{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T16:12:28Z","timestamp":1790784748381,"version":"4.1.0"},"reference-count":87,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2020,4,11]],"date-time":"2020-04-11T00:00:00Z","timestamp":1586563200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Future Internet"],"abstract":"<jats:p>Safeguarding both safety and cybersecurity is paramount to the smooth and trustworthy operation of contemporary cyber physical systems, many of which support critical functions and services. As safety and security have been known to be interdependent, they need to be jointly considered in such systems. As a result, various approaches have been proposed to address safety and cybersecurity co-engineering in cyber physical systems. This paper provides a comprehensive survey of safety and cybersecurity co-engineering methods, and discusses relevant open issues and research challenges. Despite the extent of the existing literature, several aspects of the subject still remain to be fully addressed.<\/jats:p>","DOI":"10.3390\/fi12040065","type":"journal-article","created":{"date-parts":[[2020,4,13]],"date-time":"2020-04-13T04:45:31Z","timestamp":1586753131000},"page":"65","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":55,"title":["Cybersecurity and Safety Co-Engineering of Cyberphysical Systems\u2014A Comprehensive Survey"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1278-1943","authenticated-orcid":false,"given":"Georgios","family":"Kavallieratos","sequence":"first","affiliation":[{"name":"Deparetment of Information Security and Communication Technology, Norwegian University of Science and Technology, 2815 Gj\u00f8vik, Norway"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2966-9683","authenticated-orcid":false,"given":"Sokratis","family":"Katsikas","sequence":"additional","affiliation":[{"name":"Deparetment of Information Security and Communication Technology, Norwegian University of Science and Technology, 2815 Gj\u00f8vik, Norway"},{"name":"Faculty of Pure and Applied Sciences, Open University of Cyprus, Latsia 2220, Cyprus"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7304-3835","authenticated-orcid":false,"given":"Vasileios","family":"Gkioulos","sequence":"additional","affiliation":[{"name":"Deparetment of Information Security and Communication Technology, Norwegian University of Science and Technology, 2815 Gj\u00f8vik, Norway"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,4,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Pi\u00e8tre-Cambac\u00e9d\u00e8s, L., and Bouissou, M. (2010, January 10\u201313). Modeling safety and security interdependencies with BDMP (Boolean logic Driven Markov Processes). Proceedings of the 2010 IEEE International Conference on Systems, Man and Cybernetics, Istanbul, Turkey.","DOI":"10.1109\/ICSMC.2010.5641922"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Paul, S., and Rioux, L. (2015). Over 20 Years of Research into Cybersecurity and Safety Engineering: A Short Bibliography, WIT Press.","DOI":"10.2495\/SAFE150291"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"110","DOI":"10.1016\/j.ress.2012.09.011","article-title":"Cross-fertilization between safety and security engineering","volume":"110","author":"Bouissou","year":"2013","journal-title":"Reliab. Eng. Syst. Saf."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"156","DOI":"10.1016\/j.ress.2015.02.008","article-title":"A survey of approaches combining safety and security for industrial control systems","volume":"139","author":"Kriaa","year":"2015","journal-title":"Reliab. Eng. Syst. Saf."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Chockalingam, S., Had\u017eiosmanovi\u0107, D., Pieters, W., Teixeira, A., and van Gelder, P. (2016, January 10\u201312). Integrated safety and security risk assessment methods: a survey of key characteristics and applications. Proceedings of the International Conference on Critical Information Infrastructures Security, Paris, France.","DOI":"10.1007\/978-3-319-71368-7_5"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"94","DOI":"10.4236\/jcc.2017.51008","article-title":"A Survey on techniques requirements for integrating safety and security engineering for cyber-physical systems","volume":"5","author":"Abulamddi","year":"2017","journal-title":"J. Comput. Commun."