Cyber-Physical Systems (CPS) are formed through interconnected components capable of computation, communication, sensing and changing the physical world. The development of these systems poses a significant challenge since they have to be designed in a way to ensure cyber-security without impacting their performance. This article presents the Security Cost Modelling Framework (SCMF) and shows supported by an experimental study how it can be used to measure, normalise and aggregate the overall performance of a CPS. Unlike previous studies, our approach uses different metrics to measure the overall performance of a CPS and provides a methodology for normalising the measurement results of different units to a common Cost Unit. Moreover, we show how the Security Costs can be extracted from the overall performance measurements which allows to quantify the overhead imposed by performing security-related tasks. Furthermore, we describe the architecture of our experimental testbed and demonstrate the applicability of SCMF in an experimental study. Our results show that measuring the overall performance and extracting the security costs using SCMF can serve as basis to redesign interactions to achieve the same overall goal at less costs.

中文翻译：

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网络物理系统的安全成本建模框架

信息物理系统 (CPS) 由能够计算、通信、感知和改变物理世界的互连组件构成。这些系统的开发带来了重大挑战，因为它们的设计方式必须确保网络安全而不影响其性能。本文介绍了安全成本建模框架 (SCMF)，并在实验研究的支持下展示了如何使用它来衡量、规范化和聚合 CPS 的整体性能。与之前的研究不同，我们的方法使用不同的指标来衡量 CPS 的整体性能，并提供了一种将不同单位的测量结果标准化为通用成本单位的方法。而且，我们展示了如何从整体性能测量中提取安全成本，从而量化执行安全相关任务所带来的开销。此外，我们描述了我们的实验测试台的架构，并证明了 SCMF 在实验研究中的适用性。我们的结果表明，使用 SCMF 衡量整体性能和提取安全成本可以作为重新设计交互的基础，从而以更低的成本实现相同的总体目标。