An intelligent dynamic cyber physical system threat detection system for ensuring secured communication in 6G autonomous vehicle networks.

Smart cities have developed advanced technology that improves people's lives. A collaboration of smart cities with autonomous vehicles shows the development towards a more advanced future. Cyber-physical system (CPS) are used blend the cyber and physical world, combined with electronic and mechanical systems, Autonomous vehicles (AVs) provide an ideal model of CPS. The integration of 6G technology with Autonomous Vehicles (AVs) marks a significant advancement in Intelligent Transportation Systems (ITS), offering enhanced self-sufficiency, intelligence, and effectiveness. Autonomous vehicles rely on a complex network of sensors, cameras, and software to operate. A cyber-attack could interfere with these systems, leading to accidents, injuries, or fatalities. Autonomous vehicles are often connected to broader transportation networks and infrastructure. A successful cyber-attack could disrupt not only individual vehicles but also public transportation systems, causing widespread chaos and economic damage. Autonomous vehicles communicate with other vehicles (V2V) and infrastructure (V2I) for safe and efficient operation. If these communication channels are compromised, it could lead to collisions, traffic jams, or other dangerous situations. So we present a novel approach to mitigating these security risks by leveraging pre-trained Convolutional Neural Network (CNN) models for dynamic cyber-attack detection within the cyber-physical systems (CPS) framework of AVs. The proposed Intelligent Intrusion Detection System (IIDS) employs a combination of advanced learning techniques, including Data Fusion, One-Class Support Vector Machine, Random Forest, and k-Nearest Neighbor, to improve detection accuracy. The study demonstrates that the EfficientNet model achieves superior performance with an accuracy of up to 99.97%, highlighting its potential to significantly enhance the security of AV networks. This research contributes to the development of intelligent cyber-security models that align with 6G standards, ultimately supporting the safe and efficient integration of AVs into smart cities.

Cyber-Physical Distributed Intelligent Motor Fault Detection.

This research paper explores the realm of fault detection in distributed motors through the vision of the Internet of electrical drives. This paper aims at employing artificial neural networks supported by the data collected by the Internet of distributed devices. Cross-verification of results offers reliable diagnosis of industrial motor faults. The proposed methodology involves the development of a cyber-physical system architecture and mathematical modeling framework for efficient fault detection. The mathematical model is designed to capture the intricate relationships within the cyber-physical system, incorporating the dynamic interactions between distributed motors and their edge controllers. Fast Fourier transform is employed for signal processing, enabling the extraction of meaningful frequency features that serve as indicators of potential faults. The artificial neural network based fault detection system is integrated with the solution, utilizing its ability to learn complex patterns and adapt to varying motor conditions. The effectiveness of the proposed framework and model is demonstrated through experimental results. The experimental setup involves diverse fault scenarios, and the system's performance is evaluated in terms of accuracy, sensitivity, and false positive rates.

Security Control of Cyber-Physical Systems under Cyber Attacks: A Survey.

Cyber-physical systems (CPSs), which combine computer science, control systems, and physical elements, have become essential in modern industrial and societal contexts. However, their extensive integration presents increasing security challenges, particularly due to recurring cyber attacks. Therefore, it is crucial to explore CPS security control. In this review, we systematically examine the prevalent cyber attacks affecting CPSs, such as denial of service, false data injection, and replay attacks, explaining their impacts on CPSs' operation and integrity, as well as summarizing classic attack detection methods. Regarding CPSs' security control approaches, we comprehensively outline protective strategies and technologies, including event-triggered control, switching control, predictive control, and optimal control. These approaches aim to effectively counter various cyber threats and strengthen CPSs' security and resilience. Lastly, we anticipate future advancements in CPS security control, envisioning strategies to address emerging cyber risks and innovations in intelligent security control techniques.

Dynamic event-triggered control for CPSs under QoS-based variable sampling approach.