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"2189","DOI":"10.1109\/JSYST.2018.2881017","article-title":"Safety and Security Co-Analyses: A Systematic Literature Review","volume":"13","author":"Lisova","year":"2018","journal-title":"IEEE Syst. J."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1049\/iet-cps.2018.5068","article-title":"Safety and security risk assessment in cyber-physical systems","volume":"4","author":"Lyu","year":"2019","journal-title":"IET Cyber-Physical Syst. Theory Appl."},{"key":"ref_9","unstructured":"Hart, C. (2018). Doing a Literature Review: Releasing the Research Imagination, SAGE Publications Ltd."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Cui, J., and Sabaliauskaite, G. (2018, January 5\u20136). US 2: An Unified Safety and Security Analysis Method for Autonomous Vehicles. Proceedings of the Future of Information and Communication Conference, Singapore.","DOI":"10.1007\/978-3-030-03402-3_42"},{"key":"ref_11","first-page":"160","article-title":"Integrating autonomous vehicle safety and security analysis using stpa method and the six-step model","volume":"11","author":"Sabaliauskaite","year":"2018","journal-title":"Int. J. Adv. Secur."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Sabaliauskaite, G., Adepu, S., and Mathur, A. (2016, January 10\u201312). A six-step model for safety and security analysis of cyber-physical systems. Proceedings of the International Conference on Critical Information Infrastructures Security, Paris, France.","DOI":"10.1007\/978-3-319-71368-7_16"},{"key":"ref_13","unstructured":"Leveson, N.G., and Thomas, J.P. (2019, October 18). STPA Handbook. Available online: https:\/\/psas.scripts.mit.edu\/home\/get_file.php?name=STPA_handbook.pdf."},{"key":"ref_14","unstructured":"International Organization for Standardization (ISO) (2018). Road Vehicles\u2014Functional Safety, ISO. Technical Report ISO 26262-1:2018."},{"key":"ref_15","unstructured":"SAE, J. (2019, October 18). 3061: Cybersecurity Guidebook for Cyber-Physical Vehicle Systems. Available online: https:\/\/www.sae.org\/standards\/content\/j3061\/."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Sabaliauskaite, G., and Mathur, A.P. (2019, November 20). Aligning Cyber-Physical System Safety and Security. Available online: http:\/\/www.2014.csdm-asia.net\/IMG\/pdf\/Aligning_Cyber-Physical_System_Safety_and_Security-2.pdf.","DOI":"10.1007\/978-3-319-12544-2_4"},{"key":"ref_17","unstructured":"Cui, J., and Sabaliauskaite, G. (2017, January 12\u201316). On the alignment of safety and security for autonomous vehicles. Proceedings of the CYBER 2017: The Second International Conference on Cyber-Technologies and Cyber-Systems, IARIA CYBER, Barcelona, Spain."},{"key":"ref_18","unstructured":"International Society of Automation\u2014ISA (2004). Technical report, ANSI\/ISA 84.00.01-2004, Application of Safety Instrumented Systems for the Process Industries, ISA."},{"key":"ref_19","unstructured":"International Society of Automation\u2014ISA (2007). Technical report, ANSI\/ISA-99-00-01-2007. Security for Industrial Automation and Control Systems Part 1: Terminology, Concepts, and Models, ISA."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1109\/LES.2018.2879631","article-title":"Rapid Integration of CPS Security and Safety","volume":"11","author":"Asplund","year":"2018","journal-title":"IEEE Embed. Syst. Lett."},{"key":"ref_21","unstructured":"Guzman, N.H.C., Kufoalor, D.K.M., Kozin, I., and Lundteigen, M.A. (2019, January 22\u201326). Combined safety and security risk analysis using the UFoI-E method: A case study of an autonomous surface vessel. Proceedings of the 29th European Safety and Reliability Conference, Hannover, Germany."