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Browsing by Author "Daily, Jeremy, advisor"

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    Autonomous trucks as a scalable system of systems: development, constituent systems communication protocols and cybersecurity
    (Colorado State University. Libraries, 2024) Elhadeedy, Ahmed, author; Daily, Jeremy, advisor; Chong, Edwin, committee member; Papadopoulos, Christos, committee member; Luo, Jie, committee member
    Driverless vehicles are complex to develop due to the number of systems required for safe and secure autonomous operation. Autonomous vehicles embody the definition of a system of systems as they incorporate several systems to enable functions like perception, decision-making, vehicle controls, and external communication. Constituent systems are often developed by different vendors globally which introduces challenges during the development process. Additionally, as the fleet of autonomous vehicles scales, optimization of onboard and off-board communication between the constituent systems becomes critical. Autonomous truck and trailer configurations face challenges when operating in reverse due to the lack of sensing on the trailer. It is anticipated that sensor packages will be installed on existing trailers to extend autonomous operations while operating in reverse in uncontrolled environments, like a customer's loading dock. Power Line Communication (PLC) between the trailer and the tractor cannot support high bandwidth and low latency communication. Legacy communications use powerline carrier communications at 9600 baud, so upfitting existing trailers for autonomous operations will require adopting technologies like Ethernet or a wireless harness between the truck and the trailer. This would require additional security measures and architecture, especially when pairing a tractor with a trailer. We proposed tailoring the system of systems Model for autonomous vehicles. The model serves as the governing framework for the development of constituent systems. It's essential for the SoS model to accommodate various development approaches that are used for hardware, and software such as Agile, or Vee models. Additionally, a queuing model for certificates authentication compares the named certificate approach with the traditional approach. The model shows the potential benefits of named certificates when the autonomous vehicles are scaled. We also proposed using named J1939 signals to reduce complexities and integration efforts when multiple on-board or off-board systems request vehicle signals. We discuss the current challenges and threats on autonomous truck-trailer communication when Ethernet or a wireless harness is used, and the impact on the Electronic Control Unit (ECU) lifecycle. In addition to using Named Data Networking (NDN) to secure in-vehicle and cloud communication. Named Data Networking can reduce the complexity of the security of the in-vehicle communication networks where it provides a networking solution with security by design.
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    Leveraging operational use data to inform the systems engineering process of fielded aerospace defense systems
    (Colorado State University. Libraries, 2023) Eddy, Amy, author; Daily, Jeremy, advisor; Marzolf, Gregory, committee member; Miller, Erika, committee member; Wise, Daniel, committee member
    Inefficiencies in Department of Defense (DoD) Acquisition processes have been pervasive nearly as long as the DoD has existed. Stakeholder communication issues, funding concerns, large and overly complex organizational structures all play a role in adding challenges to those tasked with fielding, operating, and sustaining a complex aerospace defense system. As legacy defense systems begin to age, logistics and other supportability element requirements may change over time. While research literature supports the evidence that many stakeholders and senior leaders are aware of the issues and the DoD faces the impact those issues cause to mission performance, most research and attempts to improve the performance issues have been focused on high level restructuring of organizations or policy, processes, and procedures. There has been little research dedicated to identifying ways for working level logisticians and systems engineers to improve performance by leveraging operational use data. This study proposes a practical approach for working level logisticians and engineers to identify relationships between operational use data and supply performance data. This research focuses on linking negative aircraft events (discrepancies) to the supply events (requisitions) that result in downtime. This approach utilizes standard statistical methods to analyze operations, maintenance, and supply data collected during the Operations and Sustainment (O&S) phase of the life cycle. Further, this research identifies methods consistent with industry systems engineering practices to create new feedback loops to better inform the systems engineering life cycle management process, update requirements, and iterate the design of the enterprise system as a holistic entity that includes the physical product and its supportability elements such as logistics, maintenance, facilities, etc. The method identifies specific recommendations and actions for working level logisticians and systems engineers to prevent future downtime. The method is practical for the existing DoD organizational structure, and uses current DoD processes, all without increasing manpower or other resource needs.
