diff options
Diffstat (limited to 'doc')
34 files changed, 0 insertions, 12212 deletions
diff --git a/doc/paper/.gitignore b/doc/paper/.gitignore deleted file mode 100644 index c49262e..0000000 --- a/doc/paper/.gitignore +++ /dev/null @@ -1,10 +0,0 @@ -*.out -*.bbl -*.aux -*.toc -*.blg -*.bcf -*.log -*.run.xml - -version.tex diff --git a/doc/paper/CC-by.eps b/doc/paper/CC-by.eps deleted file mode 100755 index ae05c8b..0000000 --- a/doc/paper/CC-by.eps +++ /dev/null @@ -1,2727 +0,0 @@ -%!PS-Adobe-3.0 EPSF-3.0
%%Creator: Adobe Illustrator(R) 8.0
%%AI8_CreatorVersion: 13.0.1
%%For: (Alex Roberts) ()
%%Title: (by.eps)
%%CreationDate: 3/27/08 4:25 PM
%%BoundingBox: 360 291 441 307
%%HiResBoundingBox: 360.4727 291.9463 440.5146 306.9878
%%DocumentProcessColors: Cyan Magenta Yellow Black
%%DocumentSuppliedResources: procset Adobe_level2_AI5 1.2 0
%%+ procset Adobe_ColorImage_AI6 1.3 0
%%+ procset Adobe_Illustrator_AI5 1.3 0
%%+ procset Adobe_cshow 2.0 8
%%+ procset Adobe_shading_AI8 1.0 0
%AI5_FileFormat 4.0
%AI3_ColorUsage: Color
%AI3_IncludePlacedImages
%AI7_ImageSettings: 1
%%CMYKProcessColor: 0.74902 0.678431 0.670588 0.901961 ([Registration])
%%AI6_ColorSeparationSet: 1 1 (AI6 Default Color Separation Set)
%%+ Options: 1 16 0 1 1 1 0 0 0 0 1 1 1 18 0 0 0 0 0 0 0 0 -1 -1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 1 2 3 4
%%+ PPD: 1 21 0 0 60 45 2 2 1 0 0 1 0 0 0 0 0 0 0 0 -1 -1 ()
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%AI3_TemplateBox: 400.5 299.5 400.5 299.5
%AI3_TileBox: 112 -56 688 678
%AI3_DocumentPreview: Macintosh_ColorPic
%AI5_ArtSize: 800 600
%AI5_RulerUnits: 6
%AI5_ArtFlags: 0 0 0 1 0 0 1 0 0
%AI5_TargetResolution: 800
%AI5_NumLayers: 1
%AI8_OpenToView: -381 756 1 1566 923 26 0 0 73 75 0 0
%AI5_OpenViewLayers: 7
%%PageOrigin:0 0
%AI7_GridSettings: 48 8 48 8 1 0 0.8 0.8 0.8 0.9 0.9 0.9
%AI9_Flatten: 1
%AI12_CMSettings: 00.MS
%AI7_Thumbnail: 128 24 8
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%%EndData
%%EndComments
%%BeginProlog
%%BeginResource: procset Adobe_level2_AI5 1.2 0 -%%Title: (Adobe Illustrator (R) Version 5.0 Level 2 Emulation) -%%Version: 1.2 0 -%%CreationDate: (04/10/93) () -%%Copyright: ((C) 1987-1996 Adobe Systems Incorporated All Rights Reserved) -userdict /Adobe_level2_AI5 26 dict dup begin - put - /packedarray where not - { - userdict begin - /packedarray - { - array astore readonly - } bind def - /setpacking /pop load def - /currentpacking false def - end - 0 - } if - pop - userdict /defaultpacking currentpacking put true setpacking - /initialize - { - Adobe_level2_AI5 begin - } bind def - /terminate - { - currentdict Adobe_level2_AI5 eq - { - end - } if - } bind def - mark - /setcustomcolor where not - { - /findcmykcustomcolor - { - (AI8_CMYK_CustomColor) - 6 packedarray - } bind def - /findrgbcustomcolor - { - (AI8_RGB_CustomColor) - 5 packedarray - } bind def - /setcustomcolor - { - exch - aload pop dup - (AI8_CMYK_CustomColor) eq - { - pop pop - 4 - { - 4 index mul - 4 1 roll - } repeat - 5 -1 roll pop - setcmykcolor - } - { - dup (AI8_RGB_CustomColor) eq - { - pop pop - 3 - { - 1 exch sub - 3 index mul - 1 exch sub - 3 1 roll - } repeat - 4 -1 roll pop - setrgbcolor - } - { - pop - 4 - { - 4 index mul 4 1 roll - } repeat - 5 -1 roll pop - setcmykcolor - } ifelse - } ifelse - } - def - } if - /setAIseparationgray - { - false setoverprint - 0 setgray - /setseparationgray where{ - pop setseparationgray - }{ - /setcolorspace where{ - pop - [/Separation (All) /DeviceCMYK {dup dup dup}] setcolorspace - 1 exch sub setcolor - }{ - setgray - }ifelse - }ifelse - } def - - /gt38? mark {version cvr cvx exec} stopped {cleartomark true} {38 gt exch pop} ifelse def - userdict /deviceDPI 72 0 matrix defaultmatrix dtransform dup mul exch dup mul add sqrt put - userdict /level2? - systemdict /languagelevel known dup - { - pop systemdict /languagelevel get 2 ge - } if - put -/level2ScreenFreq -{ - begin - 60 - HalftoneType 1 eq - { - pop Frequency - } if - HalftoneType 2 eq - { - pop GrayFrequency - } if - HalftoneType 5 eq - { - pop Default level2ScreenFreq - } if - end -} bind def -userdict /currentScreenFreq - level2? {currenthalftone level2ScreenFreq} {currentscreen pop pop} ifelse put -level2? not - { - /setcmykcolor where not - { - /setcmykcolor - { - exch .11 mul add exch .59 mul add exch .3 mul add - 1 exch sub setgray - } def - } if - /currentcmykcolor where not - { - /currentcmykcolor - { - 0 0 0 1 currentgray sub - } def - } if - /setoverprint where not - { - /setoverprint /pop load def - } if - /selectfont where not - { - /selectfont - { - exch findfont exch - dup type /arraytype eq - { - makefont - } - { - scalefont - } ifelse - setfont - } bind def - } if - /cshow where not - { - /cshow - { - [ - 0 0 5 -1 roll aload pop - ] cvx bind forall - } bind def - } if - } if - cleartomark - /anyColor? - { - add add add 0 ne - } bind def - /testColor - { - gsave - setcmykcolor currentcmykcolor - grestore - } bind def - /testCMYKColorThrough - { - testColor anyColor? - } bind def - userdict /composite? - 1 0 0 0 testCMYKColorThrough - 0 1 0 0 testCMYKColorThrough - 0 0 1 0 testCMYKColorThrough - 0 0 0 1 testCMYKColorThrough - and and and - put - composite? not - { - userdict begin - gsave - /cyan? 1 0 0 0 testCMYKColorThrough def - /magenta? 0 1 0 0 testCMYKColorThrough def - /yellow? 0 0 1 0 testCMYKColorThrough def - /black? 0 0 0 1 testCMYKColorThrough def - grestore - /isCMYKSep? cyan? magenta? yellow? black? or or or def - /customColor? isCMYKSep? not def - end - } if - end defaultpacking setpacking -%%EndResource -%%BeginProcSet: Adobe_ColorImage_AI6 1.3 0 -userdict /Adobe_ColorImage_AI6 known not -{ - userdict /Adobe_ColorImage_AI6 53 dict put -} if -userdict /Adobe_ColorImage_AI6 get begin -/initialize { - Adobe_ColorImage_AI6 begin - Adobe_ColorImage_AI6 { - dup type /arraytype eq { - dup xcheck { - bind - } if - } if - pop pop - } forall -} def -/terminate { end } def -currentdict /Adobe_ColorImage_AI6_Vars known not { - /Adobe_ColorImage_AI6_Vars 41 dict def -} if -Adobe_ColorImage_AI6_Vars begin - /plateindex -1 def - /_newproc null def - /_proc1 null def - /_proc2 null def - /sourcearray 4 array def - /_ptispace null def - /_ptiname null def - /_pti0 0 def - /_pti1 0 def - /_ptiproc null def - /_ptiscale 0 def - /_pticomps 0 def - /_ptibuf 0 string def - /_gtigray 0 def - /_cticmyk null def - /_rtirgb null def - /XIEnable true def - /XIType 0 def - /XIEncoding 0 def - /XICompression 0 def - /XIChannelCount 0 def - /XIBitsPerPixel 0 def - /XIImageHeight 0 def - /XIImageWidth 0 def - /XIImageMatrix null def - /XIRowBytes 0 def - /XIFile null def - /XIBuffer1 null def - /XIBuffer2 null def - /XIBuffer3 null def - /XIDataProc null def - /XIColorSpace /DeviceGray def - /XIColorValues 0 def - /XIPlateList false def -end -/ci6colorimage /colorimage where {/colorimage get}{null} ifelse def -/ci6image systemdict /image get def -/ci6curtransfer systemdict /currenttransfer get def -/ci6curoverprint /currentoverprint where {/currentoverprint