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Sabaliauskaite, G., Liew, L.S., and Zhou, F. (2019, January 8). AVES\u2013Automated Vehicle Safety and Security Analysis Framework. Proceedings of the CSCS \u201919: ACM Computer Science in Cars Symposium, Kaiserslautern, Germany.","DOI":"10.1145\/3359999.3360494"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1002\/sys.21509","article-title":"Conceptualizing the key features of cyber-physical systems in a multi-layered representation for safety and security analysis","volume":"23","author":"Guzman","year":"2019","journal-title":"Syst. Eng."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Carreras Guzman, N.H., and Mezovari, A.G. (2019). Design of IoT-based Cyber\u2013Physical Systems: A Driverless Bulldozer Prototype. Information, 10.","DOI":"10.3390\/info10110343"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Hayakawa, T., Sasaki, R., Hayashi, H., Takahashi, Y., Kaneko, T., and Okubo, T. (2018, January 14\u201316). Proposal and Application of Security\/Safety Evaluation Method for Medical Device System that Includes IoT. Proceedings of the 2018 VII International Conference on Network, Communication and Computing, Taipei, Taiwan.","DOI":"10.1145\/3301326.3301330"},{"key":"ref_26","unstructured":"Monteuuis, J.P., Boudguiga, A., Zhang, J., Labiod, H., Servel, A., and Urien, P. (2018, January 4). Sara: Security automotive risk analysis method. Proceedings of the 4th ACM Workshop on Cyber-Physical System, Incheon, Korea."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1124","DOI":"10.1016\/j.jss.2012.12.002","article-title":"Comparing risk identification techniques for safety and security requirements","volume":"86","author":"Raspotnig","year":"2013","journal-title":"J. Syst. Softw."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Raspotnig, C., Karpati, P., and Katta, V. (2012). A combined process for elicitation and analysis of safety and security requirements. Enterprise, Business-Process and Information Systems Modeling, Springer.","DOI":"10.1007\/978-3-642-31072-0_24"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Reichenbach, F., Endresen, J., Chowdhury, M.M., and Rosseb\u00f8, J. (2012, January 27\u201330). A pragmatic approach on combined safety and security risk analysis. Proceedings of the 2012 IEEE 23rd International Symposium on Software Reliability Engineering Workshops, Dallas, TX, USA.","DOI":"10.1109\/ISSREW.2012.98"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Silva, N., and Lopes, R. (2013, January 24\u201327). Practical Experiences with real-world systems: Security in the World of Reliable and Safe Systems. Proceedings of the 2013 43rd Annual IEEE\/IFIP Conference on Dependable Systems and Networks Workshop (DSN-W), Budapest, Hungary.","DOI":"10.1109\/DSNW.2013.6615515"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Young, W., and Leveson, N. (2013, January 9\u201313). Systems thinking for safety and security. Proceedings of the 29th Annual Computer Security Applications Conference, New Orleans, LA, USA.","DOI":"10.1145\/2523649.2530277"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Chen, Y.R., Chen, S.J., Hsiung, P.A., and Chou, I.H. (2014, January 9\u201310). Unified security and safety risk assessment-a case study on nuclear power plant. Proceedings of the 2014 International Conference on Trustworthy Systems and Their Applications, Taichung, Taiwan.","DOI":"10.1109\/TSA.2014.13"},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Ito, M. (2014, January 25\u201327). Finding threats with hazards in the concept phase of product development. European Conference on Software Process Improvement, Luxembourg.","DOI":"10.1007\/978-3-662-43896-1_25"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Kriaa, S., Bouissou, M., Colin, F., Halgand, Y., and Pietre-Cambacedes, L. (, January September). Safety and security interactions modeling using the BDMP formalism: case study of a pipeline. Proceedings of the International Conference on Computer Safety, Reliability, and Security, SAFECOMP 2014, Florence, Italy.","DOI":"10.1007\/978-3-319-10506-2_22"},{"key":"ref_35","unstructured":"Schmittner, C., Gruber, T., Puschner, P., and Schoitsch, E. (, January September). Security application of failure mode and effect analysis (FMEA). Proceedings of the International Conference on Computer Safety, Reliability, and Security, Florence, Italy."