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    SAE J1939-specific cyber security for medium and heavy-duty vehicles
    (Colorado State University. Libraries, 2023) Mukherjee, Subhojeet, author; Partridge, Craig, advisor; Daily, Jeremy, advisor; Gersch, Joseph, committee member; Bradley, Thomas, committee member
    Medium and heavy-duty (MHD) vehicles are part of the US critical infrastructure. In modern MHD vehicles, mechanical operations are regularly controlled by interconnected networks of electronic control units (ECU). Communication within and across these networks is typically governed by the SAE J1939 standards. It has been established that similar to their lighter counterparts (passenger vehicles), MHD vehicles expose remote and physically accessible interfaces through which arbitrary messages can be sent to ECUs with the intent to control and/or disrupt the vehicle's functions. For physical transport of information between ECUs, SAE J1939 utilizes the Controller Area Network (CAN) protocol. CAN is used extensively for in-passenger vehicle communication and its security features have been analyzed frequently. Albeit, the same cannot be said about SAE J1939. As such, in this dissertation, we investigate security methods for MHD vehicles that utilize specifics of SAE J1939. First, we research cyber-attacks that exploit weaknesses in the SAE J1939 standards. Along with the known attacks from related literature, these help in enhancing the current threatscape. Next, we research network-based security solutions that make use of SAE J1939 specifications. Prior work on in-vehicle security identifies the necessity for a multi-layered security solution that can raise alarms even if the attack cannot be completely prevented. As such, we provide security in two layers. In the first layer, we try to detect an ongoing attack and raise alarms. The method is designed to function in an online manner in the dynamic networking environment within an MHD vehicle. In the second layer, we try to identify attacker-injected messages using user-provided rules in real time as the message is being transmitted. The method is designed to classify a message (e.g. a command to unlock a door) as benign or malicious based on features other than its content (e.g. whether the vehicle is in motion).
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    Secure CAN logging and data analysis
    (Colorado State University. Libraries, 2020) Van, Duy, author; Daily, Jeremy, advisor; Simske, Steve, committee member; Papadopoulos, Christos, committee member; Hayne, Stephen, committee member
    Controller Area Network (CAN) communications are an essential element of modern vehicles, particularly heavy trucks. However, CAN protocols are vulnerable from a cybersecurity perspective in that they have no mechanism for authentication or authorization. Attacks on vehicle CAN systems present a risk to driver privacy and possibly driver safety. Therefore, developing new tools and techniques to detect cybersecurity threats within CAN networks is a critical research topic. A key component of this research is compiling a large database of representative CAN data from operational vehicles on the road. This database will be used to develop methods for detecting intrusions or other potential threats. In this paper, an open-source CAN logger was developed that used hardware and software following the industry security standards to securely log and transmit heavy vehicle CAN data. A hardware prototype demonstrated the ability to encrypt data at over 6 Megabits per second (Mbps) and successfully log all data at 100% bus load on a 1 Mbps baud CAN network in a laboratory setting. An AES-128 Cipher Block Chaining (CBC) encryption mode was chosen. A Hardware Security Module (HSM) was used to generate and securely store asymmetric key pairs for cryptographic communication with a third-party cloud database. It also implemented Elliptic-Curve Cryptography (ECC) algorithms to perform key exchange and sign the data for integrity verification. This solution ensures secure data collection and transmission because only encrypted data is ever stored or transmitted, and communication with the third-party cloud server uses shared, asymmetric secret keys as well as Transport Layer Security (TLS).
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    Systems engineering approach to engine test stand development for micropatching evaluations
    (Colorado State University. Libraries, 2022) Lobato, Peter Eliot, author; Bradley, Thomas, advisor; Daily, Jeremy, advisor; Windom, Bret, committee member
    This project applies systems engineering methodology to develop an engine test stand used to extract, patch and validate the binary file of a diesel engine electronic control module. Electronic control modules operate modern systems ranging from aircraft and spacecraft to automobiles, heavy trucks and industrial equipment. These systems are often used for decades, which may be beyond the period for which manufacturers provide support. The binary code operating these embedded controllers may need to be patched as part of maintenance or compatibility with updated requirements. The objective of this thesis is to design an evaluation system to test the extraction, patching and deployment of binary code operating an engine control module of a legacy engine platform, a Cummins 6.7L diesel engine with a Cummins CM2350 engine controller, which does not have source code available. However, through binary analysis and micropatching, it is possible to update the binary of the ECM firmware by applying a patch to change specific attributes of the operation of the ECU. To verify the results of the patch, the binary is deployed to the engine controller and the operation of the engine is assessed. An engine on a dynamometer test stand was reconfigured to be an evaluation platform for assuring non-interference attributes of the ECM binary. Requirements were identified, architecture was established, and validation was tied to corresponding test stand requirements. A method to solve an iterative numerical calculation with convergence criterion set incorrectly was implemented on the ECM, and that method was then patched with a correct convergence criterion. The evaluation system was documented for other operators to execute the evaluations.
