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Table of Contents
Acronyms; 1 Introduction; 2 Security Threats in Cyber-Physical Systems; 3 Security-Aware Design Methodology; 3.1 Security-Aware Mapping; 3.2 Security Mechanism Selection; 3.3 Architecture Selection; 3.4 Examples of Security-Aware Design; 3.5 Summary; 4 Security Mechanisms for CAN Protocol; 4.1 System Model and Attacker Model; 4.2 Security Mechanisms; 4.2.1 Basic Authentication; 4.2.2 Advanced Mechanism; 4.3 Counter Implementation; 4.4 Counter Reset Mechanisms; 4.4.1 Self-healing Reset Mechanism; 4.4.2 Network-Wide Reset Mechanisms; 4.5 Analysis; 4.6 Summary.
5 Security-Aware Mapping for CAN-Based Systems5.1 System Model and Formulation; 5.1.1 System Model; 5.1.2 Security Constraints and Key Distribution; 5.1.3 Safety Constraints; 5.2 Mapping Algorithm; 5.2.1 Constraints; 5.2.2 Objective Function; 5.2.3 MILP-Based Algorithm; 5.3 Extension; 5.3.1 Path-Based Security Constraints; 5.3.2 Objective Function; 5.3.3 Algorithm; 5.4 Experimental Results; 5.4.1 Comparison with a Greedy Heuristic; 5.4.2 Comparison with Non-integrated Approaches; 5.4.3 Extension; 5.5 Summary; 6 Security-Aware Mapping for TDMA-Based Systems; 6.1 System Model and Formulation.
6.2 Time-Delayed Release of Keys6.3 Mapping Algorithm; 6.3.1 Overview; 6.3.2 Task Allocation and Priority Assignment; 6.3.3 Signal Mapping; 6.3.4 Network Scheduling; 6.3.5 Worst-Case Transmission Delay Analysis; 6.3.6 Interval Length Exploration; 6.3.7 Network Scheduling Refinement; 6.4 Experimental Results; 6.5 Summary; 7 Security-Aware Design for V2V Communication; 7.1 Formulation and Formulation; 7.2 Algorithm; 7.3 Experimental Results; 7.4 Summary; 8 FSM-Based Security-Aware Design; 9 Graph-Based Security-Aware Design; 9.1 Multiple Paths for Security; 9.2 Network Partitioning for Security.
9.3 Summary10 Conclusions; References.
5 Security-Aware Mapping for CAN-Based Systems5.1 System Model and Formulation; 5.1.1 System Model; 5.1.2 Security Constraints and Key Distribution; 5.1.3 Safety Constraints; 5.2 Mapping Algorithm; 5.2.1 Constraints; 5.2.2 Objective Function; 5.2.3 MILP-Based Algorithm; 5.3 Extension; 5.3.1 Path-Based Security Constraints; 5.3.2 Objective Function; 5.3.3 Algorithm; 5.4 Experimental Results; 5.4.1 Comparison with a Greedy Heuristic; 5.4.2 Comparison with Non-integrated Approaches; 5.4.3 Extension; 5.5 Summary; 6 Security-Aware Mapping for TDMA-Based Systems; 6.1 System Model and Formulation.
6.2 Time-Delayed Release of Keys6.3 Mapping Algorithm; 6.3.1 Overview; 6.3.2 Task Allocation and Priority Assignment; 6.3.3 Signal Mapping; 6.3.4 Network Scheduling; 6.3.5 Worst-Case Transmission Delay Analysis; 6.3.6 Interval Length Exploration; 6.3.7 Network Scheduling Refinement; 6.4 Experimental Results; 6.5 Summary; 7 Security-Aware Design for V2V Communication; 7.1 Formulation and Formulation; 7.2 Algorithm; 7.3 Experimental Results; 7.4 Summary; 8 FSM-Based Security-Aware Design; 9 Graph-Based Security-Aware Design; 9.1 Multiple Paths for Security; 9.2 Network Partitioning for Security.
9.3 Summary10 Conclusions; References.