In this article, a quality of service (QoS) dependent variable sampling dynamic event-triggered control method is designed for a cyber-physical system (CPS) with delays and packets dropout to cope with non-ideal network environments, maintain the desired control performance and improve the communication efficiency. To achieve the variable period sampling, a sampler is designed based on the QoS of the wireless network by using the delta operator discretization method. Then, a variable period sampling scheme for the delta operator system converted from the CPS is designed. Furthermore, a dynamic event-triggered mechanism (DETM) is proposed using the variable period sampling signal, which can reduce event triggered data calculations and increase event triggered intervals. By utilizing the average dwell time (ADT) approach, sufficient conditions contains the explicit variable sampling period are derived for the derived switched CPS. Finally, the effectiveness of the designed method is verified by numerical examples.

Resilient distributed optimization for cyber-physical systems under adversarial environments: An event-based method.

This work presents a resilient distributed optimization algorithm based on the event-triggering mechanism for cyber-physical systems (CPSs) to optimize an average of convex cost functions corresponding to multiple agents under adversarial environments. Two attack scenarios, including the f-total (each agent is affected by at most f malicious agents in the whole network) and the f-local (each agent is affected by at most f malicious agents in its in-neighbor set) attacks are considered. Subsequently, the convergence conditions under these two attack scenarios are provided, respectively, both of which guarantee that the state values of benign agents converge to a bounded error range. The optimality conditions are also presented by theoretical analysis, which guarantee that the state values of benign agents converge to a safety interval constructed by local optimal values under certain graph conditions, despite the misbehavior of malicious agents. In addition, four numerical examples are presented to show the effectiveness and superiority of the event-triggering resilient distributed optimization (RDO-E) algorithm. Compared to existing resilient algorithms, the proposed method achieves resilient distributed optimization with higher accuracy and less demanding communication overheads. Finally, by applying the proposed method to the multi-microgrid system, a resilient economic dispatch problem (REDP) is successfully solved, which validates the practical viability of the RDO-E algorithm.

Development and Evaluation of Ensemble Learning-based Environmental Methane Detection and Intensity Prediction Models.

The environmental impacts of global warming driven by methane (CH4) emissions have catalyzed significant research initiatives in developing novel technologies that enable proactive and rapid detection of CH4. Several data-driven machine learning (ML) models were tested to determine how well they identified fugitive CH4 and its related intensity in the affected areas. Various meteorological characteristics, including wind speed, temperature, pressure, relative humidity, water vapor, and heat flux, were included in the simulation. We used the ensemble learning method to determine the best-performing weighted ensemble ML models built upon several weaker lower-layer ML models to (i) detect the presence of CH4 as a classification problem and (ii) predict the intensity of CH4 as a regression problem. The classification model performance for CH4 detection was evaluated using accuracy, F1 score, Matthew's Correlation Coefficient (MCC), and the area under the receiver operating characteristic curve (AUC ROC), with the top-performing model being 97.2%, 0.972, 0.945 and 0.995, respectively. The R 2 score was used to evaluate the regression model performance for CH4 intensity prediction, with the R 2 score of the best-performing model being 0.858. The ML models developed in this study for fugitive CH4 detection and intensity prediction can be used with fixed environmental sensors deployed on the ground or with sensors mounted on unmanned aerial vehicles (UAVs) for mobile detection.

Fractional-order finite-time sliding mode control for uncertain teleoperated cyber-physical system with actuator fault.

The stability of the teleoperated cyber-physical system with model uncertainty, external disturbance, and actuator fault is addressed in this study by using a suitable fractional-order sliding mode control (SMC) strategy. First, the sliding surface is designed to ensure the better tracking performance of the system. Second, the suggested control method combines SMC with an adaptive strategy to ensure that the system is stable in finite time. Third, neural network (NN) and fuzzy logic system (FLS) are used to estimate the model uncertainty, time-varying delay, external disturbance and unknown coefficient matrices of sliding mode surface, respectively. Finally, the advantages of the proposed control scheme are confirmed by the simulation example.

Stochastic power processing through logic operation of power packets.

This article presents an application of the recently proposed logic operation of power based on power packetization. In a power packet despatching system, the power supply can be considered as a sequence of power pulses, where the occurrence of pulses follows a probability that corresponds to the capacity of the power sources or power lines. In this study, we propose a processing scheme to reshape a stream of power packets from such stochastic sequences to satisfy the load demand. The proposed scheme is realized by extending the concept of stochastic computing to the power domain. We demonstrate the operation of the proposed scheme through experiments and numerical simulations by implementing it as a function of a power packet router, which forms a power packet despatching network. The stochastic framework proposed in this study provides a new design foundation for low-power distribution networks as an embodiment of the close connection between the cyber and physical components.

