Numerical simulation models are a fundamental tool for planning and managing smart water networks—an evolution of water distribution systems in which physical assets are monitored and controlled by information and communication technologies. While simulation models allow us to understand the interactions between physical processes and abstract control strategies, they ignore key implementation aspects of distributed control systems, such as the required communication over digital links. As a result, the effects of anomalies and faults in the communication on the process control cannot be investigated with existing tools. In this work, we fill this gap by introducing DHALSIM (Digital HydrAuLic SIMulator), a numerical modelling platform combining EPANET-based process simulation with a network and host emulation environment, offering a high-fidelity representation of the processes occurring in the cyber domain. We illustrate DHALSIM’s key functionalities by implementing it on a benchmark water distribution system, present case studies of simulated network traffic, and demonstrate how anomalies in the behavior of the communication network affect the process data received by the supervisory control and data acquisition (SCADA) server. In a companion paper, we further illustrate how DHALSIM enables research opportunities in the domain of cyber-physical security. The easily customizable and open source DHALSIM provides a “workbench” for studying smart water networks, developing digital twins, and designing a broad spectrum of engineering solutions.@en

A fundamental problem in the realm of cyber-physical security of smart water networks is attack detection, a key step towards designing adequate countermeasures. This task is typically carried out by algorithms that analyze time series of process data. However, the nature of the data available to develop these algorithms limits their capabilities: by relying on process data only, one cannot distinguish a cyber-attack from the failure of a system’s component or identify the root cause of an attack. Here, we show that these limitations can be addressed through the joint analysis of process and network data—with the latter representing the information exchanged between the components constituting the Industrial Control System, such as sensors and Programmable Logic Controllers (PLCs). For this purpose, we utilize a dataset generated by digital hydraulic simulator (DHALSIM)—a numerical modelling platform built on a two-way interaction between EPANET version 2.2 and a network emulation tool—which is extended here to include a framework for launching cyber-physical attacks. This paper presents a dataset with realistic network information of a smart water network under cyber-physical attacks and presents an analysis of how that information can enable the development of better intrusion detection systems that can localize and identify attacks. Through this analysis, the dataset provided here, and the open-source availability of DHALSIM, our work paves the way to a novel class of analytics for actionable detection.

@en

The manageability and resilience of critical infrastructures, such as power and water networks, is challenged by their increasing interdependence and interconnectivity. Power networks often experience cascading failures, i.e. blackouts, that have unprecedented economic and social impact. Al- though knowledge exists about how to control such complex non-linear phenomena within a single power network, little is known about how such failures can spread and coevolve in the water network when failing power components energize the water distribution infrastructure, i.e. pumps and valves. This paper studies such a scenario and specifically the impact of power cascading failures on shortages of water supply. A realistic exemplary of an interconnected power-to-water network is experimentally evaluated using a modular simulation approach. Power and waterflow dynamics are simulated separately by taking into account different maximum powerlines capacities and water demand requirements. Results showcase the strong dependency of urban water sup- ply systems on the reliability of power networks, with severe shortages of water supply being caused by failures originating indistant power lines, especially for heavily loaded power networks.@en

Recently, reconstruction-based anomaly detection was proposed as an effective technique to detect attacks in dynamic industrial control networks. Unlike classical network anomaly detectors that observe the network traffic, reconstruction-based detectors operate on the measured sensor data, leveraging physical process models learned a priori. In this work, we investigate different approaches to evade prior-work reconstruction-based anomaly detectors by manipulating sensor data so that the attack is concealed. We find that replay attacks (commonly assumed to be very strong) show bad performance (i.e., increasing the number of alarms) if the attacker is constrained to manipulate less than 95% of all features in the system, as hidden correlations between the features are not replicated well. To address this, we propose two novel attacks that manipulate a subset of the sensor readings, leveraging learned physical constraints of the system. Our attacks feature two different attacker models: A white box attacker, which uses an optimization approach with a detection oracle, and a black box attacker, which uses an autoencoder to translate anomalous data into normal data. We evaluate our implementation on two different datasets from the water distribution domain, showing that the detector's Recall drops from 0.68 to 0.12 by manipulating 4 sensors out of 82 in WADI dataset. In addition, we show that our black box attacks are transferable to different detectors: They work against autoencoder-, LSTM-, and CNN-based detectors. Finally, we implement and demonstrate our attacks on a real industrial testbed to demonstrate their feasibility in real-time.

@en

This study presents a critical review of disclosed, documented, and malicious cybersecurity incidents in the water sector to inform safeguarding efforts against cybersecurity threats. The review is presented within a technical context of industrial control system architectures, attack-defense models, and security solutions. Fifteen incidents were selected and analyzed through a search strategy that included a variety of public information sources ranging from federal investigation reports to scientific papers. For each individual incident, the situation, response, remediation, and lessons learned were compiled and described. The findings of this review indicate an increase in the frequency, diversity, and complexity of cyberthreats to the water sector. Although the emergence of new threats, such as ransomware or cryptojacking, was found, a recurrence of similar vulnerabilities and threats, such as insider threats, was also evident, emphasizing the need for an adaptive, cooperative, and comprehensive approach to water cyberdefense.

@en

Water distribution systems are undergoing a process of intensive digitalization, adopting networked devices for monitoring and control. While this transition improves efficiency and reliability, these infrastructures are increasingly exposed to cyber-attacks. Cyber-attacks engender anomalous system behaviors which can be detected by data-driven algorithms monitoring sensors readings to disclose the presence of potential threats. At the same time, the use of sonification in real time process monitoring has grown in importance as a valid alternative to avoid information overload and allowing peripheral monitoring. Our project aims to design a sonification system allowing human operators to take better decisions on anomalous behavior while occupied in other (mainly visual) tasks. Using a state-of-the-art detection algorithm and data sets from the Battle of the Attack Detection Algorithms, a series of sonification prototypes were designed and tested in the real world. This paper illustrates the design process and the experimental data collected, as well results and plans for future steps.@en

Water utilities often rely on industrial water supply (e.g. desalination) to complement natural resources. These climate-independent sources of supply allow operators to respond quickly to varying operating conditions, but require them to choose operating strategies, or rules. How does such operational flexibility impact the performance of water supply systems? How might it affect long-term plans for capacity expansion? Possibly significantly, as demonstrated by the analysis of a water supply system based on Singapore. First, we simulate the dynamics of the system under multiple rainfall and operating scenarios to understand the extent to which the operators’ behavior affect system performance. Results show that different operating rules can have comparable impact on the variability in system performance as hydrological conditions. Then, we show that small changes in the operating rules can lead to substantial changes in the capacity expansions, such as the size of a new desalination plant.@en