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Apvrille, L., and Roudier, Y. (2015, January 9\u201311). Designing safe and secure embedded and cyber-physical systems with SysML-Sec. Proceedings of the International Conference on Model-Driven Engineering and Software Development, Angers, France.","DOI":"10.1007\/978-3-319-27869-8_17"},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Gu, T., Lu, M., and Li, L. (2015, January 21\u201323). Extracting interdependent requirements and resolving conflicted requirements of safety and security for industrial control systems. Proceedings of the 2015 First International Conference on Reliability Systems Engineering (ICRSE), Beijing, China.","DOI":"10.1109\/ICRSE.2015.7366481"},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Kriaa, S., Bouissou, M., and Laarouchi, Y. (2015, January 21\u201322). A model based approach for SCADA safety and security joint modelling: S-Cube. Proceedings of the 10th IET System Safety and Cyber-Security Conference 2015, Bristol, UK.","DOI":"10.1049\/cp.2015.0293"},{"key":"ref_39","doi-asserted-by":"crossref","unstructured":"Macher, G., H\u00f6ller, A., Sporer, H., Armengaud, E., and Kreiner, C. (2014, January 22\u201325). A combined safety-hazards and security-threat analysis method for automotive systems. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Delft, The Netherlands.","DOI":"10.1007\/978-3-319-24249-1_21"},{"key":"ref_40","unstructured":"Koornneef, F., and van Gulijk, C. (2015). Stochastic Modeling of Safety and Security of the e-Motor, an ASIL-D Device. Computer Safety, Reliability, and Security, Springer International Publishing."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Steiner, M., and Liggesmeyer, P. (2014, January 22\u201325). Qualitative and quantitative analysis of CFTs taking security causes into account. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Delft, The Netherlands.","DOI":"10.1007\/978-3-319-24249-1_10"},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Wei, J., Matsubara, Y., and Takada, H. (2016). HAZOP-Based Security Analysis for Embedded Systems: Case Study of Open Source Immobilizer Protocol Stack. Recent Advances in Systems Safety and Security, Springer International Publishing.","DOI":"10.1007\/978-3-319-32525-5_5"},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Islam, M.M., Lautenbach, A., Sandberg, C., and Olovsson, T. (2016, January 30). A risk assessment framework for automotive embedded systems. Proceedings of the 2nd ACM International Workshop on Cyber-Physical System Security, Xi\u2019an, China.","DOI":"10.1145\/2899015.2899018"},{"key":"ref_44","doi-asserted-by":"crossref","unstructured":"Nicklas, J.P., Mamrot, M., Winzer, P., Lichte, D., Marchlewitz, S., and Wolf, K.D. (2016, January 12\u201316). Use case based approach for an integrated consideration of safety and security aspects for smart home applications. Proceedings of the 2016 11th System of Systems Engineering Conference (SoSE), Kongsberg, Norway.","DOI":"10.1109\/SYSOSE.2016.7542908"},{"key":"ref_45","doi-asserted-by":"crossref","unstructured":"Ponsard, C., Dallons, G., and Massonet, P. (2016, January 20\u201323). Goal-oriented co-engineering of security and safety requirements in cyber-physical systems. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Trondheim, Norway.","DOI":"10.1007\/978-3-319-45480-1_27"},{"key":"ref_46","doi-asserted-by":"crossref","unstructured":"Schmittner, C., Ma, Z., and Puschner, P. (2016, January 20\u201323). Limitation and improvement of STPA-Sec for safety and security co-analysis. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Trondheim, Norway.","DOI":"10.1007\/978-3-319-45480-1_16"},{"key":"ref_47","doi-asserted-by":"crossref","unstructured":"Troubitsyna, E. (2016, January 10\u201314). An integrated approach to deriving safety and security requirements from safety cases. Proceedings of the 2016 IEEE 40th Annual Computer Software and Applications Conference (COMPSAC), Atlanta, GA, USA.","DOI":"10.1109\/COMPSAC.2016.58"},{"key":"ref_48","doi-asserted-by":"crossref","unstructured":"D\u00fcrrwang, J., Beckers, K., and Kriesten, R. (2017, January 12\u201315). A lightweight threat analysis approach intertwining safety and security for the automotive domain. