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An actuator is a device that converts electricity into another form ofenergy, typically physical movement. They are absolutely essential for anysystem that needs to impact or modify the physical world, and are used inmillions of systems of all sizes, all over the world, from cars and spacecraftto factory control systems and critical infrastructure. An actuator is a "dumbdevice" that is entirely controlled by the surrounding electronics, e.g., amicrocontroller, and thus cannot authenticate its control signals or do anyother form of processing. The problem we look at in this paper is how the wiresthat connect an actuator to its control electronics can act like antennas,picking up electromagnetic signals from the environment. This makes it possiblefor a remote attacker to wirelessly inject signals (energy) into these wires tobypass the controller and directly control the actuator.  To detect such attacks, we propose a novel detection method that allows themicrocontroller to monitor the control signal and detect attacks as a deviationfrom the intended value. We have managed to do this without requiring themicrocontroller to sample the signal at a high rate or run any signalprocessing. That makes our defense mechanism practical and easy to integrateinto existing systems. Our method is general and applies to any type ofactuator (provided a few basic assumptions are met), and can deal withadversaries with arbitrarily high transmission power. We implement ourdetection method on two different practical systems to show its generality,effectiveness, and robustness.

Detection of Electromagnetic Signal Injection Attacks on Actuator Systems