diff options
Diffstat (limited to 'doc')
| -rw-r--r-- | doc/quick-tech-report/circuits.ipynb | 1115 | ||||
| -rw-r--r-- | doc/quick-tech-report/ir_tx_schema.pdf | bin | 0 -> 4112 bytes | |||
| -rw-r--r-- | doc/quick-tech-report/ir_tx_schema.svg | 340 | ||||
| -rw-r--r-- | doc/quick-tech-report/mesh_gen_viz.pdf | bin | 0 -> 6880 bytes | |||
| -rw-r--r-- | doc/quick-tech-report/mesh_gen_viz.svg | 1547 | ||||
| -rw-r--r-- | doc/quick-tech-report/mesh_scan_crop.jpg | bin | 0 -> 400578 bytes | |||
| -rw-r--r-- | doc/quick-tech-report/photolink_schematic.pdf | bin | 0 -> 15968 bytes | |||
| -rw-r--r-- | doc/quick-tech-report/photolink_schematic.pro | 43 | ||||
| -rw-r--r-- | doc/quick-tech-report/photolink_schematic.sch | 486 | ||||
| -rw-r--r-- | doc/quick-tech-report/photolink_schematic.svg | 3246 | ||||
| -rw-r--r-- | doc/quick-tech-report/proto_3d_design.jpg | bin | 0 -> 63447 bytes | |||
| -rw-r--r-- | doc/quick-tech-report/prototype_early_comms_small.jpg | bin | 0 -> 518517 bytes | |||
| -rw-r--r-- | doc/quick-tech-report/rotohsm_tech_report.pdf | bin | 0 -> 1194508 bytes | |||
| -rw-r--r-- | doc/quick-tech-report/rotohsm_tech_report.tex | 148 |
14 files changed, 6909 insertions, 16 deletions
diff --git a/doc/quick-tech-report/circuits.ipynb b/doc/quick-tech-report/circuits.ipynb new file mode 100644 index 0000000..2e78b30 --- /dev/null +++ b/doc/quick-tech-report/circuits.ipynb @@ -0,0 +1,1115 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import schemdraw\n", + "from schemdraw import elements as elm" + ] + }, + { + "cell_type": "code", + "execution_count": 123, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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__init__(self, *args, **kwargs):\n", + " unit = 1.5\n", + " super().__init__(*args, unit=unit, **kwargs)\n", + "\n", + " box = kwargs.get('box', True)\n", + " boxfill = kwargs.get('boxfill', False)\n", + " bpad = kwargs.get('boxpad', .2)\n", + " label1, label2 = kwargs.get('label1'), kwargs.get('label2')\n", + " rev1, rev2 = kwargs.get('reverse1', False), kwargs.get('reverse2', False)\n", + "\n", + " D1 = self.add(elm.Diode(d='down', reverse=rev1))\n", + " D2 = self.add(elm.Diode(d='down', reverse=rev2, at=[2, 0]))\n", + " if label1:\n", + " self.segments.append(schemdraw.segments.SegmentText(D1.start + (0, 0.5), label1))\n", + " if label2:\n", + " self.segments.append(schemdraw.segments.SegmentText(D2.start + (0, 0.5), label2))\n", + " \n", + " self.add(elm.Arrow('r', at=[.6, -unit/2 + .2], l=.4, headwidth=.15, headlength=.4))\n", + " self.add(elm.Arrow('r', at=[.6, -unit/2 - .2], l=.4, headwidth=.15, headlength=.4))\n", + "\n", + " bbox = self.get_bbox()\n", + " if box:\n", + " self.add(elm.Rect(\n", + " 'r', at=[0, 0],\n", + " corner1=[bbox.xmin-bpad, bbox.ymin-bpad],\n", + " corner2=[bbox.xmax+bpad, bbox.ymax+bpad],\n", + " fill=boxfill, zorder=0))\n", + "\n", + " A = self.add(elm.Line('r', at=D2.start, l=bpad*2))\n", + " B = self.add(elm.Line('r', at=D2.end, l=bpad*2))\n", + " C = self.add(elm.Line('l', at=D1.start, tox=bbox.xmin-bpad))\n", + " D = self.add(elm.Line('l', at=D1.end, tox=bbox.xmin-bpad))\n", + " self.anchors['anode1'] = C.end\n", + " self.anchors['cathode1'] = D.end\n", + " self.anchors['anode2'] = B.end\n", + " self.anchors['cathode2'] = A.end\n", + "DiodeOptocoupler(box=False, reverse2=True, label2='D2')" + ] + }, + { + "cell_type": "code", + "execution_count": 177, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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b/doc/quick-tech-report/proto_3d_design.jpg Binary files differnew file mode 100644 index 0000000..f527828 --- /dev/null +++ b/doc/quick-tech-report/proto_3d_design.jpg diff --git a/doc/quick-tech-report/prototype_early_comms_small.jpg b/doc/quick-tech-report/prototype_early_comms_small.jpg Binary files differnew file mode 100644 index 0000000..506da48 --- /dev/null +++ b/doc/quick-tech-report/prototype_early_comms_small.jpg diff --git a/doc/quick-tech-report/rotohsm_tech_report.pdf b/doc/quick-tech-report/rotohsm_tech_report.pdf Binary files differnew file mode 100644 index 0000000..a7d2162 --- /dev/null +++ b/doc/quick-tech-report/rotohsm_tech_report.pdf diff --git a/doc/quick-tech-report/rotohsm_tech_report.tex b/doc/quick-tech-report/rotohsm_tech_report.tex index 76b5d8f..bf51a87 100644 --- a/doc/quick-tech-report/rotohsm_tech_report.tex +++ b/doc/quick-tech-report/rotohsm_tech_report.tex @@ -315,18 +315,6 @@ In our design with a stationary payload where only the security mesh and sensors reports and a high-frequency alarm trigger heartbeat signal have to pass from rotor to stator. For this, a simple optocoupler close to the axis of rotation is a good solution. -% FIXME note prototype implementation here - -\subsection{Hardware prototype} - -% FIXME expand & update below w/ hw proto findings - -We are currently working on a hardware prototype that demonstrates the fundamental components of our concept. The -prototype will be based on a security mesh made