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Trento, Italy.","DOI":"10.1007\/978-3-319-66266-4_20"},{"key":"ref_49","first-page":"183","article-title":"STPA-SafeSec: Safety and security analysis for cyber-physical systems","volume":"34","author":"Friedberg","year":"2017","journal-title":"J. Inf. Secur. Appl."},{"key":"ref_50","doi-asserted-by":"crossref","unstructured":"Howard, G., Butler, M., Colley, J., and Sassone, V. (2017, January 26\u201328). Formal analysis of safety and security requirements of critical systems supported by an extended STPA methodology. Proceedings of the 2017 IEEE European Symposium on Security and Privacy Workshops (EuroS&PW), Paris, France.","DOI":"10.1109\/EuroSPW.2017.68"},{"key":"ref_51","doi-asserted-by":"crossref","unstructured":"Kumar, R., and Stoelinga, M. (2017, January 12\u201314). Quantitative security and safety analysis with attack-fault trees. Proceedings of the 2017 IEEE 18th International Symposium on High Assurance Systems Engineering (HASE), Singapore.","DOI":"10.1109\/HASE.2017.12"},{"key":"ref_52","doi-asserted-by":"crossref","unstructured":"Pereira, D., Hirata, C., Pagliares, R., and Nadjm-Tehrani, S. (2017, January 12\u201315). Towards combined safety and security constraints analysis. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Trento, Italy.","DOI":"10.1007\/978-3-319-66284-8_7"},{"key":"ref_53","doi-asserted-by":"crossref","unstructured":"Pl\u00f3sz, S., Schmittner, C., and Varga, P. (2017, January 12\u201315). Combining safety and security analysis for industrial collaborative automation systems. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Trento, Italy.","DOI":"10.1007\/978-3-319-66284-8_16"},{"key":"ref_54","unstructured":"Procter, S., Vasserman, E.Y., and Hatcliff, J. (September, January 29). SAFE and secure: Deeply integrating security in a new hazard analysis. Proceedings of the 12th International Conference on Availability, Reliability and Security, Reggio Calabria, Italy."},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Sabaliauskaite, G., and Adepu, S. (2017, January 12\u201314). Integrating six-step model with information flow diagrams for comprehensive analysis of cyber-physical system safety and security. Proceedings of the 2017 IEEE 18th International Symposium on High Assurance Systems Engineering (HASE), Singapore.","DOI":"10.1109\/HASE.2017.25"},{"key":"ref_56","doi-asserted-by":"crossref","unstructured":"Temple, W.G., Wu, Y., Chen, B., and Kalbarczyk, Z. (2017, January 12\u201315). Systems-theoretic likelihood and severity analysis for safety and security co-engineering. Proceedings of the International Conference on Reliability, Safety and Security of Railway Systems, Trento, Italy.","DOI":"10.1007\/978-3-319-68499-4_4"},{"key":"ref_57","doi-asserted-by":"crossref","unstructured":"Vistbakka, I., Troubitsyna, E., Kuismin, T., and Latvala, T. (2017, January 4\u20135). Co-engineering safety and security in industrial control systems: a formal outlook. Proceedings of the International Workshop on Software Engineering for Resilient Systems, Geneva, Switzerland.","DOI":"10.1007\/978-3-319-65948-0_7"},{"key":"ref_58","doi-asserted-by":"crossref","first-page":"96","DOI":"10.1109\/MC.2006.283","article-title":"Toward a unified security-safety model","volume":"39","author":"Stoneburner","year":"2006","journal-title":"Computer"},{"key":"ref_59","doi-asserted-by":"crossref","first-page":"745","DOI":"10.1016\/j.ress.2006.03.008","article-title":"A unified framework for risk and vulnerability analysis covering both safety and security","volume":"92","author":"Aven","year":"2007","journal-title":"Reliab. Eng. Syst. Saf."},{"key":"ref_60","unstructured":"Derock, A., Hebrard, P., and Vall\u00e9e, F. (2019, October 15). Convergence of the Latest Standards Addressing Safety and Security for Information Technology. Available online: https:\/\/hal.archives-ouvertes.fr\/hal-02267717\/."},{"key":"ref_61","doi-asserted-by":"crossref","unstructured":"Woskowski, C. (2014, January 10\u201312). A pragmatic approach towards safe and secure medical device integration. