Safety and Security of Cyber-Physical Systems: Engineering dependable Software using Principle-based Development

Foreword
Preface
Acknowledgments
Contents
List of Figures
List of Tables
List of Examples
List of Definitions
List of Principles
About the Author
Part I Foundation
1 Introduction
	1.1	Cyber-Physical Systems
	1.2	Risk in Cyber-Physical Systems
	References
2 Cyber-Physical Systems
	2.1	Cyber-Physical Systems
	2.2	Cyber-Physical Systems-of-Systems
	2.3	Emergence
	2.4	Infrastructure
		2.4.1	Introduction
		2.4.2	ICS Architecture
	2.5	Autonomous Cyber-Physical Systems
	2.6	Internet of Things
	2.7	Cloud-Based Cyber-Physical Systems
		2.7.1	Conceptual Architecture
		2.7.2	Cloud Safety, Security, and Real Time
	2.8	Token Economy
	2.9	Cyber-crime and Cyber-war
		2.9.1	Cyber-crime
		2.9.2	Cyber-war
	2.10	Diffuse Computer Crime
		2.10.1	Supply Chain Dangers
		2.10.2	Insider Crime
	2.11	Cyber-Physical Systems Engineering
		2.11.1	Safety- and Security-Aware Development Process
		2.11.2	Governance
		2.11.3	Competence Center
		2.11.4	Contract-Based Engineering
			2.11.4.1 Interface Contracts
			2.11.4.2 Service Contracts
			2.11.4.3 Contract-Based Engineering
		2.11.5	Agile Methods in Safety and Security
			2.11.5.1 The Agile Manifesto
			2.11.5.2 Agile Application Spectrum
			2.11.5.3 Agile Methods and CPS Safety and Security
			2.11.5.4 Agility Against Architecture?
	References
3 Three Devils of Safety and Security
	3.1	Vulnerabilities
	3.2	Threats
	3.3	Failures
	3.4	Risk Introduction
	3.5	Cyber-Physical System Tension Field
	References
4 Safety, Security, and Risk
	4.1	Context
	4.2	General Resilience
	4.3	Safety
		4.3.1	Introduction
		4.3.2	Composite Systems
		4.3.3	Safety Taxonomy
		4.3.4	Safety Metrics
		4.3.5	Elements of Safety
		4.3.6	Safety Culture
		4.3.7	Safety Standards and Policies
			4.3.7.1 Safety Standards
			4.3.7.2 Safety Policies
		4.3.8	Governance
		4.3.9	Safety Management System
		4.3.10	Safety Principles
		4.3.11	Safety Implementation
		4.3.12	Safety Assessment and Safety Audit
			4.3.12.1 Safety Assessment
			4.3.12.2 Safety Audit
		4.3.13	Safety Runtime Monitoring
		4.3.14	How Much Safety is Enough?
	4.4	Security
		4.4.1	Introduction
		4.4.2	Security Taxonomy
		4.4.3	Security Metrics
		4.4.4	Elements of Security
		4.4.5	Security Culture
		4.4.6	Security Standards and Policies
			4.4.6.1 Security Standards
			4.4.6.2 Security Policies
		4.4.7	Governance
		4.4.8	Security Management System
		4.4.9	Security Principles
		4.4.10	Security Implementation
		4.4.11	Security Perimeter Protection
			4.4.11.1 Intrusion Prevention
			4.4.11.2 Penetration Testing
			4.4.11.3 Extrusion Prevention
		4.4.12	Zero Trust Architecture
		4.4.13	Security Chaos Engineering
		4.4.14	Weakest Link
			4.4.14.1 Self-Inflicted Security Issues
		4.4.15	Security Assessment and Security Audit
			4.4.15.1 Security Assessment
			4.4.15.2 Security Audit
		4.4.16	Security Runtime Monitoring
		4.4.17	How Much Security is Enough?
	4.5	Convergence of Safety and Security Engineering
	4.6	Risk
		4.6.1	Risk in Safety and Security
		4.6.2	Risk Management Process
		4.6.3	Risk Analysis and Assessment
		4.6.4	Safety Risk Management
		4.6.5	Security Risk Management
			4.6.5.1 Qualitative Risk Matrix
			4.6.5.2 Quantitative Risk Matrix