A Literature Review on the Development and Creation of Digital Twins, Cyber-Physical Systems, and Product-Service Systems.

Digital Twins offer vast potential, yet many companies, particularly small and medium-sized enterprises, hesitate to implement them. This hesitation stems partly from the challenges posed by the interdisciplinary nature of creating Digital Twins. To address these challenges, this paper explores systematic approaches for the development and creation of Digital Twins, drawing on relevant methods and approaches presented in the literature. Conducting a systematic literature review, we delve into the development of Digital Twins while also considering analogous concepts, such as Cyber-Physical Systems and Product-Service Systems. The compiled literature is categorised into three main sections: holistic approaches, architecture, and models. Each category encompasses various subcategories, all of which are detailed in this paper. Through this comprehensive review, we discuss the findings and identify research gaps, shedding light on the current state of knowledge in the field of Digital Twin development. This paper aims to provide valuable insights for practitioners and researchers alike, guiding them in navigating the complexities associated with the implementation of Digital Twins.

A Graph-Based Technique for Securing the Distributed Cyber-Physical System Infrastructure.

Spreading digitalization, flexibility, and autonomy of technological processes in cyber-physical systems entails high security risks corresponding to negative consequences of the destructive actions of adversaries. The paper proposes a comprehensive technique that represents a distributed functional cyber-physical system's infrastructure as graphs: a functional dependencies graph and a potential attacks graph. Graph-based representation allows us to provide dynamic detection of the multiple compromised nodes in the functional infrastructure and adapt it to rolling intrusions. The experimental modeling with the proposed technique has demonstrated its effectiveness in the use cases of advanced persistent threats and ransomware.

Development and Validation of a Cyber-Physical System Leveraging EFDPN for Enhanced WSN-IoT Network Security.

In the current digital era, Wireless Sensor Networks (WSNs) and the Internet of Things (IoT) are evolving, transforming human experiences by creating an interconnected environment. However, ensuring the security of WSN-IoT networks remains a significant hurdle, as existing security models are plagued with issues like prolonged training durations and complex classification processes. In this study, a robust cyber-physical system based on the Emphatic Farmland Fertility Integrated Deep Perceptron Network (EFDPN) is proposed to enhance the security of WSN-IoT. This initiative introduces the Farmland Fertility Feature Selection (F3S) technique to alleviate the computational complexity of identifying and classifying attacks. Additionally, this research leverages the Deep Perceptron Network (DPN) classification algorithm for accurate intrusion classification, achieving impressive performance metrics. In the classification phase, the Tunicate Swarm Optimization (TSO) model is employed to improve the sigmoid transformation function, thereby enhancing prediction accuracy. This study demonstrates the development of an EFDPN-based system designed to safeguard WSN-IoT networks. It showcases how the DPN classification technique, in conjunction with the TSO model, significantly improves classification performance. In this research, we employed well-known cyber-attack datasets to validate its effectiveness, revealing its superiority over traditional intrusion detection methods, particularly in achieving higher F1-score values. The incorporation of the F3S algorithm plays a pivotal role in this framework by eliminating irrelevant features, leading to enhanced prediction accuracy for the classifier, marking a substantial stride in fortifying WSN-IoT network security. This research presents a promising approach to enhancing the security and resilience of interconnected cyber-physical systems in the evolving landscape of WSN-IoT networks.

High-Speed Network DDoS Attack Detection: A Survey.