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Florence, Italy.","DOI":"10.1007\/978-3-319-10506-2_23"},{"key":"ref_62","doi-asserted-by":"crossref","unstructured":"Eames, D.P., and Moffett, J. (1999, January 27\u201329). The integration of safety and security requirements. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Toulouse, France.","DOI":"10.1007\/3-540-48249-0_40"},{"key":"ref_63","doi-asserted-by":"crossref","unstructured":"Kornecki, A.J., and Zalewski, J. (2010, January 21\u201323). Safety and security in industrial control. Proceedings of the Sixth Annual Workshop on Cyber Security and Information Intelligence Research, Oak Ridge, TN, USA.","DOI":"10.1145\/1852666.1852754"},{"key":"ref_64","doi-asserted-by":"crossref","first-page":"3614","DOI":"10.1109\/TIE.2009.2028364","article-title":"Safety-and security-critical services in building automation and control systems","volume":"57","author":"Novak","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_65","doi-asserted-by":"crossref","unstructured":"Subramanian, N., and Zalewski, J. (2013, January 15\u201318). Assessment of safety and security of system architectures for cyberphysical systems. Proceedings of the 2013 IEEE International Systems Conference (SysCon), Orlando, FL, USA.","DOI":"10.1109\/SysCon.2013.6549949"},{"key":"ref_66","doi-asserted-by":"crossref","first-page":"1394","DOI":"10.1016\/j.ress.2009.02.020","article-title":"Integrating cyber attacks within fault trees","volume":"94","author":"Fovino","year":"2009","journal-title":"Reliab. Eng. Syst. Saf."},{"key":"ref_67","doi-asserted-by":"crossref","unstructured":"Bezzateev, S., Voloshina, N., and Sankin, P. (2013, January 22\u201326). Joint safety and security analysis for complex systems. Proceedings of the 2013 13th Conference of Open Innovations Association (FRUCT), Petrozavodsk, Russia.","DOI":"10.23919\/FRUCT.2013.8124223"},{"key":"ref_68","doi-asserted-by":"crossref","first-page":"41","DOI":"10.3390\/electronics2010041","article-title":"Fault tree analysis for safety\/security verification in aviation software","volume":"2","author":"Kornecki","year":"2013","journal-title":"Electronics"},{"key":"ref_69","unstructured":"Steiner, M., and Liggesmeyer, P. (2019, November 04). Combination of Safety and Security Analysis-Finding Security Problems that Threaten the Safety of a System. Available online: https:\/\/hal.archives-ouvertes.fr\/hal-00848604."},{"key":"ref_70","doi-asserted-by":"crossref","unstructured":"Pi\u00e8tre-Cambac\u00e9d\u00e8s, L., Deflesselle, Y., and Bouissou, M. (2011, January 18\u201321). Security modeling with BDMP: from theory to implementation. Proceedings of the 2011 Conference on Network and Information Systems Security, La Rochelle, France.","DOI":"10.1109\/SAR-SSI.2011.5931382"},{"key":"ref_71","unstructured":"Kornecki, A.J., Subramanian, N., and Zalewski, J. (2013, January 8\u201311). Studying interrelationships of safety and security for software assurance in cyber-physical systems: Approach based on bayesian belief networks. Proceedings of the 2013 Federated Conference on Computer Science and Information Systems, Krakow, Poland."},{"key":"ref_72","doi-asserted-by":"crossref","unstructured":"Ralyt\u00e9, J., Brinkkemper, S., and Henderson-Sellers, B. (2007). A Look at Misuse Cases for Safety Concerns. Situational Method Engineering: Fundamentals and Experiences, Springer US.","DOI":"10.1007\/978-0-387-73947-2"},{"key":"ref_73","doi-asserted-by":"crossref","unstructured":"J\u00fcrjens, J. (2003). Developing Safety-and Security-Critical Systems with UML, DARP Workshop.","DOI":"10.1007\/978-3-540-45221-8_31"},{"key":"ref_74","doi-asserted-by":"crossref","unstructured":"Apvrille, L., and Roudier, Y. (2014). Towards the model-driven engineering of secure yet safe embedded systems. arXiv, Available online: https:\/\/arxiv.org\/abs\/1404.1985.","DOI":"10.4204\/EPTCS.148.2"},{"key":"ref_75","unstructured":"Roth, M., and Liggesmeyer, P. (2019, October 18). Modeling and Analysis of Safety-Critical Cyber Physical Systems Using State\/Event Fault Trees. Available online: https:\/\/hal.archives-ouvertes.fr\/SAFECOMP2013-DECS\/hal-00848640."