get}{{_of}} ifelse def -/ci6foureq { - 4 index ne { - pop pop pop false - }{ - 4 index ne { - pop pop false - }{ - 4 index ne { - pop false - }{ - 4 index eq - } ifelse - } ifelse - } ifelse -} def -/ci6testplate { - Adobe_ColorImage_AI6_Vars begin - /plateindex -1 def - /setcmykcolor where { - pop - gsave - 1 0 0 0 setcmykcolor systemdict /currentgray get exec 1 exch sub - 0 1 0 0 setcmykcolor systemdict /currentgray get exec 1 exch sub - 0 0 1 0 setcmykcolor systemdict /currentgray get exec 1 exch sub - 0 0 0 1 setcmykcolor systemdict /currentgray get exec 1 exch sub - grestore - 1 0 0 0 ci6foureq { - /plateindex 0 def - }{ - 0 1 0 0 ci6foureq { - /plateindex 1 def - }{ - 0 0 1 0 ci6foureq { - /plateindex 2 def - }{ - 0 0 0 1 ci6foureq { - /plateindex 3 def - }{ - 0 0 0 0 ci6foureq { - /plateindex 5 def - } if - } ifelse - } ifelse - } ifelse - } ifelse - pop pop pop pop - } if - plateindex - end -} def -/ci6concatprocs { - /packedarray where { - pop dup type /packedarraytype eq 2 index type - /packedarraytype eq or - }{ - false - } ifelse - { - /_proc2 exch cvlit def - /_proc1 exch cvlit def - _proc1 aload pop - _proc2 aload pop - _proc1 length - _proc2 length add - packedarray cvx - }{ - /_proc2 exch cvlit def - /_proc1 exch cvlit def - /_newproc _proc1 length _proc2 length add array def - _newproc 0 _proc1 putinterval - _newproc _proc1 length _proc2 putinterval - _newproc cvx - } ifelse -} def -/ci6istint { - type /arraytype eq -} def -/ci6isspot { - dup type /arraytype eq { - dup length 1 sub get /Separation eq - }{ - pop false - } ifelse -} def -/ci6spotname { - dup ci6isspot {dup length 2 sub get}{pop ()} ifelse -} def -/ci6altspace { - aload pop pop pop ci6colormake -} def -/ci6numcomps { - dup /DeviceGray eq { - pop 1 - }{ - dup /DeviceRGB eq { - pop 3 - }{ - /DeviceCMYK eq { - 4 - }{ - 1 - } ifelse - } ifelse - } ifelse -} def -/ci6marksplate { - dup /DeviceGray eq { - pop plateindex 3 eq - }{ - dup /DeviceRGB eq { - pop plateindex 5 ne - }{ - dup /DeviceCMYK eq { - pop plateindex 5 ne - }{ - dup ci6isspot { - /findcmykcustomcolor where { - pop - dup length 2 sub get - 0.1 0.1 0.1 0.1 5 -1 roll - findcmykcustomcolor 1 setcustomcolor - systemdict /currentgray get exec - 1 ne - }{ - pop plateindex 5 ne - } ifelse - }{ - pop plateindex 5 ne - } ifelse - } ifelse - } ifelse - } ifelse -} def -/ci6colormake { - dup ci6numcomps - exch 1 index 2 add 1 roll - dup 1 eq {pop}{array astore} ifelse - exch -} def -/ci6colorexpand { - dup ci6spotname exch - dup ci6istint { - ci6altspace - exch 4 1 roll - }{ - 1 3 1 roll - } ifelse -} def -/ci6colortint { - dup /DeviceGray eq { - 3 1 roll 1 exch sub mul 1 exch sub exch - }{ - dup /DeviceRGB eq { - 3 1 roll {1 exch sub 1 index mul 1 exch sub exch} forall pop 3 array astore exch - }{ - dup /DeviceCMYK eq { - 3 1 roll {1 index mul exch} forall pop 4 array astore exch - }{ - 3 1 roll mul exch - } ifelse - } ifelse - } ifelse -} def -/ci6colortocmyk { - dup /DeviceGray eq { - pop 1 exch sub 0 0 0 4 -1 roll 4 array astore - }{ - dup /DeviceRGB eq { - pop aload pop _rgbtocmyk 4 array astore - }{ - dup /DeviceCMYK eq { - pop - }{ - ci6altspace ci6colortint ci6colortocmyk - } ifelse - } ifelse - } ifelse -} def -/ci6makeimagedict { - 7 dict begin - /ImageType 1 def - /Decode exch def - /DataSource exch def - /ImageMatrix exch def - /BitsPerComponent exch def - /Height exch def - /Width exch def - currentdict end -} def -/ci6stringinvert { - 0 1 2 index length 1 sub { - dup 2 index exch get 255 exch sub 2 index 3 1 roll put - } for -} def -/ci6stringknockout { - 0 1 2 index length 1 sub { - 255 2 index 3 1 roll put - } for -} def -/ci6stringapply { - 0 1 4 index length 1 sub { - dup - 4 index exch get - 3 index 3 1 roll - 3 index exec - } for - pop exch pop -} def -/ci6walkrgbstring { - 0 3 index - dup length 1 sub 0 3 3 -1 roll { - 3 getinterval {} forall - 5 index exec - 3 index - } for - - 5 {pop} repeat -} def -/ci6walkcmykstring -{ - 0 3 index - dup length 1 sub 0 4 3 -1 roll { - 4 getinterval {} forall - - 6 index exec - - 3 index - - } for - - 5 { pop } repeat - -} def -/ci6putrgbtograystr -{ - .11 mul exch - - .59 mul add exch - - .3 mul add - - cvi 3 copy put - - pop 1 add -} def -/ci6putcmyktograystr -{ - exch .11 mul add - - exch .59 mul add - - exch .3 mul add - - dup 255 gt { pop 255 } if - - 255 exch sub cvi 3 copy put - - pop 1 add -} def -/ci6rgbtograyproc { - Adobe_ColorImage_AI6_Vars begin - sourcearray 0 get exec - XIBuffer3 - dup 3 1 roll - - /ci6putrgbtograystr load exch - ci6walkrgbstring - end -} def -/ci6cmyktograyproc { - Adobe_ColorImage_AI6_Vars begin - sourcearray 0 get exec - XIBuffer3 - dup 3 1 roll - - /ci6putcmyktograystr load exch - ci6walkcmykstring - end -} def -/ci6separatecmykproc { - Adobe_ColorImage_AI6_Vars begin - sourcearray 0 get exec - - XIBuffer3 - - 0 2 index - - plateindex 4 2 index length 1 sub { - get 255 exch sub - - 3 copy put pop 1 add - - 2 index - } for - pop pop exch pop - end -} def - -/ci6compositeimage { - dup 1 eq { - pop pop image - }{ - /ci6colorimage load null ne { - ci6colorimage - }{ - 3 1 roll pop - sourcearray 0 3 -1 roll put - 3 eq {/ci6rgbtograyproc}{/ci6cmyktograyproc} ifelse load - image - } ifelse - } ifelse -} def -/ci6knockoutimage { - gsave - 0 ci6curtransfer exec 1 ci6curtransfer exec - eq { - 0 ci6curtransfer exec 0.5 lt - }{ - 0 ci6curtransfer exec 1 ci6curtransfer exec gt - } ifelse - {{pop 0}}{{pop 1}} ifelse - systemdict /settransfer get exec - ci6compositeimage - grestore -} def -/ci6drawimage { - ci6testplate -1 eq { - pop ci6compositeimage - }{ - dup type /arraytype eq { - dup length plateindex gt {plateindex get}{pop false} ifelse - }{ - { - true - }{ - dup 1 eq {plateindex 3 eq}{plateindex 3 le} ifelse - } ifelse - } ifelse - { - dup 1 eq { - pop pop ci6image - }{ - dup 3 eq { - ci6compositeimage - }{ - pop pop - sourcearray 0 3 -1 roll put - /ci6separatecmykproc load - ci6image - } ifelse - } ifelse - }{ - ci6curoverprint { - 7 {pop} repeat - }{ - ci6knockoutimage - } ifelse - } ifelse - } ifelse -} def -/ci6proctintimage { - /_ptispace exch store /_ptiname exch store /_pti1 exch store /_pti0 exch store /_ptiproc exch store - /_pticomps _ptispace ci6numcomps store - /_ptiscale _pti1 _pti0 sub store - level2? { - _ptiname length 0 gt version cvr 2012 ge and { - [/Separation _ptiname _ptispace {_ptiproc}] setcolorspace - [_pti0 _pti1] ci6makeimagedict ci6image - }{ - [/Indexed _ptispace 255 {255 div _ptiscale mul _pti0 add _ptiproc}] setcolorspace - [0 255] ci6makeimagedict ci6image - } ifelse - }{ - _pticomps 1 eq { - { - dup - { - 255 div _ptiscale mul _pti0 add _ptiproc 255 mul cvi put - } ci6stringapply - } ci6concatprocs ci6image - }{ - { - dup length _pticomps mul dup _ptibuf length ne {/_ptibuf exch string store}{pop} ifelse - _ptibuf { - exch _pticomps mul exch 255 div _ptiscale mul _pti0 add _ptiproc - _pticomps 2 add -2 roll - _pticomps 1 sub -1 0 { - 1 index add 2 index exch - 5 -1 roll - 255 mul cvi put - } for - pop pop - } ci6stringapply - } ci6concatprocs