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Filters based Approach with Temporal and Combinational Constraints for Cybersecurity of Industrial control systems

Filters based Approach with Temporal and Combinational Const...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Sicard, Franck Zamai, Eric Flaus, Jean-Marie Univ Grenoble Alpes CNRS Grenoble INP G SCOP F-38000 Grenoble France Univ Grenoble Alpes Inst Engn Grenoble France

Industrial control systems (ICS) are increasingly deployed in critical infrastructures. Originally designed to increase the productivity of ICS as well as safety and reliability, nowadays these systems are becoming the target of hackers. Several attacks highlighted vulnerabilities, the most relevant one, Stuxnet, stroke in 2010. Protection of ICS against cyberattacks has to be considered. Security of these systems is different from IT security solutions because exchanged data have physical consequences. For that, a new approach for Intrusion Detection System (IDS) in ICS was presented based on filters monitoring orders and reports. Methodology to obtain these filters and their locations in the ICS architecture were introduced. In this paper, we present major improvements in detection mechanisms of these filters. Distance concept, introduced in previous paper (Sicard et al., 2017), is developed and combined to trajectory concept that allows filters to detect deviations from expected behavior. Distance from optimal or forbidden states is essential to compute order sequence bringing back the system into safe states. Trajectory, which is the evolution of distance during state evolution, improves detection mechanism by analyzing sequences sent to the system and received by Programmable Logic controller (PLC). this combinational security prevents damages against goods and people. Implementation of time based intrusion detection is a step forward for improving filters. Temporal windows indicate when actions have to be done and if received reports correspond to executed orders. thus, our filter approach secures ICS against combinational and temporal attacks affecting security of goods and people or quality. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Cybersecurity ICS fault detection trajectory attack detection combinational constraints time windows detection discrete event systems Cyber Physical systems

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Frequency-based detection of replay attacks: application to a multiple tank system

Frequency-based detection of replay attacks: application to ...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Sanchez, Helem Rotondo, Damiano Escobet, Teresa Puig, Vicenc Quevedo, Joseba Univ Politecn Cataluna Res Ctr Supervis Safety & Automat Control CS2AC Barcelona Spain UPC ESAII Dept Automat Control Rambla de St Nebridi 11 Terrassa 08222 Spain UPC CSIC Inst Robot & Informat Ind IRI Carrer Llorens i Artigas 4-6 Barcelona 08028 Spain UPC Dept Min Ind & ICT Engn Ave Bases Manresa 61-73 Manresa 08242 Spain

this paper presents a frequency-based method for detecting replay attacks and its application to a multiple tank system. this method introduces a sinusoidal signal with a time-varying frequency (authentication signature) into the closed-loop system and checks whether the output signal is compatible with the signature or not. the effectiveness of the method is illustrated through simulation scenarios using a 9-tank system under different situations. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Replay attacks cyber security cyber-physical systems water supply systems

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Interval observer fault detection ensuring detectability and isolability by using a set-invariance approach

Interval observer fault detection ensuring detectability and...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Pourasghar, Masoud Puig, Vicenc Ocampo-Martinez, Carlos Univ Politecn Cataluna Dept Automat Control Supervis Safety & Automat Control Res Ctr CS2AC C Llorens i Artigas 4-5 E-08028 Barcelona Spain

this paper proposes the design of an interval observer-based Fault Detection and Isolation (FDI) algorithm using the set-invariance approach. Using this approach, both fault detectability and isolability properties of the proposed interval observer based FDI algorithm can be characterized in system steady-state operation. the effect of the uncertainty is taken into account using zonotopic-set representations. Finally, a simulation example based on a two-tanks system is employed to both illustrate and discuss the effectiveness of the proposed approach. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault detection bounded uncertainties observers-based approach set-invariance approach zonotopes

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the UHVAT Gripper: Usable Holding Versatile Adjustable Tool to Grasp Different Objects

The UHVAT Gripper: Usable Holding Versatile Adjustable Tool ...

