This paper presents the Neural Network Verification (NNV) software tool, a set-based verification framework for deep neural networks (DNNs) and learning-enabled cyber-physical systems (CPS). The crux of NNV is a collection of reachability algorithms that make use of a variety of set representations, such as polyhedra, star sets, zonotopes, and abstract-domain representations. NNV supports both exact (sound and complete) and over-approximate (sound) reachability algorithms for verifying safety and robustness properties of feed-forward neural networks (FFNNs) with various activation functions. For learning-enabled CPS, such as closed-loop control systems incorporating neural networks, NNV provides exact and over-approximate reachability analysis schemes for linear plant models and FFNN controllers with piecewise-linear activation functions, such as ReLUs. For similar neural network control systems (NNCS) that instead have nonlinear plant models, NNV supports over-approximate analysis by combining the star set analysis used for FFNN controllers with zonotope-based analysis for nonlinear plant dynamics building on CORA. We evaluate NNV using two real-world case studies: the first is safety verification of ACAS Xu networks and the second deals with the safety verification of a deep learning-based adaptive cruise control system.
University of Southern California（南加州大学）；Toyota Research Institute North America（丰田北美研究院）
Signal Temporal Logic (STL) has become a popular tool for expressing formal requirements of Cyber-Physical Systems (CPS). The problem of verifying STL properties of neural network-controlled CPS remains a largely unexplored problem. In this paper, we present a model for the verification of Neural Network (NN) controllers for general STL specifications using a custom neural architecture where we map an STL formula into a feed-forward neural network with ReLU activation. In the case where both our plant model and the controller are ReLU-activated neural networks, we reduce the STL verification p…
Digitization and remote connectivity have enlarged the attack surface and made cyber systems more vulnerable. As attackers become increasingly sophisticated and resourceful, mere reliance on traditional cyber protection, such as intrusion detection, firewalls, and encryption, is insufficient to secure the cyber systems. Cyber resilience provides a new security paradigm that complements inadequate protection with resilience mechanisms. A Cyber-Resilient Mechanism (CRM) adapts to the known or zero-day threats and uncertainties in real-time and strategically responds to them to maintain critical …
Safe and reliable electric vehicle charging stations (EVCSs) have become imperative in an intelligent transportation infrastructure. Over the years, there has been a rapid increase in the deployment of EVCSs to address the upsurging charging demands. However, advances in information and communication technologies (ICT) have rendered this cyber-physical system (CPS) vulnerable to suffering cyber threats, thereby destabilizing the charging ecosystem and even the entire electric grid infrastructure. This paper develops an advanced cybersecurity framework, where STRIDE threat modeling is used to i…
The surging usage of electric vehicles (EVs) demand the robust deployment of trustworthy electric vehicle charging station (EVCS) with millisecond range latency and massive machine to machine communications where 5G could act. However, 5G suffers from inherent protocols, hardware, and software vulnerabilities that seriously threaten the communicating entities' cyber-physical security. To overcome these limitations in the EVCS system, this paper analyses the impact of False Data Injection (FDI) and Distributed Denial of Services (DDoS) attacks on the operation of EVCS. This work is an extension…
The concept of traditional farming is changing rapidly with the introduction of smart technologies like the Internet of Things (IoT). Under the concept of smart agriculture, precision agriculture is gaining popularity to enable Decision Support System (DSS)-based farming management that utilizes widespread IoT sensors and wireless connectivity to enable automated detection and optimization of resources. Undoubtedly the success of the system would be impacted on crop productivity, where failure would impact severely. Like many other cyber-physical systems, one of the growing challenges to avoid…
Neural networks have been increasingly applied for control in learning-enabled cyber-physical systems (LE-CPSs) and demonstrated great promises in improving system performance and efficiency, as well as reducing the need for complex physical models. However, the lack of safety guarantees for such neural network based controllers has significantly impeded their adoption in safety-critical CPSs. In this work, we propose a controller adaptation approach that automatically switches among multiple controllers, including neural network controllers, to guarantee system safety and improve energy effic…