with a commercial printed circuit board manufacturing process. In our -prototype we intend to use two commercially available hollow-shaft brushless DC (BLDC) motors originally intended for -quadcopter-mounted camera gimbals, one for driving and one for power transfer. The prototype will have a usable internal -volume sufficient to house a small form factor PC ($\approx\SI{2}{\liter}$). - \section{Attacks} \subsection{Attacks on the mesh} @@ -382,7 +370,134 @@ If the rate of rotation is set to change on a schedule, it is trivially detectab \section{Prototype implementation} %FIXME -FIXME +To validate our theoretical design, we have implemented a prototype rotary HSM. The main engineering challenges we +solved in our prototype are: +\begin{enumerate} + \item Fundamental mechanical design suitable for rapid prototyping that can withstand a rotation of $\SI{500}{rpm}$. + \item Automatic generation of security mesh PCB layouts for quick adaption to new form factors. + \item Non-contact power transmission to rotor. + \item Non-contact bidirectional data communication between stator and rotor. +\end{enumerate} + +\subsection{Mechanical design} + +We sized our prototype to have space for one or two full-size Raspberry Pi boards. Each one of these boards is already +more powerful than an ordinary HSM, but they are small enough to simplify our prototype's design. For low-cost +prototyping we designed our prototype to use printed circuit boards as its main structural material. The interlocking +parts were designed in FreeCAD mechanical CAD as shown in Figure \ref{proto_3d_design}. The mechanical designs were +exported to KiCAD for electrical design before being sent to a commercial PCB manufacturer. Rotor and stator are built +from interlocking, soldered PCBs. The components are mounted to a $\SI{6}{\milli\meter}$ brass tube using FDM 3D printed +flanges. The rotor is driven by a small hobby quadcopter motor. + +Security is provided by a PCB security mesh enveloping the entire system and extending to within a few millimeters of +the shaft. For security it is not necessary to cover the entire circumference of the module with mesh, so we opted to +use only three narrow longitudinal struts to save weight. + +To mount the entire HSM, we chose to use ``2020'' modular aluminium profile. + +\begin{figure} + \center + \includegraphics[height=7cm]{proto_3d_design.jpg} + \caption{The 3D CAD design of the prototype.} + \label{proto_3d_design} +\end{figure} + +\subsection{PCB security mesh generation} + +To allow a quick iteration of our design while producing results with a realistic level of security, we wrote a plugin +for the KiCAD EDA suite that automatically generates parametrized security meshes. When KiCAD is used in conjunction +with FreeCAD through FreeCAD's KiCAD StepUp plugin, this ends up in an efficient toolchain from mechanical CAD design to +security mesh PCB gerber files. The mesh generation plugin can be found at its +website\footnote{\url{https://blog.jaseg.de/posts/kicad-mesh-plugin/}}. + +Our mesh generation plugin overlays a grid on the target area and then produces a randomized tree covering this grid. +The individual mesh traces are then traced along a depth-first search through this tree. A visualization of the steps is +shown in Figure \ref{mesh_gen_viz}. A sample of the production results from our prototype is shown in Figure +\ref{mesh_gen_sample}. + +\begin{figure} + \center + \includegraphics[width=9cm]{mesh_gen_viz.pdf} + \caption{Overview of the automatic security mesh generation process. 1 - the blob is the example target area. 2 - A + grid is overlayed. 3 - Grid cells outside of the target area are removed. 4 - A random tree covering the remaining + cells is generated. 5 - The mesh traces are traced along a depth-first walk of the tree. 6 - Result.} + \label{mesh_gen_viz} +\end{figure} + +\begin{figure} + \center + \includegraphics[width=6cm]{mesh_scan_crop.jpg} + \caption{A section of the security mesh PCB we produced with our toolchain for the prototype HSM.} + \label{mesh_gen_sample} +\end{figure} + +\subsection{Data transmission through rotating joint} + +As a baseline solution for data transmission, we settled on a $\SI{115}{\kilo\baud}$ UART signal sent through a simple +bidirectional infrared link. In the transmitter, the UART TX line on-off modulates a $\SI{920}{\nano\meter}$ IR LED +through a common-emitter driver transistor. In the receiver, an IR PIN photodiode reverse-biased to +$\frac{1}{2}V_\text{CC}$ is connected to a reasonably wideband transimpedance amplifier (TIA) with a +$\SI{100}{\kilo\ohm}$ transimpedance. As shown in Figure \ref{photolink_schematic}, the output of this TIA is fed +through another $G=100$ amplifier whose output is then squared up by a comparator. We used an \textsf{MCP6494} quad +CMOS op-amp. At a specified $\SI{2}{\milli\ampere}$ current consumption it is within our rotor's power budget, and its +Gain Bandwidth Product of $\SI{7.5}{\mega\hertz}$ yields a useful