			4.6.5.3 Monte Carlo Simulations
		4.6.6	Cyber-Crisis Management
		4.6.7	Agile Risk Management
	4.7	Forensic Engineering
		4.7.1	Safety Accident Forensic Engineering of Software
		4.7.2	Cyber-Incident Forensic Engineering of Software
	4.8	Ethics
	References
5 Safe Software and Secure Software
	5.1	Introduction
	5.2	Software Architecture
	5.3	Architecture Framework
	5.4	Trustworthy Development Process
		5.4.1	Introduction
		5.4.2	Defect Avoidance and Defect Elimination
		5.4.3	Coding Standards
		5.4.4	Good Programming Practices for Safety and Security
		5.4.5	Modeling and Formal Languages
			5.4.5.1 Models
			5.4.5.2 Model Checking
			5.4.5.3 Model-Based Engineering
			5.4.5.4 Formal Methods and Languages
	5.5	Safe Software
		5.5.1	Time
		5.5.2	Software Categories
		5.5.3	In-House Software
		5.5.4	Third-Party Software
		5.5.5	Execution Platform
	5.6	Secure Software
		5.6.1	Secure by Design
		5.6.2	In-House Software
			5.6.2.1 Containers
			5.6.2.2 Domain-Specific Development
		5.6.3	Third-Party Software
		5.6.4	Execution Platform
	5.7	Correct-by-Construction
	5.8	Importance of People
	5.9	Drift into Vulnerabilities
		5.9.1	The Law of Unintended Consequences
			5.9.1.1 Far-Effect
			5.9.1.2 Emergence
			5.9.1.3 Drift into Vulnerability
	References
6 The Future
	6.1	The Rise of the Three Devils
	6.2	Safety: Autonomy
	6.3	Security: Cryptography Apocalypse
		6.3.1	Cryptographic Algorithms
		6.3.2	Cryptographic Attacks
		6.3.3	Cryptography Apocalypse
		6.3.4	Post-Quantum Cryptography
	6.4	Artificial Intelligence in Safety and Security
		6.4.1	AI in Safety
			6.4.1.1 Artificial Intelligence in Civil Applications
			6.4.1.2 Intransparent ML Algorithms
			6.4.1.3 Adversarial ML Examples
			6.4.1.4 Explainable AI (XAI)
			6.4.1.5 AI Guardian Angel Bot
			6.4.1.6 Artificial Intelligence in Military Applications
		6.4.2	AI in Security
			6.4.2.1 Malicious Security Artificial Intelligence
			6.4.2.2 Beneficial Security Artificial Intelligence
			6.4.2.3 Collaborating Agents and Threat Intelligence Aggregation
	6.5	AI Conclusions
	References
Part II Principles
7 Principle-Based Engineering
	7.1	Risk-Based Engineering
	7.2	Principle-Based Engineering
		7.2.1	Principles in Science
	7.3	Safety and Security Principles
	7.4	Principle-Based Engineering Process
	7.5	Safety and Security Patterns
	References
8 Principles for Business and Organization
	8.1	Principle B1: Risk Culture
	8.2	Principle B2: Policies
	8.3	Principle B3: Competence Center
	8.4	Principle B4: Governance
	8.5	Principle B5: Record Keeping and Trustworthy Archive
	8.6	Principle B6: Product Liability
	8.7	Principle B7: Code of Ethics
	8.8	Principle B8: People’s Work Environment
	References
9 General Principles
	Anchor 2
	9.1	Principle G1: Precise Safety and Security Requirements
	9.2	Principle G2: Adequate System Architecture
	9.3	Principle G3: Technical Debt
		9.3.1	Technical Debt
			9.3.1.1 Technical Debt Management
			9.3.1.2 Technical Debt Metric
	9.4	Principle G4: Architecture Erosion
	9.5	Principle G5: Separation of Concerns
	9.6	Principle G6: General Resilience Principles
		9.6.1	G6_1: Software Integrity
			9.6.1.1 Code Signing
			9.6.1.2 Control Flow Integrity
			9.6.1.3 Artifact History Integrity (Version control)
			9.6.1.4 Terminology