},{"key":"ref_76","unstructured":"Brunel, J., Chemouil, D., Rioux, L., Bakkali, M., and Vall\u00e9e, F. (2019, October 22). A Viewpoint-Based Approach for Formal Safety & Security Assessment of System Architectures. Available online: https:\/\/hal.archives-ouvertes.fr\/hal-01070960."},{"key":"ref_77","doi-asserted-by":"crossref","unstructured":"Zafar, S., and Dromey, R.G. (2005, January 15\u201317). Integrating safety and security requirements into design of an embedded system. Proceedings of the 12th Asia-Pacific Software Engineering Conference (APSEC\u201905), Taipei, Taiwan.","DOI":"10.1109\/APSEC.2005.75"},{"key":"ref_78","first-page":"4","article-title":"Reconciling Malicious and Accidental Risk in Cyber Security","volume":"4","author":"Pieters","year":"2014","journal-title":"J. Internet Serv. Inf. Secur."},{"key":"ref_79","unstructured":"Sun, M., Mohan, S., Sha, L., and Gunter, C. (2009, January 22\u201324). Addressing safety and security contradictions in cyber-physical systems. Proceedings of the 1st Workshop on Future Directions in Cyber-Physical Systems Security (CPSSW\u201909), Newark, NJ, USA."},{"key":"ref_80","unstructured":"Simpson, A., Woodcock, J., and Davies, J. Safety through security. Proceedings of the Ninth International Workshop on Software Specification and Design, Available online: https:\/\/www.computer.org\/csdl\/proceedings-article\/iwssd\/1998\/00667912\/12OmNx4gUlw."},{"key":"ref_81","doi-asserted-by":"crossref","unstructured":"Delange, J., Pautet, L., and Feiler, P. (2009, January 8\u201312). Validating safety and security requirements for partitioned architectures. Proceedings of the International Conference on Reliable Software Technologies, Brest, France.","DOI":"10.1007\/978-3-642-01924-1_3"},{"key":"ref_82","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1145\/2556938","article-title":"An integrated approach to safety and security based on systems theory","volume":"57","author":"Young","year":"2014","journal-title":"Commun. ACM"},{"key":"ref_83","doi-asserted-by":"crossref","unstructured":"Schmittner, C., Ma, Z., Schoitsch, E., and Gruber, T. (2015, January 14). A case study of fmvea and chassis as safety and security co-analysis method for automotive cyber-physical systems. Proceedings of the 1st ACM Workshop on Cyber-Physical System Security, Singapore.","DOI":"10.1145\/2732198.2732204"},{"key":"ref_84","doi-asserted-by":"crossref","unstructured":"Schmittner, C., Ma, Z., and Smith, P. (2014, January 10\u201312). FMVEA for safety and security analysis of intelligent and cooperative vehicles. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Florence, Italy.","DOI":"10.1007\/978-3-319-10557-4_31"},{"key":"ref_85","unstructured":"Chung, L., Nixon, B.A., Yu, E., and Mylopoulos, J. (2012). Non-functional Requirements in Software Engineering, Springer US."},{"key":"ref_86","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1109\/JSYST.2013.2294628","article-title":"Quantitative assessment of safety and security of system architectures for cyberphysical systems using the NFR approach","volume":"10","author":"Subramanian","year":"2014","journal-title":"IEEE Syst. J."},{"key":"ref_87","doi-asserted-by":"crossref","unstructured":"Winther, R., Johnsen, O.A., and Gran, B.A. (2001, January 26\u201328). Security assessments of safety critical systems using HAZOPs. Proceedings of the International Conference on Computer Safety, Reliability, and Security, Budapest, Hungary.","DOI":"10.1007\/3-540-45416-0_2"}],"container-title":["Future Internet"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1999-5903\/12\/4\/65\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T13:44:43Z","timestamp":1760363083000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1999-5903\/12\/4\/65"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4,11]]},"references-count":87,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2020,4]]}},"alternative-id":["fi12040065"],"URL":"https:\/\/doi.org\/10.3390\/fi12040065","relation":{},"ISSN":["1999-5903"],"issn-type":[{"value":"1999-5903","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4,11]]}}}