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  • 1. Chockalingam, Sabarathinam
    et al.
    Pieters, Wolter
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Khakzad, Nima
    Van Gelder, Pieter
    Combining Bayesian Networks and Fishbone Diagrams to Distinguish between Intentional Attacks and Accidental Technical Failures2018Inngår i: Proc. Graph. Model. Secur., 2018Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Because of modern societies’ dependence on industrial control systems, adequate response to system failures is essential. In order to take appropriate measures, it is crucial for operators to be able to distinguish between intentional attacks and accidental technical failures. However, adequate decision support for this matter is lacking. In this paper, we use Bayesian Networks (BNs) to distinguish between intentional attacks and accidental technical failures, based on contributory factors and observations (or test results). To facilitate knowledge elicitation, we use extended shbone diagrams for discussions with experts, and then translate those into the BN formalism. We demonstrate the methodology using an example in a case study from the water management domain. M4 - Citavi

  • 2.
    Chong, Michelle S.
    et al.
    KTH Royal Inst Technol, Div Decis & Control Syst, Stockholm, Sweden.
    Sandberg, Henrik
    KTH Royal Inst Technol, Div Decis & Control Syst, Stockholm, Sweden.
    Teixeira, André M.H.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    A Tutorial Introduction to Security and Privacy for Cyber-Physical Systems2019Inngår i: 18Th European Control Conference (ECC), 25-28, June, 2019, Naples, Italy, IEEE, 2019, s. 968-978Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This tutorial provides a high-level introduction to novel control-theoretic approaches for the security and privacy of cyber-physical systems (CPS). It takes a risk-based approach to the problem and develops a model framework that allows us to introduce and relate many of the recent contributions to the area. In particular, we explore the concept of risk in the context of CPS under cyber-attacks, paying special attention to the characterization of attack scenarios and to the interpretation of impact and likelihood for CPS. The risk management framework is then used to give an overview of and map different contributions in the area to three core parts of the framework: attack scenario description, quantification of impact and likelihood, and mitigation strategies. The overview is by no means complete, but it illustrates the breadth of the problems considered and the control-theoretic solutions proposed so far.

  • 3. Ferrari, Riccardo M.G.
    et al.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Detection and isolation of routing attacks through sensor watermarking2017Inngår i: 2017 Am. Control Conf., IEEE , 2017, s. 5436-5442Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In networked control systems, leveraging the peculiarities of the cyber-physical domains and their interactions may lead to novel detection and defense mechanisms against malicious cyber-attacks. In this paper, we propose a multiplicative sensor watermarking scheme, where each sensor's output is separately watermarked by a Single Input Single Output (SISO) filter. Hence, such scheme does not require communication between multiple sensors, but can still lead to detection and isolation of malicious cyber-attacks. In particular, we analyze the benefits of the proposed watermarking scheme for two attack scenarios: the physical sensor re-routing attack and the cyber measurement re-routing one. For each attack scenario, detectability and isolability properties are analyzed with and without the proposed watermarking scheme and we show how the watermarking scheme can be leveraged to detect cyber sensor routing attacks. In order to detect compromised sensors, we design an observer-based detector with a robust adaptive threshold. Additionally, we identify the sensors involved in the re-routing attacks by means of a tailored Recursive Least Squares parameter estimation algorithm. The results are illustrated through a numerical example.

  • 4. Fjällström, Eva
    et al.
    Atta, Khalid
    Knorn, Steffi
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Sandin, Fredrik
    Sas, Gabriel
    Staffas, Kjell
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Varagnolo, Damiano
    Creating a quantitative basis for course and program development in higher education -: a report from field tests2019Konferansepaper (Fagfellevurdert)
  • 5. Ghadimi, Euhanna
    et al.
    Teixeira, André
    Shames, Iman
    Johansson, Mikael
    Optimal parameter selection for the Alternating Direction Method of Multipliers (ADMM): Quadratic problems2015Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 60, nr 3, s. 644-658Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The alternating direction method of multipliers (ADMM) has emerged as a powerful technique for large-scale structured optimization. Despite many recent results on the convergence properties of ADMM, a quantitative characterization of the impact of the algorithm parameters on the convergence times of the method is still lacking. In this paper we find the optimal algorithm parameters that minimize the convergence factor of the ADMM iterates in the context of l2-regularized minimization and constrained quadratic programming. Numerical examples show that our parameter selection rules significantly outperform existing alternatives in the literature.