		9.6.2	G6_2: Timing Integrity
		9.6.3	G6_3: Fault Containment Regions
		9.6.4	G6_4: Single Points of Failure
		9.6.5	G6_5: Multiple Lines of Defense
	9.7	G6_6: Fail-Safe System
		9.7.1	G6_7: Graceful Degradation
		9.7.2	G6_8: Fault Tolerance
			9.7.2.1 Fault Tolerance
			9.7.2.2 System-Level Implementation of Fault Tolerance
			9.7.2.3 Software-Implemented Fault Tolerance
			9.7.2.4 Diagnosability
		9.7.3	G6_9: Dependable Foundation (Dependable Execution Infrastructure)
			9.7.3.1 Dependable Execution Infrastructure
			9.7.3.2 Firmware
		9.7.4	G6_10: Error, Exception, and Failure Management
		9.7.5	G6_11: Monitoring
	9.8	G7: Code Quality
	9.9	G8: Modeling
	9.10	G9: Cloud-Based Cyber-Physical Systems
	9.11	G10: Supply Chain Confidence
		9.11.1	Black-Box Risk Analysis
		9.11.2	Protective Shell
		9.11.3	Black-Box testing
		9.11.4	Supplier Risk Management Review/Audit
	9.12	G10a: Supply Chain Risk Management
	9.13	G10b: Supply Chain Confidence: Products
	9.14	G10c: Supply Chain Confidence: Services (Outsourcing)
	9.15	G10d: Supply Chain Confidence: Open-Source Software
	9.16	Principle G11: Trustworthy Development Process
	9.17	G12: IoT Systems
	9.18	G13: Impact of Artificial Intelligence
	References
10 Principles for Safety
	10.1	Principle S1: Safety Culture
	10.2	Principle S2: Safety Standards and Policies
	10.3	Principle S3: Safety Governance
	10.4	Principle S4: Safety Management System
	10.5	Principle S5: Safety Principles
	10.6	Principle S6: Safety Implementation
	10.7	Principle S7: Safety Assessment and Audit
	10.8	Principle S8: Safety Runtime Monitoring
	10.9	Principle S9: Safe Software
	10.10	Principle S11: Artificial Intelligence in Safety-Critical CPS
	References
11 Principles for Security
	11.1	Principle E1: Security Culture
	11.2	Principle E2: Security Standards and Policies
	11.3	Principle E3: Security Governance
	11.4	Principle E4: Information Security Management System
	11.5	Principle E5: Security Principles
	11.6	Principle E6: Cyber-Crisis Management
	11.7	Principle E7: Security Implementation
	11.8	Principle E8: Personal Data
	11.9	Principle E9: Security Perimeter Protection
	11.10	Principle E10: Zero Trust Architecture
	11.11	Principle E11: Cryptography
		11.11.1	Lightweight Cryptography
	11.12	Principle E12: Transition to Post-Quantum Cryptography
	11.13	Principle E13: Security Assessment and Security Audit
	11.14	Principle E14: Security Runtime Monitoring
	11.15	Principle E15: Secure Software
	11.16	Principle E16: Insider Crime
		11.16.1	Technical Controls
		11.16.2	Human Resource Management Controls
	11.17	Principle E17: Microservices Security
		11.17.1	Microservices
		11.17.2	Microservices Security
		11.17.3	Microservices Governance
		11.17.4	Migration to Microservices
	11.18	Principle E18: Artificial Intelligence in Security
		11.18.1	ICT Defense Mandate
		11.18.2	Artificial Intelligence Defense for Security
		11.18.3	Attacks against Defense AI Machine Learning
	References
12 Principles for Risk
	12.1	Risk Handling
	12.2	Principle R1: Risk
	12.3	Principle R2: Risk Management Process
	12.4	Principle R3: Risk Metrics
	12.5	Principle R4: Forensic Engineering
	References
13 Final Words
	13.1	Uncertainty
	13.2	Disciplined Engineering
	13.3	Why?
	13.4	Final Words
	Reference
References
Index