false _pticomps - /ci6colorimage load null eq {7 {pop} repeat}{ci6colorimage} ifelse - } ifelse - } ifelse -} def -/ci6graytintimage { - /_gtigray 5 -1 roll store - {1 _gtigray sub mul 1 exch sub} 4 1 roll - /DeviceGray ci6proctintimage -} def -/ci6cmyktintimage { - /_cticmyk 5 -1 roll store - {_cticmyk {1 index mul exch} forall pop} 4 1 roll - /DeviceCMYK ci6proctintimage -} def -/ci6rgbtintimage { - /_rtirgb 5 -1 roll store - {_rtirgb {1 exch sub 1 index mul 1 exch sub exch} forall pop} 4 1 roll - /DeviceRGB ci6proctintimage -} def -/ci6tintimage { - ci6testplate -1 eq { - ci6colorexpand - 3 -1 roll 5 -1 roll {0}{0 exch} ifelse 4 2 roll - dup /DeviceGray eq { - pop ci6graytintimage - }{ - dup /DeviceRGB eq { - pop ci6rgbtintimage - }{ - pop ci6cmyktintimage - } ifelse - } ifelse - }{ - dup ci6marksplate { - plateindex 5 lt { - ci6colortocmyk plateindex get - dup 0 eq ci6curoverprint and { - 7 {pop} repeat - }{ - 1 exch sub - exch {1 0}{0 1} ifelse () ci6graytintimage - } ifelse - }{ - pop exch {0}{0 exch} ifelse 0 3 1 roll () ci6graytintimage - } ifelse - }{ - ci6curoverprint { - 8 {pop} repeat - }{ - pop pop pop - {pop 1} 0 1 () /DeviceGray ci6proctintimage - } ifelse - } ifelse - } ifelse -} def -/XINullImage { -} def -/XIImageMask { - XIImageWidth XIImageHeight false - [XIImageWidth 0 0 XIImageHeight neg 0 0] - /XIDataProc load - imagemask -} def -/XIImageTint { - XIImageWidth XIImageHeight XIBitsPerPixel - [XIImageWidth 0 0 XIImageHeight neg 0 0] - /XIDataProc load - XIType 3 eq XIColorValues XIColorSpace ci6tintimage -} def -/XIImage { - XIImageWidth XIImageHeight XIBitsPerPixel - [XIImageWidth 0 0 XIImageHeight neg 0 0] - /XIDataProc load - false XIChannelCount XIPlateList ci6drawimage -} def -/XG { - pop pop -} def -/XF { - 13 {pop} repeat -} def -/Xh { - Adobe_ColorImage_AI6_Vars begin - gsave - /XIType exch def - /XIImageHeight exch def - /XIImageWidth exch def - /XIImageMatrix exch def - 0 0 moveto - XIImageMatrix concat - XIImageWidth XIImageHeight scale - - /_lp /null ddef - _fc - /_lp /imagemask ddef - end -} def -/XH { - Adobe_ColorImage_AI6_Vars begin - grestore - end -} def -/XIEnable { - Adobe_ColorImage_AI6_Vars /XIEnable 3 -1 roll put -} def -/XC { - Adobe_ColorImage_AI6_Vars begin - ci6colormake - /XIColorSpace exch def - /XIColorValues exch def - end -} def -/XIPlates { - Adobe_ColorImage_AI6_Vars begin - /XIPlateList exch def - end -} def -/XI -{ - Adobe_ColorImage_AI6_Vars begin - gsave - /XIType exch def - cvi dup - 256 idiv /XICompression exch store - 256 mod /XIEncoding exch store - pop pop - /XIChannelCount exch def - /XIBitsPerPixel exch def - /XIImageHeight exch def - /XIImageWidth exch def - pop pop pop pop - /XIImageMatrix exch def - XIBitsPerPixel 1 eq { - XIImageWidth 8 div ceiling cvi - }{ - XIImageWidth XIChannelCount mul - } ifelse - /XIRowBytes exch def - XIEnable { - /XIBuffer3 XIImageWidth string def - XICompression 0 eq { - /XIBuffer1 XIRowBytes string def - XIEncoding 0 eq { - {currentfile XIBuffer1 readhexstring pop} - }{ - {currentfile XIBuffer1 readstring pop} - } ifelse - }{ - /XIBuffer1 256 string def - /XIBuffer2 XIRowBytes string def - {currentfile XIBuffer1 readline pop (%) anchorsearch {pop} if} - /ASCII85Decode filter /DCTDecode filter - /XIFile exch def - {XIFile XIBuffer2 readstring pop} - } ifelse - /XIDataProc exch def - - XIType 1 ne { - 0 setgray - } if - XIType 1 eq { - XIImageMask - }{ - XIType 2 eq XIType 3 eq or { - XIImageTint - }{ - XIImage - } ifelse - } ifelse - }{ - XINullImage - } ifelse - /XIPlateList false def - grestore - end -} def -end -%%EndProcSet -%%BeginResource: procset Adobe_Illustrator_AI5 1.3 0 -%%Title: (Adobe Illustrator (R) Version 8.0 Full Prolog) -%%Version: 1.3 0 -%%CreationDate: (3/7/1994) () -%%Copyright: ((C) 1987-1998 Adobe Systems Incorporated All Rights Reserved) -currentpacking true setpacking -userdict /Adobe_Illustrator_AI5_vars 112 dict dup begin -put -/_?cmyk false def -/_eo false def -/_lp /none def -/_pf -{ -} def -/_ps -{ -} def -/_psf -{ -} def -/_pss -{ -} def -/_pjsf -{ -} def -/_pjss -{ -} def -/_pola 0 def -/_doClip 0 def -/cf currentflat def -/_lineorientation 0 def -/_charorientation 0 def -/_yokoorientation 0 def -/_tm matrix def -/_renderStart -[ -/e0 /r0 /a0 /o0 /e1 /r1 /a1 /i0 -] def -/_renderEnd -[ -null null null null /i1 /i1 /i1 /i1 -] def -/_render -1 def -/_shift [0 0] def -/_ax 0 def -/_ay 0 def -/_cx 0 def -/_cy 0 def -/_leading -[ -0 0 -] def -/_ctm matrix def -/_mtx matrix def -/_sp 16#020 def -/_hyphen (-) def -/_fontSize 0 def -/_fontAscent 0 def -/_fontDescent 0 def -/_fontHeight 0 def -/_fontRotateAdjust 0 def -/Ss 256 string def -Ss 0 (fonts/) putinterval -/_cnt 0 def -/_scale [1 1] def -/_nativeEncoding 0 def -/_useNativeEncoding 0 def -/_tempEncode 0 def -/_pntr 0 def -/_tDict 2 dict def -/_hfname 100 string def -/_hffound false def -/Tx -{ -} def -/Tj -{ -} def -/CRender -{ -} def -/_AI3_savepage -{ -} def -/_gf null def -/_cf 4 array def -/_rgbf 3 array def -/_if null def -/_of false def -/_fc -{ -} def -/_gs null def -/_cs 4 array def -/_rgbs 3 array def -/_is null def -/_os false def -/_sc -{ -} def -/_pd 1 dict def -/_ed 15 dict def -/_pm matrix def -/_fm null def -/_fd null def -/_fdd null def -/_sm null def -/_sd null def -/_sdd null def -/_i null def -/_lobyte 0 def -/_hibyte 0 def -/_cproc null def -/_cscript 0 def -/_hvax 0 def -/_hvay 0 def -/_hvwb 0 def -/_hvcx 0 def -/_hvcy 0 def -/_bitfont null def -/_bitlobyte 0 def -/_bithibyte 0 def -/_bitkey null def -/_bitdata null def -/_bitindex 0 def -/discardSave null def -/buffer 256 string def -/beginString null def -/endString null def -/endStringLength null def -/layerCnt 1 def -/layerCount 1 def -/perCent (%) 0 get def -/perCentSeen? false def -/newBuff null def -/newBuffButFirst null def -/newBuffLast null def -/clipForward? false def -end -userdict /Adobe_Illustrator_AI5 known not { - userdict /Adobe_Illustrator_AI5 100 dict put -} if -userdict /Adobe_Illustrator_AI5 get begin -/initialize -{ - Adobe_Illustrator_AI5 dup begin - Adobe_Illustrator_AI5_vars begin - /_aicmykps where {pop /_?cmyk _aicmykps def}if - discardDict - { - bind pop pop - } forall - dup /nc get begin - { - dup xcheck 1 index type /operatortype ne and - { - bind - } if - pop pop - } forall - end - newpath -} def -/terminate -{ - end - end -} def -/_ -null def -/ddef -{ - Adobe_Illustrator_AI5_vars 3 1 roll put -} def -/xput -{ - dup load dup length exch maxlength eq - { - dup dup load dup - length 2 mul dict copy def - } if - load begin - def - end -} def -/npop -{ - { - pop - } repeat -} def -/hswj -{ - dup stringwidth 3 2 roll - { - _hvwb eq { exch _hvcx add exch _hvcy add } if - exch _hvax add exch _hvay add - } cforall -} def -/vswj -{ - 0 0 3 -1 roll - { - dup 255 le - _charorientation 1 eq - and - { - dup cstring stringwidth 5 2 roll - _hvwb eq { exch _hvcy sub exch _hvcx sub } if - exch _hvay sub exch _hvax sub - 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} ifelse - } cforall - 6 npop -} def -/hjss -{ - 4 1 