Having a large number of device connections provides attackers with multiple ways to attack a network. This situation can lead to distributed denial-of-service (DDoS) attacks, which can cause fiscal harm and corrupt data. Thus, irregularity detection in traffic data is crucial in detecting malicious behavior in a network, which is essential for network security and the integrity of modern Cyber-Physical Systems (CPS). Nevertheless, studies have shown that current techniques are ineffective at detecting DDoS attacks on networks, especially in the case of high-speed networks (HSN), as detecting attacks on the latter is very complex due to their fast packet processing. This review aims to study and compare different approaches to detecting DDoS attacks, using machine learning (ML) techniques such as k-means, K-Nearest Neighbors (KNN), and Naive Bayes (NB) used in intrusion detection systems (IDSs) and flow-based IDSs, and expresses data paths for packet filtering for HSN performance. This review highlights the high-speed network accuracy evaluation factors, provides a detailed DDoS attack taxonomy, and classifies detection techniques. Moreover, the existing literature is inspected through a qualitative analysis, with respect to the factors extracted from the presented taxonomy of irregular traffic pattern detection. Different research directions are suggested to support researchers in identifying and designing the optimal solution by highlighting the issues and challenges of DDoS attacks on high-speed networks.

Cyber-Enabled Optimization of HVAC System Control in Open Space of Office Building.

Thermal comfort is crucial to well-being and work productivity. Human thermal comfort is mainly controlled by HVAC (heating, ventilation, air conditioning) systems in buildings. However, the control metrics and measurements of thermal comfort in HVAC systems are often oversimplified using limited parameters and fail to accurately control thermal comfort in indoor climates. Traditional comfort models also lack the ability to adapt to individual demands and sensations. This research developed a data-driven thermal comfort model to improve the overall thermal comfort of occupants in office buildings. An architecture based on cyber-physical system (CPS) is used to achieve these goals. A building simulation model is built to simulate multiple occupants' behaviors in an open-space office building. Results suggest that a hybrid model can accurately predict occupants' thermal comfort level with reasonable computing time. In addition, this model can improve occupants' thermal comfort by 43.41% to 69.93%, while energy consumption remains the same or is slightly reduced (1.01% to 3.63%). This strategy can potentially be implemented in real-world building automation systems with appropriate sensor placement in modern buildings.

Cyber-Physical System for Smart Traffic Light Control.

In recent years, researchers have proposed smart traffic light control systems to improve traffic flow at intersections, but there is less focus on reducing vehicle and pedestrian delays simultaneously. This research proposes a cyber-physical system for smart traffic light control utilizing traffic detection cameras, machine learning algorithms, and a ladder logic program. The proposed method employs a dynamic traffic interval technique that categorizes traffic into low, medium, high, and very high volumes. It adjusts traffic light intervals based on real-time traffic data, including pedestrian and vehicle information. Machine learning algorithms, including convolutional neural network (CNN), artificial neural network (ANN), and support vector machine (SVM), are demonstrated to predict traffic conditions and traffic light timings. To validate the proposed method, the Simulation of Urban Mobility (SUMO) platform was used to simulate the real-world intersection working. The simulation result indicates the dynamic traffic interval technique is more efficient and showcases a 12% to 27% reduction in the waiting time of vehicles and a 9% to 23% reduction in the waiting time of pedestrians at an intersection when compared to the fixed time and semi-dynamic traffic light control methods.

FCMCPS-COVID: AI propelled fog-cloud inspired scalable medical cyber-physical system, specific to coronavirus disease.

Medical cyber-physical systems (MCPS) firmly integrate a network of medical objects. These systems are highly efficacious and have been progressively used in the Healthcare 4.0 to achieve continuous high-quality services. Healthcare 4.0 encompasses numerous emerging technologies and their applications have been realized in the monitoring of a variety of virus outbreaks. As a growing healthcare trend, coronavirus disease (COVID-19) can be cured and its spread can be prevented using MCPS. This virus spreads from human to human and can have devastating consequences. Moreover, with the alarmingly rising death rate and new cases across the world, there is an urgent need for continuous identification and screening of infected patients to mitigate their spread. Motivated by the facts, we propose a framework for early detection, prevention, and control of the COVID-19 outbreak by using novel Industry 5.0 technologies. The proposed framework uses a dimensionality reduction technique in the fog layer, allowing high-quality data to be used for classification purposes. The fog layer also uses the ensemble learning-based data classification technique for the detection of COVID-19 patients based on the symptomatic dataset. In addition, in the cloud layer, social network analysis (SNA) has been performed to control the spread of COVID-19. The experimental results reveal that compared with state-of-the-art methods, the proposed framework achieves better results in terms of accuracy (82.28 %), specificity (91.42 %), sensitivity (90 %) and stability with effective response time. Furthermore, the utilization of CVI-based alert generation at the fog layer improves the novelty aspects of the proposed system.