transimpedance in the photodiode-facing TIA stage. + +To reduce the requirements on power transmission to the rotor, we have tried to reduce power consumption of the +rotor-side receiver/transmitter pair trading off stator-side power consumption. One part of this is that we use +a wide-angle photodiode and IR LED on the stator, but use narrow-angle components on the rotor. The two rx/tx pairs are +arranged next to the motor on opposite sides. By placing the narrow-angle rotor rx/tx components on the outside as +shown in Figure \ref{ir_tx_schema}, the motor shields both IR links from crosstalk. The rotor transmitter LED is +driven at $\SI{1}{\milli\ampere}$ while the stator transmitter LED is driven at $\SI{20}{\milli\ampere}$. + +\begin{figure} + \center + \includegraphics{ir_tx_schema.pdf} + \caption{Schema of our bidirectional IR communication link between rotor and stator, view along axis of rotation. 1 + - Rotor base PCB. 2 - Stator IR link PCB. 3 - Motor. 4 - receiver PIN photodiode. 5 - transmitter IR LED.} + \label{ir_tx_schema} +\end{figure} + +\begin{figure} + \center + \includegraphics[width=9cm]{photolink_schematic.pdf} + \caption{Schematic of the IR communication link. Component values are only examples. In particular C2 depends highly + on the photodiode used and stray capacitances due to the component layout.} + \label{photolink_schematic} +\end{figure} + +\subsection{Power transmission through rotating joint} + +Since this prototype serves only demonstration purposes, we chose to use the simplest possible method of power +transmission: Solar cells. We mounted six series-connected solar cells made up from three commercially available modules +on the circular PCB at the end of our cylindrical rotor. The solar cells direclty feed the rotor's logic supply with +buffering by a large $\SI{33}{\micro\farad}$ ceramic capacitor. With six cells in series, they provide around +$\SI{3.0}{\volt}$ at several tens of $\si{\milli\ampere}$ given sufficient illumination. + +For simplicity and weight reduction, at this point we chose to forego large buffer capacitors on the rotor. This means +variations in solar cell illumination directly couple into the microcontroller's supply rail. Initially, we experimented +with regular residential LED light bulbs, but those turned out to have too much flicker and lead to our microcontroller +frequently rebooting. Trials using an incandecent light produced a stable supply, but the large amount of infrared light +emitted by the incandecent light bulb severely disturbed our near-infrared communication link. As a consequence of +this, we settled on a small LED light made for photography applications that provdided us with mostly flicker-free +light, leading to a sufficiently stable microcontroller VCC rail without any disturbance to the IR link. + +\subsection{Evaluation} + +During experiments, our prototype performed as intended. After some experimentation, we got both power and data +transmission through the rotating joint working reliably. Figure \ref{prototype_early_comms} shows our prototype +performing reliably at maximum speed for the first time. Our improvised IR link is open in both directions for about +$\SI{60}{\degree}$ of the rotation, which allows us to reliably transfer several tens of bytes in each direction during +each receiver's fly-by even at high speed of rotation. As a result of our prototype experiments, we consider a +larger-scale implementation of the inertial HSM concept practical. + +\begin{figure} + \center + \includegraphics[width=8cm]{prototype_early_comms_small.jpg} + \caption{The protoype when we first achieved reliable power transfer and bidirectional communication between stator + and rotor. In the picture, the prototype was communicating reliably up to the maximum $\approx\SI{1500}{rpm}$ that + we could get out of its hobby quadcopter parts.} + \label{prototype_early_comms} +\end{figure} \section{Future Work} @@ -416,9 +531,10 @@ or courier services after spin-up. \section{Conclusion} In this paper, we have presented inertial hardware security modules, a novel concept for the construction of highly secure hardware security modules from inexpensive, commonly available parts. We have elaborated the engineering -considerations underlying a practical implementation of this concept. We have analyzed the concept for its security -properties and highlighted its ability to significantly strengthen otherwise weak tamper detection barriers. We have -laid out some ideas for future research on the concept. +considerations underlying a practical implementation of this concept. We have implemented a prototype demonstrating +practical solutions to the significant engineering challenges of this concept. We have analyzed the concept for its +security properties and highlighted its ability to significantly strengthen otherwise weak tamper detection barriers. We +have laid out some ideas for future research on the concept. \printbibliography[heading=bibintoc] \appendix |