roll - { - dup cstring - gsave - false charpath currentpoint - 5 index setmatrix stroke - grestore - moveto - _sp eq - { - 5 index 5 index rmoveto - } if - 2 copy rmoveto - } cforall - 6 npop -} def -/jss -{ - _lineorientation 0 eq { hjss } { vjss } ifelse -} def -/ss -{ - 0 0 0 7 3 roll jss -} def -/vjsp -{ - 4 1 roll - { - dup cstring - dup length 1 eq - _charorientation 1 eq - and - { - -90 rotate - currentpoint - _fontRotateAdjust add - moveto - false charpath - currentpoint - _fontRotateAdjust sub - moveto - _sp eq - { - 5 index 5 index rmoveto - } if - 2 copy rmoveto - 90 rotate - } - { - currentpoint - _fontHeight sub - 5 index sub - 3 index _sp eq - { - 9 index sub - } if - - currentpoint - exch 4 index stringwidth pop 2 div sub - exch _fontAscent sub - moveto - - 2 index false charpath - - moveto pop pop - } ifelse - } cforall - 6 npop -} def -/hjsp -{ - 4 1 roll - { - dup cstring - false charpath - _sp eq - { - 5 index 5 index rmoveto - 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} if - } ddef - /_pf - { - _fc - _eo {eofill} {fill} ifelse - } ddef - /_psf - { - _fc - hvashow - } ddef - /_pjsf - { - _fc - hvawidthshow - } ddef - /_lp /none ddef -} def -/XX -{ - exch - /_gs exch ddef - 0 eq { - findcmykcustomcolor - }{ - _?cmyk {true}{/findrgbcustomcolor where{pop false}{true}ifelse}ifelse - { - 4 1 roll 3 npop - findcmykcustomcolor - }{ - 8 -4 roll 4 npop - findrgbcustomcolor - } ifelse - } ifelse - /_is exch ddef - /_sc - { - _lp /stroke ne - { - _os setoverprint - _is _gs 1 exch sub setcustomcolor - /_lp /stroke ddef - } if - } ddef - /_ps - { - _sc - stroke - } ddef - /_pss - { - _sc - ss - } ddef - /_pjss - { - _sc - jss - } ddef - /_lp /none ddef -} def -/x -{ - /_gf exch ddef - findcmykcustomcolor - /_if exch ddef - /_fc - { - _lp /fill ne - { - _of setoverprint - _if _gf 1 exch sub setcustomcolor - /_lp /fill ddef - } if - } ddef - /_pf - { - _fc - _eo {eofill} {fill} ifelse - } ddef - /_psf - { - _fc - hvashow - } ddef - /_pjsf - { - _fc - hvawidthshow - } ddef - /_lp /none ddef -} def -/X -{ - /_gs exch ddef - findcmykcustomcolor - /_is exch ddef - /_sc - { - _lp /stroke ne - { - _os setoverprint - _is _gs 1 exch sub setcustomcolor - /_lp /stroke ddef - } if - } ddef - /_ps - { - _sc - stroke - } ddef - /_pss - { - _sc - ss - } ddef - /_pjss - { - _sc - jss - } ddef - /_lp /none ddef -} def -/XK -{ - 3 -1 roll pop - 0 eq - { - 1 exch sub - 3 {dup 3 1 roll mul 5 1 roll} repeat - mul 4 1 roll - K - } - { - 1 exch sub 4 1 roll - 3 {1 exch sub 3 index mul 1 exch sub 3 1 roll} repeat - 4 -1 roll pop - XA - } ifelse -} def -/Xk -{ - 3 -1 roll pop - 0 eq - { - 1 exch sub - 3 {dup 3 1 roll mul 5 1 roll} repeat - mul 4 1 roll - k - } - { - 1 exch sub 4 1 roll - 3 {1 exch sub 3 index mul 1 exch sub 3 1 roll} repeat - 4 -1 roll pop - Xa - } ifelse -} def -/A -{ - pop -} def -/annotatepage -{ -userdict /annotatepage 2 copy known {get exec} {pop pop} ifelse -} def -/XT { - pop pop -} def -/Xt { - pop -} def -/discard -{ - save /discardSave exch store - discardDict begin - /endString exch store - gt38? - { - 2 add - } if - load - stopped - pop - end - discardSave restore -} bind def -userdict /discardDict 7 dict dup begin -put -/pre38Initialize -{ - /endStringLength endString length store - /newBuff buffer 0 endStringLength getinterval store - /newBuffButFirst newBuff 1 endStringLength 1 sub getinterval store - /newBuffLast newBuff endStringLength 1 sub 1 getinterval store -} def -/shiftBuffer -{ - newBuff 0 newBuffButFirst putinterval - newBuffLast 0 - currentfile read not - { - stop - } if - put -} def -0 -{ - pre38Initialize - mark - currentfile newBuff readstring exch pop - { - { - newBuff endString eq - { - cleartomark stop - } if - shiftBuffer - } loop - } - { - stop - } ifelse -} def -1 -{ - pre38Initialize - /beginString exch store - mark - currentfile newBuff readstring exch pop - { - { - newBuff beginString eq - { - /layerCount dup load 1 add store - } - { - newBuff endString eq - { - /layerCount dup load 1 sub store - layerCount 0 eq - { - cleartomark stop - } if - } if - } ifelse - shiftBuffer - } loop - } if -} def -2 -{ - mark - { - currentfile buffer {readline} stopped { - % assume error was due to overfilling the buffer - }{ - not - { - stop - } if - endString eq { - cleartomark stop - } if - }ifelse - } loop -} def -3 -{ - /beginString exch store - /layerCnt 1 store - mark - { - currentfile buffer {readline} stopped { - % assume error was due to overfilling the buffer - }{ - not - { - stop - } if - dup beginString eq - { - pop /layerCnt dup load 1 add store - } - { - endString eq - { - layerCnt 1 eq - { - cleartomark stop - } - { - /layerCnt dup load 1 sub store - } ifelse - } if - } ifelse - }ifelse - } loop -} def -end -userdict /clipRenderOff 15 dict dup begin -put -{ - /n /N /s /S /f /F /b /B -} -{ - { - _doClip 1 eq - { - /_doClip 0 ddef _eo {eoclip} {clip} ifelse - } if - newpath - } def -} forall -/Tr /pop load def -/Bb {} def -/BB /pop load def -/Bg {12 npop} def -/Bm {6 npop} def -/Bc /Bm load def -/Bh {4 npop} def -end -/Lb -{ - 6 npop - 7 2 roll - 5 npop - 0 eq - { - 0 eq - { - (%AI5_BeginLayer) 1 (%AI5_EndLayer--) discard - } - { - - /clipForward? true def - - /Tx /pop load def - /Tj /pop load def - - currentdict end clipRenderOff begin begin - } ifelse - } - { - 0 eq - { - save /discardSave exch store - } if - } ifelse -} bind def -/LB -{ - discardSave dup null ne - { - restore - } - { - pop - clipForward? - { - currentdict - end - end - begin - - /clipForward? false ddef - } if - } ifelse -} bind def -/Pb -{ - pop pop - 0 (%AI5_EndPalette) discard -} bind def -/Np -{ - 0 (%AI5_End_NonPrinting--) discard -} bind def -/Ln /pop load def -/Ap -/pop load def -/Ar -{ - 72 exch div - 0 dtransform dup mul exch dup mul add sqrt - dup 1 lt - { - pop 1 - } if - setflat -} def -/Mb -{ - q -} def -/Md -{ -} def -/MB -{ - Q -} def -/nc 4 dict def -nc begin -/setgray -{ - pop -} bind def -/setcmykcolor -{ - 4 npop -} bind def -/setrgbcolor -{ - 3 npop -} bind def -/setcustomcolor -{ - 2 npop -} bind def -currentdict readonly pop -end -/XP -{ - 4 npop -} bind def -/XD -{ - pop -} bind def -end -setpacking -%%EndResource -%%BeginResource: procset Adobe_cshow 2.0 8 -%%Title: (Writing System Operators) -%%Version: 2.0 8 -%%CreationDate: (1/23/89) () -%%Copyright: ((C) 1992-1996 Adobe Systems Incorporated All Rights Reserved) -currentpacking true setpacking -userdict /Adobe_cshow 14 dict dup begin put -/initialize -{ - Adobe_cshow begin - Adobe_cshow - { - dup xcheck - { - bind - } if - pop pop - } forall - end - Adobe_cshow begin -} def -/terminate -{ -currentdict Adobe_cshow eq - { - end - } if -} def -/cforall -{ - /_lobyte 0 ddef - /_hibyte 0 ddef - /_cproc exch ddef - /_cscript currentfont /FontScript known { currentfont /FontScript get } { -1 } ifelse ddef - { - /_lobyte exch ddef - _hibyte 0 eq - _cscript 1 eq - _lobyte 129 ge _lobyte 159 le and - _lobyte 224 ge _lobyte 252 le and or and - _cscript 2 eq - _lobyte 161 ge _lobyte 254 le and and - _cscript 3 eq - _lobyte 161 ge _lobyte 254 le and and - _cscript 25 eq - _lobyte 161 ge _lobyte 254 le and and - _cscript -1 eq - or or or or and - { - /_hibyte _lobyte ddef - } - { - _hibyte 256 mul _lobyte add - _cproc - /_hibyte 0 ddef - } ifelse - } forall -} def -/cstring -{ - dup 256 lt - { - (s) dup 0 4 3 roll put - } - { - dup 256 idiv exch 256 mod - (hl) dup dup 0 6 5 roll put 1 4 3 roll put - } ifelse -} def -/clength -{ - 0 exch - { 256 lt { 1 } { 2 } ifelse add } cforall -} def -/hawidthshow -{ - { - dup cstring - show - _hvax _hvay rmoveto - _hvwb eq { _hvcx _hvcy rmoveto } if - } cforall -} def -/vawidthshow -{ - { - dup 255 le - _charorientation 1 eq - and - { - -90 rotate - 0 _fontRotateAdjust rmoveto - cstring - _hvcx _hvcy _hvwb _hvax _hvay 6 -1 roll awidthshow - 0 _fontRotateAdjust neg rmoveto - 90 rotate - } - { - currentpoint - _fontHeight sub - exch _hvay sub exch _hvax sub - 2 index _hvwb eq { exch _hvcy sub exch _hvcx sub } if - 3 2 roll - cstring - dup stringwidth pop 2 div neg _fontAscent neg rmoveto - show - moveto - } ifelse - } cforall -} def -/hvawidthshow -{ - 6 1 roll - 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%%PageTrailer
gsave annotatepage grestore showpage
%%Trailer
Adobe_Illustrator_AI5 /terminate get exec -Adobe_shading_AI8 /terminate get exec -Adobe_ColorImage_AI6 /terminate get exec -Adobe_cshow /terminate get exec -Adobe_level2_AI5 /terminate get exec -%%EOF
\ No newline at end of file diff --git a/doc/paper/CC-by.pdf b/doc/paper/CC-by.pdf Binary files differdeleted file mode 100755 index 7b790d0..0000000 --- a/doc/paper/CC-by.pdf +++ /dev/null diff --git a/doc/paper/Makefile b/doc/paper/Makefile deleted file mode 100644 index 8a4bc75..0000000 --- a/doc/paper/Makefile +++ /dev/null @@ -1,35 +0,0 @@ - -LAB_PATH ?= ../lab-windows - -SHELL := bash -.ONESHELL: -.SHELLFLAGS := -eu -o pipefail -c -.DELETE_ON_ERROR: -MAKEFLAGS += --warn-undefined-variables -MAKEFLAGS += --no-builtin-rules - -main_tex ?= rotohsm_paper -brief_tex ?= rotohsm_tech_report - -VERSION_STRING := $(shell git describe --tags --long --dirty) - -all: ${main_tex}.pdf ${brief_tex}.pdf - -%.pdf: %.tex rotohsm.bib version.tex - pdflatex -shell-escape $< - biber $* - pdflatex -shell-escape $< - -version.tex: ${main_tex}.tex ${brief_tex}.tex rotohsm.bib - echo "${VERSION_STRING}" > $@ - -resources/%.pdf: $(LAB_PATH)/%.ipynb - jupyter-nbconvert --to=pdf --output-dir=resources --output=$* --LatexExporter.template_file=resources/nbexport.tplx $^ - -.PHONY: clean -clean: - rm -f ${main_tex}.aux ${main_tex}.bbl ${main_tex}.bcf ${main_tex}.log ${main_tex}.blg - rm -f ${main_tex}.out ${main_tex}.run.xml texput.log - rm -f ${brief_tex}.aux ${brief_tex}.bbl ${brief_tex}.bcf ${brief_tex}.log ${brief_tex}.blg - rm -f ${brief_tex}.out ${brief_tex}.run.xml texput.log - diff --git a/doc/paper/circuits.ipynb b/doc/paper/circuits.ipynb deleted file mode 100644 index 2e78b30..0000000 --- a/doc/paper/circuits.ipynb +++ /dev/null @@ -1,1115 +0,0 @@ -{ - "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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diff --git a/doc/paper/rotohsm_paper.pdf b/doc/paper/rotohsm_paper.pdf Binary files differdeleted file mode 100644 index 7ef9489..0000000 --- a/doc/paper/rotohsm_paper.pdf +++ /dev/null diff --git a/doc/paper/rotohsm_paper.tex b/doc/paper/rotohsm_paper.tex deleted file mode 100644 index 8c24274..0000000 --- a/doc/paper/rotohsm_paper.tex +++ /dev/null @@ -1,742 +0,0 @@ -\documentclass[nohyperref]{iacrtrans} -\usepackage[T1]{fontenc} -\usepackage[ - backend=biber, - style=numeric, - natbib=true, - url=false, - doi=true, - eprint=false - ]{biblatex} -\addbibresource{rotohsm.bib} -\usepackage{amssymb,amsmath} -\usepackage{eurosym} -\usepackage{wasysym} -\usepackage{amsthm} - -\usepackage[binary-units]{siunitx} -\DeclareSIUnit{\baud}{Bd} -\DeclareSIUnit{\year}{a} -\usepackage{commath} -\usepackage{graphicx,color} -\usepackage{subcaption} -\usepackage{array} -\usepackage{hyperref} - -\renewcommand{\floatpagefraction}{.8} -\newcommand{\degree}{\ensuremath{^\circ}} -\newcolumntype{P}[1]{>{\centering\arraybackslash}p{#1}} -\newcommand{\partnum}[1]{\texttt{#1}} - -\begin{document} - -\title[Can't Touch This]{Inertial HSMs Thwart Advanced Physical Attacks} -\author{Jan Sebastian Götte \and Björn Scheuermann} -\institute{HIIG\\ \email{ihsm@jaseg.de} \and HU Berlin \\ \email{scheuermann@informatik.hu-berlin.de}} -% FIXME keywords -\keywords{hardware security \and implementation \and smart cards \and electronic commerce} -\maketitle - -\begin{abstract} - In this paper, we introduce a novel countermeasure against physical attacks: Inertial hardware security modules - (iHSMs). Conventional systems have in common that their security requires the crafting of fine sensor structures - that respond to minute manipulations of the monitored security boundary or volume. Our approach is novel in that we - reduce the sensitivity requirement of security meshes and other sensors and increase the complexity of any - manipulations by rotating the security mesh or sensor at high speed---thereby presenting a moving target to an - attacker. Attempts to stop the rotation are easily monitored with commercial MEMS accelerometers and gyroscopes. - Our approach leads to a HSM that can easily be built from off-the-shelf parts by any university electronics lab, yet - offers a level of security that is comparable to commercial HSMs. We have built a proof of concept hardware - prototype that demonstrates solutions to the concept's main engineering challenges. As part of this proof of - concept, we have found that a system using a coarse security mesh made from commercial printed circuit boards and an - automotive high g-force accelerometer already provides a useful level of security. -\end{abstract} - -\section{Introduction} - -While information security technology has matured a great deal in the last half century, physical security not kept up -with the pace of the remainder of this industry. Given the right skills, physical access to a computer still often -allows full compromise. The physical security of modern server hardware hinges on what lock you put on the room it is -in. - -Currently, servers and other computers are rarely physically secured as a whole. Servers sometimes have a simple lid -switch and are put in locked ``cages'' inside guarded facilities. This usually provides a good compromise between -physical security and ease of maintenance. To handle highly sensitive data in applications such as banking or public key -infrastructure, general-purpose and low-security servers are augmented with dedicated, physically secure cryptographic -co-processors such as trusted platform modules (TPMs) or hardware security modules (HSMs). Using a limited amount of -trust in components such as the CPU, the larger system's security can then be reduced to that of its physically secured -TPM~\cite{newman2020,frazelle2019,johnson2018}. -Like smartcards, TPMs rely on a modern IC being hard to tamper