Modelling cybersecurity regulations for automated vehicles.

Technological advancements in Connected and Automated Vehicles (CAVs), particularly the integration of diverse stakeholder groups (communication service providers, road operators, automakers, repairers, CAV consumers, and the general public) and the pursuit of new economic opportunities, have resulted in the emergence of new technical, legal, and social challenges. The most pressing challenge is deterring criminal behaviour in both the physical and cyber realms through the adoption of CAV cybersecurity protocols and regulations. However, the literature lacks a systematic decision tool to analyze the impact of the potential cybersecurity regulations for dynamically interacting stakeholders, and to identify the leverage points to minimise the cyber-risks. To address this knowledge gap, this study uses systems theory to develop a dynamic modelling tool to analyze the indirect consequences of potential CAVs cybersecurity regulations in the medium to long term. It is hypothesized that CAVs Cybersecurity Regulatory Framework (CRF) is the property of the entire ITS stakeholders. The CRF is modelled using the System Dynamic based Stock-and-Flow-Model (SFM) technique. The SFM is founded on five critical pillars: the Cybersecurity Policy Stack, the Hacker's Capability, Logfiles, CAV Adopters, and intelligence-assisted traffic police. It is found that decision-makers should focus on three major leverage points: establishing a CRF grounded on automakers' innovation; sharing risks in eliminating negative externalities associated with underinvestment and knowledge asymmetries in cybersecurity; and capitalising on massive CAV-generated data in CAV operations. The formal integration of intelligence analysts and computer crime investigators to strengthen traffic police capabilities is pivotal. Recommendations for automakers include data-profiteering in CAV design, production, sales, marketing, safety enhancements and enabling consumer data transparency.Furthermore, CAVs-CRF necessitate a balanced approach to the trade-off between: i) data accessibility constraints on CAV automakers and ITS service providers; ii) regulator command and control thresholds; iii) automakers' business investment protection; and iv) consumers' data privacy guard.

Intrusion Detection in Vehicle Controller Area Network (CAN) Bus Using Machine Learning: A Comparative Performance Study.

Electronic Control Units (ECUs) have been increasingly used in modern vehicles to control the operations of the vehicle, improve driving comfort, and safety. For the operation of the vehicle, these ECUs communicate using a Controller Area Network (CAN) protocol that has many security vulnerabilities. According to the report of Upstream 2022, more than 900 automotive cybersecurity incidents were reported in 2021 only. In addition to developing a more secure CAN protocol, intrusion detection can provide a path to mitigate cyberattacks on the vehicle. This paper proposes a machine learning-based intrusion detection system (IDS) using a Support Vector Machine (SVM), Decision Tree (DT), and K-Nearest Neighbor (KNN) and investigates the effectiveness of the IDS using multiple real-world datasets. The novelty of our developed IDS is that it has been trained and tested on multiple vehicular datasets (Kia Soul and a Chevrolet Spark) to detect and classify intrusion. Our IDS has achieved accuracy up to 99.9% with a high true positive and a low false negative rate. Finally, the comparison of our performance evaluation outcomes demonstrates that the proposed IDS outperforms the existing works in terms of its liability and efficiency to detect cyber-attacks with a minimal error rate.

Towards next generation digital twin in robotics: Trends, scopes, challenges, and future.

With the advent of Industry 4.0, several cutting-edge technologies such as cyber-physical systems, digital twins, IoT, robots, big data, cloud computation have emerged. However, how these technologies are interconnected or fused for collaborative and increased functionality is what elevates 4.0 to a grand scale. Among these fusions, the digital twin (DT) in robotics is relatively new but has unrivaled possibilities. In order to move forward with DT-integrated robotics research, a complete evaluation of the literature and the creation of a framework are now required. Given the importance of this research, the paper seeks to explore the trends of DT incorporated robotics in both high and low research saturated robotic domains in order to discover the gap, rising and dying trends, potential scopes, challenges, and viable solutions. Finally, considering the findings, the study proposes a framework based on a hypothesis for the future paradigm of DT incorporated robotics.