex IoT-based systems controlling manufacturing processes. By attacking these IoT-based manufacturing systems and tampering with digital files, attackers can manipulate physical characteristics of parts and change the dimensions, shapes, or mechanical properties of the parts, which can result in parts that fail in the field. These defects increase manufacturing costs and allow silent problems to occur only under certain loads that can threaten safety and/or lives. To understand potential dangers and protect manufacturing system safety, this paper presents two taxonomies: one for classifying cyber-physical attacks against manufacturing processes and another for quality control measures for counteracting these attacks. We systematically identify and classify possible cyber-physical attacks and connect the attacks with variations in manufacturing processes and quality control measures. Our taxonomies also provide a scheme for linking emerging IoT-based manufacturing system vulnerabilities to possible attacks and quality control measures. <s> BIB016
There are several works that survey different aspects of security in cyber-physical systems from different domains. Several surveys BIB009 BIB001 BIB003 BIB002 BIB014 BIB015 focus their attention on security and privacy in smart grids and they explore different vulnerabilities in RTUs, IEDs, and smart meters that can be exploited by adversaries. Other surveys BIB010 BIB011 BIB004 analyze different types of attacks that can gain access to telemetry interfaces, software, and hardware in medical devices, with a special attention to implantable medical devices. Recently, there has been an increasing attention in manufacturing devices and the risks of including more sophisticated communication capabilities BIB016 BIB005  . Approaches that do not focus on a specific domain but instead address security and privacy issues in a general CPS context include References BIB008 BIB006 BIB012   BIB007 BIB013 . Even though there is a wide number of surveys from different venues that address several aspects of security in CPS, we are the first ones that focus on physics-based anomaly detection and in proposing a unified taxonomy that include the vast amount of research in this field.