Collaborative Research: CPS: Medium: Timeliness vs. Trustworthiness: Balancing Predictability and Security in Time-Sensitive CPS Design

许多网络物理系统（CPS）都有实时（RT）需求。对于这些RT-CPS，例如将包裹送到客户家中的无人驾驶飞行器网络或执行/辅助心脏手术的机器人，错过最后期限可能会导致经济损失甚至致命后果。同时，由于这些RT-CPS与人类互动，并依赖于人类，它们也必须是值得信赖的。本研究的目标是设计安全的RT-CPS，这些RT-CPS不那么复杂，更容易分析，并且可靠，适用于国防，医学，运输，制造业和农业等关键应用领域。由于RT-CPS现在渗透到我们日常生活的大部分方面，特别是在智慧城市和物联网（IoT）环境中，这项研究将提高用户对自动化系统的信心。研究结果将分发给学术界和工业界，并允许及时采用，因为这项研究所需的硬件已经公开提供。该项目将培养一批精通RT-CPS跨学科性质的工程师和计算机科学家，为所有工程学科的本科生提供课程模块和红队练习，并为华盛顿特区、底特律、达拉斯和圣路易斯的K-12学生提供互动学习模块和实习经验。本研究的目标是从头开始设计安全的RT-CPS，同时明确考虑运行时所述RT-CPS的物理动态，从而通过预防、检测和从攻击中恢复来实现弹性。这将通过(i)从头开始保护调度基础设施，（ii）使用正式的框架来权衡安全性和及时性，同时考虑系统动态，并明确量化安全成本，以及（iii）执行状态和功能依赖的按需恢复来实现。RT-CPS将能够使用移动目标防御主动防止攻击，并从无法避免的攻击中检测和恢复。这项研究将为RT-CPS和物联网（IoT）的实施铺平道路，保证它们的及时和正确运行。本研究的具体贡献有：(i)一个可信任的调度基础设施，可以保护实时任务、调度程序、任务队列和i /O的完整性，并可以从（故意）错误中恢复；（ii）一个概率实时/安全协同设计框架，利用可信执行来保护实时任务的安全性；（iii）新颖的可调度性分析技术；（iv）持续运行的增量恢复机制；(v)在自动地面车辆、无人机上进行验证。还有机械手臂。将在CPS、物联网、实时系统、安全、控制系统等领域扩大知识基础。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

Many cyber-physical systems (CPS) have real-time (RT) requirements. For these RT-CPS, such as a network of unmanned aerial vehicles that deliver packages to customers’ homes or a robot that performs/aides in cardiac surgery, deadline misses may result in economic losses or even fatal consequences. At the same time, as these RT-CPS interact with, and are depended on by, humans, they must also be trustworthy. The goal of this research is to design secure RT-CPS that are less complex, easier to analyze, and reliable for critical application domains such as defense, medicine, transportation, manufacturing, and agriculture, to name just a few. Since RT-CPS now permeate most aspects of our daily lives, especially in the smart city and internet-of-things (IoT) context, this research will improve confidence in automated systems by users. Research results will be disseminated to both academia and industry, and permit timely adoption since the hardware required in this research is already publicly available. This project will result in a pipeline of engineers and computer scientists who are well-versed in the interdisciplinary nature of securing RT-CPS, as well as course modules and red-teaming exercises for undergraduate students in all engineering disciplines and interactive learning modules and internship experience for K-12 students in D.C., Detroit, Dallas, and St. Louis.The goal of this research is to design secure RT-CPS from the ground up while explicitly accounting for physical dynamics of said RT-CPS at runtime to achieve resilience via prevention and detection of, and recovery from, attacks. This will be accomplished by (i) securing the scheduling infrastructure from the ground up, (ii) using a formal framework for trading off security against timeliness while accounting for system dynamics, and for the cost of security to be explicitly quantified, and (iii) performing state- and function-dependent on-demand recovery. Said RT-CPS will be able to proactively prevent attacks using moving target defenses, as well as detect and recover from attacks that cannot be avoided. This research will pave the way for RT-CPS and internet-of-things (IoT) to be implemented with confidence: their timely and correct operation guaranteed. Specific contributions of this research are: (i) a trusted scheduling infrastructure that can protect the integrity of the real-time tasks, the scheduler, its task queues, and I/O, and which can recover from (intentional) errors, (ii) a probabilistic real-time/security co-design framework that exploits trusted execution to protect the security of the real-time tasks, (iii) novel schedulability analysis techniques, (iv) an incremental recovery mechanism for continuous operation, and (v) validation on automated ground vehicles, drones, and robot arms. Contributions expanding the knowledge base will be made to the fields of CPS, IoT, real-time systems, security, and control systems.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.