with. Shrinking things to the nanoscopic level to secure -them against tampering is a good engineering solution for some years to come. However, in essence this is a type of -security by obscurity: Obscurity here referring to the rarity of the equipment necessary to attack modern -ICs~\cite{albartus2020,anderson2020}. - -In contrast to TPMs and Smartcards, HSMs rely on an active security barrier usually consisting of a fragile foil with -conductive traces. These traces are much larger scale than a smart card IC's microscopic structures, and instead are -designed to be very hard to remove intact. While we are certain that there still are many insights to be gained in both -technologies, we wish to introduce a novel approach to sidestep the manufacturing issues of both and provide radically -better security against physical attacks. Our core observation is that any cheap but coarse HSM technology can be made -much more difficult to attack by moving it very quickly. - -For example, consider an HSM as it is used in online credit card payment processing. Its physical security level is set -by the structure size of its security mesh. An attack on its mesh might involve fine drill bits, needles, wires, glue, -solder and lasers~\cite{drimer2008}. Now consider the same HSM mounted on a large flywheel. In addition to its usual -defenses, this modified HSM is now equipped with an accelerometer that it uses to verify that it is spinning at high -speed. How would an attacker approach this HSM? They would have to either slow down the rotation---which triggers the -accelerometer's monitoring circuit---or they would have to attack the HSM in motion. The HSM literally becomes a moving -target. At slow speeds, rotating the entire attack workbench might be possible---but rotating frames of reference -quickly become inhospitable to human life (see Section~\ref{sec_swivel_chair_attack}). Since non-contact electromagnetic -or optical attacks are more limited in the first place and can be shielded, we have effectively forced the attacker to -use an ``attack robot''. - -This paper contains the following contributions: -\begin{enumerate} - \item We present the \emph{Inertial HSM} concept. Inertial HSMs enable cost effective, small scale production of - highly secure HSMs. - \item We discuss possible tamper sensors for inertial HSMs. - \item We explore the design space of our inertial HSM concept. - \item We present our work on a prototype inertial HSM (Figure~\ref{prototype_picture}). - \item We present an analysis on the viability of using commodity MEMS accelerometers as braking sensors. - % FIXME \item Measurement of the prototype HSM's susceptibility to various types of attack. -\end{enumerate} - -\begin{figure} - \center - \includegraphics[width=12cm]{prototype_pic2.jpg} - \caption{The protoype as we used it to test power transfer and bidirectional communication between stator and rotor. - This picture shows the proof of concept prototype's configuration that we used for accelerometer characterization - (Section~\ref{sec_accel_meas}) without the vertical security mesh struts that connect the circular top and bottom - outer meshes.} - \label{prototype_picture} -\end{figure} - -In Section~\ref{sec_related_work}, we will give an overview of the state of the art in HSM physical security. On this -basis, in Section~\ref{sec_ihsm_construction} we will elaborate the principles of our Inertial HSM approach. We will -analyze its weaknesses in Section~\ref{sec_attacks}. Based on these results we have built a proof of concept hardware -prototype that whose design we will elaborate in Section~\ref{sec_proto}. In Section~\ref{sec_accel_meas} we present our -characterization of an automotive MEMS accelerometer IC as a rotation sensor in this proof of concept prototype. We -conclude this paper with a general evaluation of our design in Section~\ref{sec_conclusion}. - -\section{Related work} -\label{sec_related_work} -% summaries of research papers on HSMs. I have not found any actual prior art on anything involving mechanical motion -% beyond ultrasound. - -In this section, we will briefly explore the history of HSMs and the state of academic research on active tamper -detection. - -HSMs are an old technology that traces back decades in its electronic realization. Today's common approach of monitoring -meandering electrical traces on a fragile foil that is wrapped around the HSM essentially transforms the security -problem into the challenge to manufacture very fine electrical traces on a flexible foil~\cite{isaacs2013, immler2019, -anderson2020}. There has been some research on monitoring the HSM's inside using e.g.\ electromagnetic -radiation~\cite{tobisch2020, kreft2012} or ultrasound~\cite{vrijaldenhoven2004} but none of this research has found -widespread adoption yet. - -HSMs can be compared to physical seals~\cite{anderson2020}. Both are tamper evident devices. The difference is that a -HSM continuously monitors itself whereas a physical seal only serves to record tampering and requires someone to examine -it. This examination can be by eye in the field, but it can also be carried out in a laboratory using complex equipment. -An HSM in principle has to have this examination equipment built-in. - -Physical seals are used in a wide variety of applications, but the most interesting ones from a research point of view -that are recorded in public literature are those used in monitoring of nuclear material under the International Atomic -Energy Authority (IAEA). Most of these seals use the same approach that is used in Physically -Uncloneable Functions (PUFs), though their development predates that of PUFs by several decades. The seal is created in -a way that intentionally causes large, random device to device variations. These variations are precisely recorded at -deployment. At the end of the seal's lifetime, the seal is returned from the field to the lab and closely examined to -check for any deviations from the seal's prior recorded state. The type of variation used in these seals includes random -scratches in metal parts and random blobs of solder (IAEA metal cap seal), randomly cut optical fibers (COBRA seal), the -uncontrollably random distribution of glitter particles in a polymer matrix (COBRA seal prototypes) as well as the -precise three-dimensional surface structure of metal parts at microscopic scales (LMCV)~\cite{iaea2011}. - -The IAEA's equipment portfolio does include electronic seals such as the EOSS. These devices are intended for remote -reading, similar to an HSM. They are constructed from two components: A cable that is surveilled for tampering, and a -monitoring device. The monitoring device itself is in effect an HSM and uses a security mesh foil such as it is used in -commercial HSMs. - -In~\cite{anderson2020}, Anderson gives a comprehensive overview on physical security. An example HSM that they cite is -the IBM 4758 HSM whose details are laid out in depth in~\cite{smith1998}. This HSM is an example