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16th ifac symposium on Information control Problems in Manufacturing (INCOM)

作者： Borisov, Ivan I. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Kolyubin, Sergey A. ITMO Univ Dept Mechatron St Petersburg Russia ITMO Univ Dept Control Syst & Informat St Petersburg Russia

this paper presents a novel approach to the development of finger mechanisms for anthropomorphic grippers. the proposal approach allows to design a gripper finger that is able to break/reconnect a kinematic chain of the finger in order to change a degree of freedom, that will enable to choose between different operation modes of the grasping device. When a kinematic chain is closed the finger has got one degree of freedom (DOF), thus a trajectory of the finger is predictable that allows to execute precise pinch grasp. When the kinematic chain is opened the finger has got 2 DOF that allows to accomplish power and adaptive underactuated grasp of unknown random objects no matter of their orientation, that helps with pick-and place tasks of heavy objects, since encompassing grasp is able to increase the gripper's payload capacity. Closing/opening of the kinematic chain is implemented with a special link, which is able to fix its length or make it variable. In this paper, the proposed approach was used to create an usable holding versatile adjustable tool (UHVAT gripper) for industrial tasks to grasp objects with different sizes and shapes via both power types of grasps as well as precision grasps. the gripper consists of three fingers and a palm. All fingers of the gripper are actuated with one stepper motor embedded into the gripper palm. the mechanical structure of the gripper makes it adjustable to different types of grasps configurations. the structure of the finger, the mechanical design of the gripper, an analysis of the finger mechanism and simulation results are presented. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robotic systems Factory and Industrial Automation Adaptive Methods Industrial robots Robotics Adaptive Grasping

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Sensor fault diagnosis in inland navigation networks based on a grey-box model

Sensor fault diagnosis in inland navigation networks based o...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Segovia, P. Blesa, J. Duviella, E. Rajaoarisoa, L. Nejjari, F. Puig, V. Univ Politecn Cataluna Res Ctr Supervis Safety & Automat Control CS2AC Terrassa CampusGaia BldgRambla St Nebridi 22 Terrassa 08222 Spain CSIC UPC Inst Robot & Informat Ind C Llorens i Artigas 4-6 Barcelona 08028 Spain Univ Lille IMT Lille Douai Unite Rech Informat Automat F-59000 Lille France

Inland navigation networks are equipped with limnimeters to measure and record water level data for the control of water levels and the management of water resources. When faults occur on sensors, corrupted data can be considered as correct, leading to undesirable management actions. therefore, it is necessary to detect and localize these faults. In this paper, the detection and localization of sensor faults is performed through the analysis of the parameters of a grey-box model, which are obtained from available real data. the parameters are determined with a sliding window, with the exception of the delays, which are considered known a priori. A fault is detected and then localized when there is a change in the value of the parameters. this approach is well suited for constant faults and particularly well adapted for intermittent faults. Data of an inland navigation reach located in the north of France are used to highlight the performance of the proposed approach. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Large-scale systems inland waterways fault diagnosis grey-box model

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eMPC Based Fault-tolerant control for Wind Turbine Converters

eMPC Based Fault-tolerant Control for Wind Turbine Converter...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Jain, Tushar Yame, Joseph Julien Indian Inst Technol Mandi Sch Comp & Elect Engn Mandi 175005 Himachal Prades India Univ Lorraine CRAN CNRS Ctr Rech Automat Nancy BP 70239 F-54506 Vandoeuvre Les Nancy France

In this paper, we present a novel active fault-tolerant control (FTC) methodology for wind turbines, which minimizes the economic cost of the turbine by achieving two broad objectives: power maximization and fatigue reduction possibly under the effect of bias faults in converters. the proposed FTC system is composed of two modules: fault diagnosis and controller reconfiguration. We develop the latter module using a model-predictive control (MPC) scheme where the constraints set of the decision variables is not convex. the novelty of the proposed scheme lies in the transformation of the non-convex optimization problem into a convex problem using some new decision variables. the fault diagnosis algorithm is based on an unknown-input residual generator which extracts the complete information of the fault. this fault information is then used to update in real-time the constraints of the MPC to ensure the system availability. the effectiveness of the developed scheme is demonstrated on a 2MW wind turbine system. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault-tolerant control fault diagnosis renewable energy systems wind turbines model-predictive control

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A two-tank benchmark for detection and isolation of cyber attacks

