Dimitrios Serpanos Marilyn Wolf Internet-of-Things (IoT) Systems Architectures, Algorithms, Methodologies Internet-of-Things (IoT) Systems Dimitrios Serpanos • Marilyn Wolf Internet-of-Things (IoT) Systems Architectures, Algorithms, Methodologies Dimitrios Serpanos Marilyn Wolf Electrical & Computer Engineering School of ECE University of Patras Georgia Institute of Technology Patras, Greece Atlanta, GA, USA ISBN 978-3-319-69714-7 ISBN 978-3-319-69715-4 (eBook) https://doi.org/10.1007/978-3-319-69715-4 Library of Congress Control Number: 2017956194 © Springer International Publishing AG 2018 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland Dimitrios Serpanos: To Loukia and Georgia for their patience and understanding… Marilyn Wolf: To Alec. Preface The Internet of Things is the evolutionary step of the Internet that creates a world- wide infrastructure interconnecting machines and humans. As the Internet became public in the early 1990s, the first wave of its exploitation and deployment was mainly focused on the impact to everyday services and applications that changed the known models for financial transactions, shopping, news feeding and informa- tion sharing. It was a revolution that digitized a wide range of services as we knew them, from banking and retail shopping to face-to-face communication and govern- ment services. The first two decades of the Internet revolution focused strongly on consumer services and businesses, but human-centric. New business models appeared for banking, for online shopping, video communication, etc. for consum- ers. Business to business models and the cloud have impacted businesses signifi- cantly, wiping out large sectors of industry that did not adjust to the fast pace of the revolution. The impact on the economies has been tremendous. Now, more than two decades later, we witness and experience a new way of life because of the Internet’s reach to our homes and work environments. The advances of communication technology that enables the deployment and success of the Internet at home and work had an additional effect: the development of sophisticated interconnections among machines in the operational environment; we contrast the operational technology (OT) environment, which controls physical machines, to the information technology (IT) environment where humans are using computers for work. The already automated industrial environment received well the emerging technologies, adopted the suitable ones and created a, private mostly, network infrastructure that enables highly productive industrial processes. It has only been a natural step to evolve the Internet itself to include these processes. Additionally, the control models of the industrial environment, taking advantage of the smart devices –i.e. devices that include processing, memory and networking resources- that are deployed in various environments, have been extended and used in a wide variety of application domains. Conventional application domains like transportation, aeronautics, energy production and distribution, manufacturing and health adopt similar control models, exploiting smart sensors, actuators and devices that enable control automation for sophisticated applications. Critical infrastructure vii viii Preface of countries is run using these technologies today. This emerging Internet-of-Things (IoT) is the natural evolutionary step of the Internet revolution that started about three decades ago. Importantly, IoT is building a worldwide infrastructure that will influence all facets of our life, from agriculture to mining, from health services to manufacturing and transportation. Clearly, it will provide the infrastructure over which the new emerging AI revolution will be based. This book addresses the fundamental IoT technologies, architectures, applica- tion domains and directions. Development of a complete IoT system and service includes several components. The hardware base includes embedded processors, memories of different types, sensors, actuators, cloud servers, intermediate process- ing systems, network systems and gateways. The software base includes operating systems, data bases and control applications for several application domains, to the very least. The combination of hardware and software components for control applications constitutes the base for the evolution of cyber-physical systems. VLSI capabilities play a huge role in the design of IoT systems. Event-driven, distributed operation shapes the design of architectures and applications. Specialized network protocols enable efficient communication in this environment, including appropri- ate machine-to-machine (M2M) communication models. These technologies are emerging with constraints and restrictions for the IoT environment that are different from the typical IT environment, because of the requirements for safety, real-time responses, low power operation, etc. Security, privacy, and safety require particular attention and special techniques. IoT is a fast-changing field. This book provides a snapshot of its current state. We continue to work in this area and hope to create updates to this book as the field progresses. Atlanta, GA, USA Marilyn Wolf Patras, Greece Dimitrios Serpanos Acknowledgements We would like to acknowledge M.T. Khan, K. Katsigiannis and C. Koulamas for their support and their review and comments on the drafts. ix Contents 1 The IoT Landscape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 What Is IoT? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.3 Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.4 Wireless Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.5 Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.6 Security and Privacy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.7 Event-Driven Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.8 This Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2 IoT System Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 Protocols Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 IoT-Oriented Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.4 Databases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.5 Time Bases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.6 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 3 IoT Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.1 The IoT Device Design Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2 Cost of Ownership and Power Consumption . . . . . . . . . . . . . . . . . . . . 18 3.3 Cost per Transistor and Chip Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.4 Duty Cycle and Power Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.5 Platform Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4 Event-Driven System Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.2 Previous Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.3 Motivating Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 xi xii Contents 4.4 IoT Network Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.4.1 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.4.2 Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.4.3 Devices and Hubs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.4.4 Single-Hub Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.4.5 Multi-hub Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.4.6 Network Models and Physical Networks . . . . . . . . . . . . . . . . . 30 4.5 IoT Event Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.5.1 Event Populations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.5.2 Stochastic Event Populations . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.5.3 Environmental Interaction Modeling . . . . . . . . . . . . . . . . . . . . 34 4.5.4 Event Transport and Migration . . . . . . . . . . . . . . . . . . . . . . . . 34 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 5 Industrial Internet of Things . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 5.2 Industrie 4.0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 5.3 Industrial Internet of Things (IIoT) . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.4 IIoT Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 5.5 Basic Technologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 5.6 Applications and Challenges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 6 Security and Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 6.2 Systems Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 6.3 Network Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 6.4 Generic Application Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 6.5 Application Process Security and Safety . . . . . . . . . . . . . . . . . . . . . . . 65 6.6 Reliable-and-Secure-by-Design IoT Applications . . . . . . . . . . . . . . . . 66 6.7 Run-Time Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 6.8 The ARMET Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 6.9 Privacy and Dependability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 7 Security Testing IoT Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 7.2 Fuzz Testing for Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 7.2.1 White-Box Fuzzing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 7.2.2 Black-Box Fuzzing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 7.3 Fuzzing Industrial Control Network Systems . . . . . . . . . . . . . . . . . . . 82 7.4 Fuzzing Modbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 7.4.1 The Modbus Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 7.4.2 Modbus/TCP Fuzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91