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Cyber-Phys. Syst."],"published-print":{"date-parts":[[2017,7,31]]},"abstract":"<jats:p>This article is concerned with the security of modern Cyber-Physical Systems in the presence of transient sensor faults. We consider a system with multiple sensors measuring the same physical variable, where each sensor provides an interval with all possible values of the true state. We note that some sensors might output faulty readings and others may be controlled by a malicious attacker. Differing from previous works, in this article, we aim to distinguish between faults and attacks and develop an attack detection algorithm for the latter only. To do this, we note that there are two kinds of faults\u2014transient and permanent; the former are benign and short-lived, whereas the latter may have dangerous consequences on system performance. We argue that sensors have an underlying transient fault model that quantifies the amount of time in which transient faults can occur. In addition, we provide a framework for developing such a model if it is not provided by manufacturers.<\/jats:p>\n          <jats:p>Attacks can manifest as either transient or permanent faults depending on the attacker\u2019s goal. We provide different techniques for handling each kind. For the former, we analyze the worst-case performance of sensor fusion over time given each sensor\u2019s transient fault model and develop a filtered fusion interval that is guaranteed to contain the true value and is bounded in size. To deal with attacks that do not comply with sensors\u2019 transient fault models, we propose a sound attack detection algorithm based on pairwise inconsistencies between sensor measurements. Finally, we provide a real-data case study on an unmanned ground vehicle to evaluate the various aspects of this article.<\/jats:p>","DOI":"10.1145\/3064809","type":"journal-article","created":{"date-parts":[[2017,5,10]],"date-time":"2017-05-10T18:08:53Z","timestamp":1494439733000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["Security of Cyber-Physical Systems in the Presence of Transient Sensor Faults"],"prefix":"10.1145","volume":"1","author":[{"given":"Junkil","family":"Park","sequence":"first","affiliation":[{"name":"University of Pennsylvania, Philadelphia, PA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Radoslav","family":"Ivanov","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Philadelphia, PA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James","family":"Weimer","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Philadelphia, PA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Miroslav","family":"Pajic","sequence":"additional","affiliation":[{"name":"Duke University, Durham, NC"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sang Hyuk","family":"Son","sequence":"additional","affiliation":[{"name":"Daegu Gyeongbuk Institute of Science and Technology, Daegu, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Insup","family":"Lee","sequence":"additional","affiliation":[{"name":"University of Pennsylvania, Philadelphia, PA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2017,5,9]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/DSN.2006.11"},{"volume-title":"Detection of Abrupt Changes: Theory and Application","author":"Basseville Mich\u00e8le","key":"e_1_2_1_2_1","unstructured":"Mich\u00e8le Basseville , Igor V. 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