  • 6.
    Knorn, Steffi
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Effects of jamming attacks on a control system with energy harvesting2019Inngår i: IEEE Control Systems Letters, Vol. 3, nr 4, s. 829-834Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We consider the problem of control and remote state estimation with battery constraints and energy harvesting at the sensor (transmitter) under DoS/jamming attacks. We derive the optimal non-causal energy allocation policy that depends on current properties of the channel and on future energy usage. The performance of this policy is analyzed under jamming attacks on the wireless channel, in which the assumed and the true channel gains differ, and we show that the resulting control cost is not monotonic with respect to the assumed channel gain used in the transmission policy. Additionally, we show that, in case there exists a stabilizing policy, then the optimal causal policy ensures stability of the estimation process. The results were illustrated for non-causal and causal energy allocation policies under different jamming attacks.

  • 7.
    Knorn, Steffi
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Effects on Jamming attacks on a control system with energy harvesting2019Konferansepaper (Fagfellevurdert)
  • 8. Ma, Mingxiao
    et al.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    van den Berg, Jan
    Palensky, Peter
    Voltage Control in Distributed Generation under Measurement Falsification Attacks2017Inngår i: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, nr 1, s. 8379-8384Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Low-voltage distribution grids experience a rising penetration of inverter-based, distributed generation. In order to not only contribute to but also solve voltage problems, these inverters are increasingly asked to participate in intelligent grid controls. Communicating inverters implement distributed voltage droop controls. The impact of cyber-attacks to the stability of such distributed grid controls is poorly researched and therefore addressed in this article. We characterize the potential impact of several attack scenarios by employing the positivity and diagonal dominance properties. In particular, we discuss measurement falsification scenarios where the attacker corrupts voltage measurement data received by the voltage droop controllers. Analytical, control-theoretic methods for assessing the impact on system stability and voltage magnitude are presented and validated via simulation.

  • 9. Miloševiç, Jezdimir
    et al.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Tanaka, Takashi
    Johansson, Karl H.
    Sandberg, Henrik
    Security Measure Allocation for Industrial Control Systems: Exploiting Systematic Search Techniques and Submodularity2018Inngår i: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    To protect industrial control systems from cyberattacks, multiple layers of security measures need to be allocated to prevent critical security vulnerabilities. However, both finding the critical vulnerabilities and then allocating security measures in a cost‐efficient way become challenging when the number of vulnerabilities and measures is large. This paper proposes a framework that can be used once this is the case. In our framework, the attacker exploits security vulnerabilities to gain control over some of the sensors and actuators. The critical vulnerabilities are those that are not complex to exploit and can lead to a large impact on the physical world through the compromised sensors and actuators. To find these vulnerabilities efficiently, we propose an algorithm that uses the nondecreasing properties of the impact and complexity functions and properties of the security measure allocation problem to speed up the search. Once the critical vulnerabilities are located, the security measure allocation problem reduces to an integer linear program. Since integer linear programs are NP‐hard in general, we reformulate this problem as a problem of minimizing a linear set function subject to a submodular constraint. A polynomial time greedy algorithm can then be applied to obtain a solution with guaranteed approximation bound. The applicability of our framework is demonstrated on a control system used for regulation of temperature within a building.

    Fulltekst (pdf)
    fulltext
  • 10. Pan, Kaikai
    et al.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Cvetkovic, Milos
    Palensky, Peter
    Cyber Risk Analysis of Combined Data Attacks Against Power System State Estimation2019Inngår i: IEEE Transactions on Smart Grid, ISSN 1949-3053, E-ISSN 1949-3061, Vol. 10, nr 3, s. 3044-3056Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Understanding smart grid cyber attacks is key for developing appropriate protection and recovery measures. Advanced attacks pursue maximized impact at minimized costs and detectability. This paper conducts risk analysis of combined data integrity and availability attacks against the power system state estimation. We compare the combined attacks with pure integrity attacks-false data injection (FDI) attacks. A security index for vulnerability assessment to these two kinds of attacks is proposed and formulated as a mixed integer linear programming problem. We show that such combined attacks can succeed with fewer resources than FDI attacks. The combined attacks with limited knowledge of the system model also expose advantages in keeping stealth against the bad data detection. Finally, the risk of combined attacks to reliable system operation is evaluated using the results from vulnerability assessment and attack impact analysis. The findings in this paper are validated and supported by a detailed case study.