A two-tank benchmark for detection and isolation of cyber at...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Quevedo, Joseba Sanchez, Helem Rotondo, Damiano Escobet, Teresa Puig, Vicenc Univ Politecn Cataluna Res Ctr Supervis Safety & Automat Control CS2AC Barcelona Spain UPC ESAII Automat Control Dept Rambla St Nebridi 11 Terrassa 08222 Spain UPC CSIC Inst Robot & Informat Ind IRI Carrer Llorens i Artigas 4-6 Barcelona 08028 Spain UPC Dept Min Ind & ICT Engn Av Bases Manresa 61-73 Manresa 08242 Spain

this paper presents a benchmark for the detection and isolation of cyber attacks, which is a non-linear controlled interconnected system based on a two tank system. In this benchmark, a malicious attacker wants to remain hidden while stealing water by altering the signals of the sensors of the levels of the tanks It is assumed that the attacker can steal water from the tanks using extraction pumps with pre-established flow rates and, depending on the theft and the type of sensor alteration, different attack scenarios are proposed. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Cyber attacks cyber physical systems benchmark replay attacks two-tank system

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Fractional-order model identification for state of health assessment of solid-oxide fuel cells

Fractional-order model identification for state of health as...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Dolenc, Bostjan Nusev, Gjorgji Subotic, Vanja Hochenauer, Christoph Gehring, Nicole Juricic, Dani Boskoski, Pavle Jozef Stefan Inst Ljubljana Slovenia Graz Univ Technol Inst Thermal Engn Graz Austria Johannes Kepler Univ Linz Inst Automat Control & Control Syst Technol Linz Austria Jozef Stefan Inst Postgrad Sch Ljubljana Slovenia

Solid-oxide fuel cells (SOFCs) represent a group of electrochemical conversion devices that utilise hydrogen rich fuels and are characterised by their high efficiency of energy conversion. For optimal exploitation of SOFCs, accurate and online state-of-health (SoH) assessment is of utmost importance. SoH assessment is usually performed through the frequency domain analysis by characterising the changes of the Nyqvist curves, a process also known as electrochemical impedance spectroscopy. Such an approach is time consuming and suffers from low accuracy particularly at low frequencies. Methodologies for time-domain identification of fractional-order systems offer a way of resolving these issues. Using an algebraic approach to identification, the complete fractional-order transfer function is identified from a series of several step responses. the SoH can be estimated from the identified parameters of the fractional-order transfer function either in a form of a Nyqvist curve or by directly linking particular parameter values to electrochemical processes. the proposed approach was validated on a 300 W SOFC using pure hydrogen fuel. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fractional systems Condition Monitoring Solid-oxide fuel cell system identification

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Fault Detection Based on Multi-objective Observer and Interval Hull Computation

Fault Detection Based on Multi-objective Observer and Interv...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Tang, Wentao Wang, Zhenhua Shen, Yi Rodrigues, Mickael theilliol, Didier Harbin Inst Technol Sch Astronaut Harbin 150001 Heilongjiang Peoples R China Univ Lyon Automat & Proc Control Lab F-69003 Lyon France Univ Lorraine Ctr Rech Automat Nancy CNRS UMR 7039 F-54506 Vandoeuvre Les Nancy France

the design of a novel sensor fault detection scheme for discrete-time linear time-invariant systems with unknown but bounded uncertainties is proposed in the paper. To make the residual sensitive to fault and robust against the unknown disturbance and measurement noise, we propose a multi-objective fault detection observer method based on the criteria of H_index and P-radius and further present an iterative LMI method to solve the observer design problem. In the design of residual evaluation, we propose a threshold computation method via the interval hull approximation of the residual reachable set. the merit of the proposed method is that its threshold computation exhibits less conservatism and higher computational efficiency than the zonotope-based method. Simulations are conducted to demonstrate the superiority of the proposed method. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault detection multi-objective observer threshold computation

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Pumps condition assessment in water distribution networks

Pumps condition assessment in water distribution networks

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Soldevila, Adria Blesa, Joaquim Fernandez-Canti, Rosa M. Tornil-Sin, Sebastian Meseguer, Jordi Puig, Vicenc Univ Politecn Cataluna Res Ctr Supervis Safety & Automat Control CS2AC Terrassa CampusGaia BldgRambla St Nebridi 22 Barcelona 08222 Spain Inst Robot & Informat Ind CSIC UPC Carrer Llorens Artigas 4-6 Barcelona 08028 Spain Water Technol Ctr CETaqua Barcelona 08028 Spain

this paper presents a method for the detection of faults in electrical pumps. the method relies on the computation of two features, the pump efficiency and the hydraulic balance, that present reference values during healthy pump operation and change when the pump is affected by a fault. In this paper, the CUSUM Change Detection Test and the Mann-Whitney Change Point Method are proposed as change detection algorithms to process both features. the method has been applied to a real installation with several pumps and the results are reported in the paper. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault detection water pumps

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