of an industry-standard -construction. Although its turn of the century design is now a bit dated, the construction techniques of the physical -security mechanisms have not evolved much in the last two decades. Besides some auxiliary temperature and radiation -sensors to guard against attacks on the built-in SRAM memory, the module's main security barrier uses the traditional -construction of a flexible mesh foil wrapped around the module's core. In~\cite{smith1998}, the authors state that the -module monitors this mesh for short circuits, open circuits and conductivity. The fundamental approach to tamper -detection and construction is similar to other commercial -offerings~\cite{obermaier2018,drimer2008,anderson2020,isaacs2013}. - -Shifting our focus from industry use to the academic state of the art, in~\cite{immler2019}, Immler et al. describe an -HSM based on precise capacitance measurements of a security mesh, creating a PUF from the mesh. In contrast to -traditional meshes, the mesh they use consists of a large number of individual traces (more than 30 in their example). -Their concept promises a very high degree of protection. The main disadvantages of their concept are a limitation in -covered area and component height, as well as the high cost of the advanced analog circuitry required for monitoring. A -core component of their design is that they propose its use as a PUF to allow for protection even when powered off, -similar to a smart card---but the design is not limited to this use. - -In~\cite{tobisch2020}, Tobisch et al.\ describe a construction technique for a hardware security module that is based -around commodity WiFi hardware inside a conductive enclosure. In their design, an RF transmitter transmits a reference -signal into the RF cavity formed by the conductive enclosure. One or more receivers listen for the signal's reflections -and use them to characterize the RF cavity w.r.t.\ phase and frequency response. Their fundamental assumption is that -the RF behavior of the cavity is inscrutable from the outside, and that even a small disturbance anywhere within the -volume of the cavity will cause a significant change in its RF response. A core component of the work of Tobisch et -al.~\cite{tobisch2020}\ is that they use commodity WiFi hardware to reduce the cost of the HSM's sensing circuitry. The -resulting system is likely both much cheaper and capable of protecting a much larger security envelope than designs -using finely patterned foil security meshes such as~\cite{immler2019}, at the cost of worse and less predictable -security guarantees. Where~\cite{tobisch2020} use electromagnetic radiation, Vrijaldenhoven -in~\cite{vrijaldenhoven2004} uses ultrasound waves travelling on a surface acoustic wave (SAW) device to a similar end. - -While Tobisch et al.~\cite{tobisch2020}\ approach the sensing frontend cost as their primary optimization target, the -prior work of Kreft and Adi~\cite{kreft2012} considers sensing quality. Their target is an HSM that envelopes a volume -barely larger than a single chip. They theorize how an array of distributed RF transceivers can measure the physical -properties of a potting compound that has been loaded with RF-reflective grains. In their concept, the RF response -characterized by these transceivers is shaped by the precise three-dimensional distribution of RF-reflective grains -within the potting compound. - -To the best of our knowledge, we are the the first to propose a mechanically moving HSM security barrier as part of a -hardware security module. Most academic research concentrates on the issue of creating new, more sensitive security -barriers for HSMs~\cite{immler2019} while commercial vendors concentrate on means to certify and cheaply manufacture -these security barriers~\cite{drimer2008}. Our concept instead focuses on the issue of taking any existing, cheap -low performance security barrier and transforming it into a marginally more expensive but high performance one. The -closest to a mechanical HSM that we were able to find during our research is an 1988 patent~\cite{rahman1988} that -describes a mechanism to detect tampering along a communication cable by enclosing the cable inside a conduit filled -with pressurized gas. - -\subsection{Patent literature} -During development, we performed several hours of research on prior art for the inertial HSM concept. Yet, we could not -find any mentions of similar concepts either in academic literature or in patents. Thus, while we cannot give any -guarantees, we seem likely to be the inventors of this idea and we are fairly sure it is not covered by any patents or -other restrictions at this point in time. - -Since the concept is primarily attractive for small-scale production and since cheaper mass-production alternatives are -already commercially available, we have decided against applying for a patent and we wish to make it available to the -general public without any restrictions on its use. We invite you build on our work as you wish and to base your own -work on our publications without any fees or commercial restrictions. Where possible, we ask you to cite this paper and -attribute the inertial HSM concept to its authors. - -\section{Inertial HSM construction and operation} -\label{sec_ihsm_construction} - -Mechanical motion has been proposed as a means of making things harder to see with the human eye~\cite{haines2006} and -is routinely used in military applications to make things harder to hit~\cite{terdiman2013} but we seem to be the first -to use it in tamper detection. - -The core questions in the design of an inertial HSM are the following: - -\begin{enumerate} - \item What \textbf{type of motion} to use, such as rotation, pendulum motion, or linear motion. - \item How to construct the \textbf{tamper detection sensor}. - \item How to \textbf{detect braking} of the IHSM's movement. - \item The \textbf{mechanical layout} of the system. -\end{enumerate} - -We will approach these questions one by one in the following subsections. - -\subsection{Inertial HSM motion} -\label{sec_ihsm_motion} - -First, there are several ways that we can approach motion. There is periodic, aperiodic and continuous motion. There is -also linear motion as well as rotation. We can also vary the degree of electronic control in this motion. The main -constraints we have on the HSM's motion pattern are that it needs to be (almost) continuous so as to not expose any weak -spots during instantaneous standstill of the HSM. Additionally, for space efficiency the HSM has to stay within a -confined space. This means that linear motion would have to be periodic, like that of a pendulum. Such periodic linear -motion will have to quickly reverse direction at its apex so the device is not stationary long enough for this to become -a weak spot. - -In contrast to linear motion, rotation is space-efficient and can be continuous if the axis of rotation is inside the -device. In case it has a fixed axis, rotation