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We propose a provenance solution to enable the verification of an end-to-end message delivery path and the actions performed on a message. Fast and flexible provenance verification (F2-Pro) provides cryptographically verifiable evidence that a message has originated from a legitimate source and gone through the necessary checks before reaching its destination. F2-Prorelies on lightweight cryptographic primitives and flexibly supports various communication settings and protocols encountered in ICS thanks to its transparent, bump-in-the-wire design. We provide formal definitions and cryptographically prove F2-Pro\u2019s security. For human interaction with ICS via a field service device, F2-Profeatures a multi-factor authentication mechanism that starts the provenance chain from a human user issuing commands. We compatibility tested F2-Proon a smart power grid testbed and reported a sub-millisecond latency overhead per communication hop using a modest ARM Cortex-A15 processor.<\/jats:p>","DOI":"10.1145\/3607194","type":"journal-article","created":{"date-parts":[[2023,7,6]],"date-time":"2023-07-06T12:09:05Z","timestamp":1688645345000},"page":"1-28","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":11,"title":["Message Authentication and Provenance Verification for Industrial Control Systems"],"prefix":"10.1145","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3290-2514","authenticated-orcid":false,"given":"Ertem","family":"Esiner","sequence":"first","affiliation":[{"name":"Advanced Digital Sciences Center, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4436-9200","authenticated-orcid":false,"given":"Utku","family":"Tefek","sequence":"additional","affiliation":[{"name":"Advanced Digital Sciences Center, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1946-1790","authenticated-orcid":false,"given":"Daisuke","family":"Mashima","sequence":"additional","affiliation":[{"name":"Advanced Digital Sciences Center, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9584-0082","authenticated-orcid":false,"given":"Binbin","family":"Chen","sequence":"additional","affiliation":[{"name":"Singapore University of Technology and Design, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-6040-6865","authenticated-orcid":false,"given":"Zbigniew","family":"Kalbarczyk","sequence":"additional","affiliation":[{"name":"University of Illinois Urbana Champaign, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3512-6979","authenticated-orcid":false,"given":"David M.","family":"Nicol","sequence":"additional","affiliation":[{"name":"University of Illinois Urbana Champaign, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2023,10,14]]},"reference":[{"key":"e_1_3_2_2_2","first-page":"1","volume-title":"2019 IEEE International Conference on Communications, Control, and Computing Technologies for Smart Grids (SmartGridComm\u201919)","author":"Esiner Ertem","year":"2019","unstructured":"Ertem Esiner, Daisuke Mashima, Binbin Chen, Zbigniew Kalbarczyk, and David Nicol. 2019. 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