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    The application of model-based systems engineering to understand security of systems using SAE J1939
    (Colorado State University. Libraries, 2024) Salinger, Gabe, author; Daily, Jeremy, advisor; Herber, Daniel, committee member; Windom, Bret, committee member
    The Engineering community is adopting a Digital Engineering approach enabled by Model-Based Systems Engineering (MBSE) as an effective tool for designing complex systems. As technology continues to rapidly advance, security risk mitigation and requirements engineering is becoming a prominent and important factor in the cybersecurity domain. As a result, engineering methods and frameworks must constantly be improved and updated to implement the successful realization of cyber-physical systems (CPS). With the inherent connectivity, accessibility, and lack of security making CPSs attractive targets for cyber attacks, integrating security considerations into system development is crucial. With 'security by design' being a fundamental pillar of system development, MBSE plays a pivotal role in shaping secure system architectures. In this thesis, I explore the application of MBSE to the system security domain, focusing on secure system development and the incorporation of security by design throughout the system development phase. This is accomplished by investigating the utility of MBSE in understanding the vulnerabilities of a Medium to Heavy Duty (MHD) vehicle, improving its security posture, and providing recommendations on how to improve the process. This is achieved by first exploring the utility of simulation using model-based tools to better understand complex systems, and bridge the gap between bottom-up and top-down approaches. Next, an established method, MBSEsec, is applied to the system of interest (SOI) to develop security controls for the vehicle's transport protocol. Additionally, recommendations are provided for improving the method's effectiveness in documenting vulnerabilities, and risk. MBSEsec is a security-focused MBSE method using SysML to develop a system architecture that highlights security design considerations. The method's structured workflow facilitates the elicitation of security requirements and controls using specific systems modeling activities. The primary focus is on the heavy vehicle network transport protocol, J1939, serving as the SOI. The discovery and validation of new exploits that take advantage of vulnerabilities in the data-link layer of the protocol highlights the need to elicit better security requirements for cyber-physical systems (CPS). Using the J1939 network as the SOI for this work allows the models to be supported by and validated with on-vehicle testing. This work contributes a survey of modeling approaches for secure system design. Lastly, this thesis details the development of a novel approach for system-level mission-focused security goal elicitation. EGRESS: Eliciting Goals for Requirement Engineering of Secure Systems, incorporates best practices from security requirement engineering works, and utilizes Model-Based Systems Engineering to formulate security goals for cyber-physical systems, aiming to create more comprehensive security requirements.
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    Towards cybersecurity countermeasures for SAE J1708/1587 network protocol in heavy-duty vehicles
    (Colorado State University. Libraries, 2022) Nnaji, David C., author; Daily, Jeremy, advisor; Simske, Steve, committee member; Pasricha, Sudeep, committee member; Ray, Indrajit, committee member
    Heavy vehicles are crucial to a functioning economy and society since they are responsible for delivering people and goods across the country. These systems rely on various forms of in-vehicle communication between electronic control units (ECU) for reliable operation. In recent years, numerous vulnerabilities inherent to unauthenticated in-vehicle communication have been identified in academia, industry, sponsored events, and real-world attacks. Current defensive cybersecurity research is primarily aimed at securing the controller area network (CAN) and other conventional systems. However, little to no defensive research has been conducted on legacy systems, and only recently have state-of-the-art attacks been identified in public disclosures or discussed in published works. Despite the age of the technology, the associated vulnerabilities from legacy networks are likely to persist for many years due to long equipment service life, cost-reluctance from fleets, and powerline bridge standardization. If system-wide security is desired by the industry, proportional research in this field is warranted. In this thesis, I examine the application of simple signature-based and anomaly-based intrusion detection on legacy serial data communication between ECUs in heavy-duty (HD) applications defined in SAE J1708 and J1587 building on previously published work. This is accomplished through the design and development of a prototype network gateway tailored to the requirements defined within the two protocols. Additionally, this thesis contributes the embedded software utility developed for the prototype gateway for open use and validates its functionality through robust unit testing. Ultimately, the intrusion detection system is deployed, tested, and evaluated on a retrofitted dual air brake system simulator (DABSS) managed by Dr. Jeremy Daily at the Powerhouse Energy Institute. An assessment of the effectiveness of the mitigation against four attack scenarios followed by recommendations for improvements and future work are provided in the final chapters.