Cyber-physical systems (CPS) greatly benefit by using machine learning components that can handle the uncertainty and variability of the real-world. Typical components such as deep neural networks, however, introduce new types of hazards that may impact system safety. The system behavior depends on data that are available only during runtime and may be different than the data used for training. Out-of-distribution data may lead to a large error and compromise safety. The paper considers the problem of efficiently detecting out-of-distribution data in CPS control systems. Detection must be robu…
Generative AI Enabled Robust Sensor Placement in Cyber-Physical Power Systems: A Graph Diffusion Approach
Nanyang Technological University（南洋理工大学）；Suzhou Institute for Advanced Research, University of Science and Technology of China（中国科学技术大学苏州高等研究院）；Univ. Grenoble Alpes, CNRS, Grenoble INP（格勒诺布尔阿尔卑斯大学、法国国家科学研究中心、格勒诺布尔理工学院）；Sungkyunkwan University（成均馆大学）
Large-scale Load-Altering Attacks (LAAs) against Internet-of-Things (IoT) enabled high-wattage electrical appliances (e.g., wifi-enabled air-conditioners, electric vehicles, etc.) pose a serious threat to power systems' security and stability. In this work, a Cyber-Resilient Economic Dispatch (CRED) framework is presented to mitigate the destabilizing effect of LAAs while minimizing the overall operational cost by dynamically optimizing the frequency droop control gains of Inverter-Based Resources (IBRs). The system frequency dynamics incorporating both LAAs and the IBR droop control are model…
Queueing-network models are developed for enhanced and next-generation 911 (E911 and NG911) systems, which capture both their cyber-components (communications, data-processing) and physical-world-elements (call takers, vehicle dispatch). The models encompass both the call-processing and dispatch functions of 911, and can represent the interdependencies between multiple PSAPs enabled by NG911. An instantiation of the model for a future NG911 system for Charlotte, North Carolina, is developed and used to assess performance metrics. Representation of cyber-threats (e.g. Distributed Denial-of-Serv…
Enhancing Cyber-Resilience in Integrated Energy System Scheduling with Demand Response Using Deep Reinforcement Learning
School of Electrical Engineering, Northeast Electric Power University（东北电力大学电气工程学院）；State Grid XiXian New Area Power Supply Company（国家电网西安新区供电公司）；School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（华中科技大学人工智能与自动化学院）；The Hong Kong University of Science and Technology（香港科技大学）；Institute of Energy Technology, Aalborg University（奥尔堡大学能源技术研究所）；Illinois Institute of Technology（伊利诺伊理工大学）
Businesses, particularly small and medium-sized enterprises, aiming to start up in Model-Based Design (MBD) face difficult choices from a wide range of methods, notations and tools before making the significant investments in planning, procurement and training necessary to deploy new approaches successfully. In the development of Cyber-Physical Systems (CPSs) this is exacerbated by the diversity of formalisms covering computation, physical and human processes. In this paper, we propose the use of a cloud-enabled and open collaboration platform that allows businesses to offer models, tools and …
Duke University（杜克大学）；University of Florida（佛罗里达大学）
This work focuses on the use of deep learning for vulnerability analysis of cyber-physical systems (CPS). Specifically, we consider a control architecture widely used in CPS (e.g., robotics), where the low-level control is based on e.g., the extended Kalman filter (EKF) and an anomaly detector. To facilitate analyzing the impact potential sensing attacks could have, our objective is to develop learning-enabled attack generators capable of designing stealthy attacks that maximally degrade system operation. We show how such problem can be cast within a learning-based grey-box framework where par…
Digitalization has led to radical changes in the distribution of goods across various sectors. The tendency is to move from traditional buyer-seller markets to subscription-based on-demand "smart" matching platforms enabled by pervasive ICTs. The driving force behind this lies in the fact that assets, which were scarce in the past, are readily abundant, approaching a regime of zero marginal costs. This is also becoming a reality in electrified energy systems due to the substantial growth of distributed renewable energy sources such as solar and wind; the increasing number of small-scale storag…
The emerging Internet of Things (IoT) applications that leverage ubiquitous connectivity and big data are facilitating the realization of smart everything initiatives. IoT-enabled infrastructures have naturally a multi-layer system architecture with an overlaid or underlaid device network and its coexisting infrastructure network. The connectivity between different components in these two heterogeneous interdependent networks plays an important role in delivering real-time information and ensuring a high-level situational awareness. However, IoT-enabled infrastructures face cyber threats due t…