  • 11. Rostampour, Vahab
    et al.
    Ferrari, Riccardo
    Teixeira, André M.H.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Keviczky, Tamás
    Differentially-Private Distributed Fault Diagnosis for Large-Scale Nonlinear Uncertain Systems2018Inngår i: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 51, nr 24, s. 975-982Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Distributed fault diagnosis has been proposed as an effective technique for monitoring large scale, nonlinear and uncertain systems. It is based on the decomposition of the large scale system into a number of interconnected subsystems, each one monitored by a dedicated Local Fault Detector (LFD). Neighboring LFDs, in order to successfully account for subsystems interconnection, are thus required to communicate with each other some of the measurements from their subsystems. Anyway, such communication may expose private information of a given subsystem, such as its local input. To avoid this problem, we propose here to use differential privacy to pre-process data before transmission.

  • 12.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Invited plenary talk2019Konferansepaper (Annet vitenskapelig)
  • 13.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Optimal stealthy attacks on actuators for strictly proper systems2019Konferansepaper (Fagfellevurdert)
  • 14.
    Teixeira, André
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Ferrari, Riccardo M. G.
    Delft Tech Univ, Delft Ctr Syst & Controls, Delft, Netherlands.
    Detection of Sensor Data Injection Attacks with Multiplicative Watermarking2018Inngår i: 2018 European Control Conference (ECC), IEEE, 2018, s. 345-350Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper, the problem of detecting stealthy false-data injection attacks on the measurements is considered. We propose a multiplicative watermarking scheme, where each sensor's output is individually fed to a SISO watermark generator whose parameters are supposed to be unknown to the adversary. Under such a scenario, the detectability properties of the attack are analyzed and guidelines for designing the watermarking filters are derived. Fundamental limitations to the case of single-output systems are also uncovered, for which an alternative approach is proposed. The results are illustrated through numerical examples.

  • 15.
    Teixeira, André M.H.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Data Injection Attacks against Feedforward Controllers2019Inngår i: 2019 18Th European Control Conference (ECC), IEEE, 2019, s. 2233-2239Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper studies data injection attacks on disturbance measurements, which are forwarded to a feedforward controller. Fundamental limitations to the detectability of such attacks are examined, from which a class of stealthy attacks are characterized in terms of the zero dynamics of the plant and disturbance models. The impact of such attacks to the plant output and state estimates is also examined, in both cases of perfect and imperfect disturbance rejection by the feedforward controller. The analysis shows that, under perfect rejection, the impact of stealthy attacks on the plant output is exponentially decaying, while an exponentially increasing bias is induced on the state estimation error. The results are illustrated through numerical examples.

  • 16. Umsonst, D
    et al.
    Nekouei, E
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Sandberg, H
    On the confidentiality of linear anomaly detector states2019Konferansepaper (Fagfellevurdert)
  • 17.
    Voigt, Thiemo
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation.
    Augustine, Robin
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Asan, Noor Badariah
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Perez, Mauricio D.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Ahlén, Anders
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Hylamia, Sam
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation.
    Rohner, Christian
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation.
    Yan, Wenqing
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation.
    Joseph, Laya
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Mani, Maria
    Uppsala universitet, Medicinska och farmaceutiska vetenskapsområdet, Medicinska fakulteten, Institutionen för kirurgiska vetenskaper, Plastikkirurgi.
    LifeSec - Don’t Hack my Body2019Konferansepaper (Fagfellevurdert)
  • 18.
    Voigt, Thiemo
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorteknik.
    Augustine, Robin
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Asan, Noor Badariah
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Perez, Mauricio D.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Ahlén, Anders
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Teixeira, André
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Signaler och System.
    Hylamia, Sam
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation.
    Rohner, Christian
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorteknik.
    Yan, Wenqing
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorarkitektur och datorkommunikation. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Datorteknik.
    Joseph, Laya
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Tekniska sektionen, Institutionen för teknikvetenskaper, Fasta tillståndets elektronik.
    Mani, Maria
    Uppsala universitet, Medicinska och farmaceutiska vetenskapsområdet, Medicinska fakulteten, Institutionen för kirurgiska vetenskaper, Plastikkirurgi.
    Tumor Sensing Privacy in In-Body Networks2019Konferansepaper (Fagfellevurdert)
1 - 18 of 18
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