will expose a weak spot at the axis of rotation where the surface's -tangential velocity is low. Faster rotation can lessen the security impact of this fact at the expense of power -consumption and mechanical stress, but it can never eliminate it. This effect can be alleviated in two ways: Either by -adding additional tamper protection at the axis, or by having the HSM perform a compound rotation that has no fixed -axis. - -Large centrifugal acceleration at high speeds poses the engineering challenge of preventing rapid unscheduled -disassembly of the device, but it also creates an obstacle to any attacker trying to manipulate the device in what we -call a \emph{swivel chair attack} (see Section~\ref{sec_swivel_chair_attack}). An attacker trying to follow the motion -would have to rotate around the same axis. By choosing a suitable rotation frequency we can prevent an attacker from -following the devices motion since doing so would subject them to impractically large centrifugal forces. Essentially, -this limits the approximate maximum size and mass of an attacker based on an assumption on tolerable centrifugal force. - -In this paper we focus on rotating IHSMs for simplicity of construction. For our initial research, we are focusing on -systems that have a fixed axis of rotation due to their simple construction but we do wish to note the challenge of -hardening the shaft against tampering that any production device would have to tackle. - -\subsection{Tamper detection mesh construction} - -Once we have decided how our IHSM's security barrier should move, what remains is the actual implementation -of that security barrier. There are two movements that we have observed that are key to our work. On the one hand, there -is the widespread industry use of delicate tamper sensing mesh membranes. The usage of such membranes in systems -deployed in the field for a variety of use cases from low security payment processing devices to high security -certificate management at a minimum tells us that a properly implemented mesh \emph{can} provide a practical level of -security. On the other hand, in contrast to this industry focus, academic research has largely focused on ways to -fabricate enclosures that embed characteristics of a Physically Uncloneable Function. By using stochastic properties of -the enclosure material to form a PUF, such academic designs effectively leverage signal processing techniques to improve -the system's security level by a significant margin. - -In our research, we focus on security meshes as our IHSM's tamper sensors. Most of the cost in commercial security mesh -implementations lies in the advanced manufacturing techniques and special materials necessary to achieve a sensitive -mesh at fine structure sizes. The foundation of an IHSM security is that by moving the mesh even a primitive, coarse -mesh made e.g.\ from mesh traces on a PCB becomes very hard to attack in practice. This allows us to use a simple -construction made up from low-cost components. Additionally, the use of a mesh allows us to only spin the mesh itself -and its monitoring circuit and keep the payload inside the mesh stationary. Tamper sensing technologies that use the -entire volume of the HSM such as RF-based systems do not allow for this degree of freedom in their design: They would -require the entire IHSM to spin, including its payload, which would entail costly and complex systems for data and power -transfer from the outside to the payload. - -\subsection{Braking detection} - -The security mesh is a critical component in the IHSM's defense against physical attacks, but its monitoring is only one -half of this defense. The other half consists of a reliable and sensitive braking detection system. This system must be -able to quickly detect any slowing of the IHSM's rotation. Ideally, a sufficiently sensitive sensor should be able to -measure any external force applied to the IHSM's rotor and should already trigger a response at the first signs of a -manipulation attempt. - -While the obvious choice to monitor rotation would be a tachometer such as a magnetic or opitical sensor attached to the -IHSM's shaft, this would be a poor choice in our application. Both optical and magnetic sensors are susceptible to -contact-less interference from outside. A different option would be to use feedback from the motor driver electronics. -When using a BLDC motor, the driver electronics precisely know the rotor's position at all times. The issue with this -approach is that depending on construction, it might invite attacks at the mechanical interface between mesh and the -motor's shaft. If an attacker can decouple the mesh from the motor e.g.\ by drilling, laser ablation or electrical -discharge machining (EDM) on the motor's shaft, the motor could keep spinning at its nominal frequency while the mesh is -already standing still. - -Instead of a stator-side sensor like a magnetic tachometer or feedback from the BLDC controller, an accelerometer placed -inside the spinning mesh monitoring circuit would be a good component to serve as an IHSM's tamper sensor. Modern, fully -intergrated MEMS accelerometers are very precise. By comparing acceleration measurements against a model of the device's -mechanical motion, deviations can quickly be detected. This limits an attacker's ability to tamper with the device's -motion. It may also allow remote monitoring of the device's mechanical components such as bearings: MEMS accelerometers -are fast enough to capture vibrations, which can be used as an early warning sign of failing mechanical -components~\cite{kvk2019,sh2016,adc2019,e2013}. - -In a spinning IHSM, an accelerometer mounted at a known radius with its axis pointing radially will measure centrifugal -acceleration. Centrifugal acceleration rises linearly with radius, and with the square of frequency: $a=\omega^2 r$. For -a given target speed of rotation, the accelerometer's location has to be carefully chosen to maximize dynamic range. A -key point here is that for rotation speeds between $500$ and $\SI{1000}{rpm}$, centrifugal acceleration already becomes -very large at a radius of just a few $\si{\centi\meter}$. At $\SI{1000}{rpm}\approx\SI{17}{\hertz}$ at a -$\SI{10}{\centi\meter}$ radius acceleration already is above $\SI{1000}{\meter\per\second}$ or $100\,g$. While -beneficial for security, this large acceleration leads to two practical constraints. First, off-axis performance of -commercial accelerometers is usually in the order of $\SI{1}{\percent}$ so this large acceleration will feed through -into all accelerometer axes, even those that are tangential to the rotation. Second, we either have to place the -accelerometer close to the axis or we are limited to a small selection of high-$g$ accelerometers mostly used in -automotive applications. - -To evaluate the feasibility of accelerometers as tamper sensors we can use a simple benchmark: Let us assume that an -IHSM is spinning at $\SI{1000}{rpm}$ and that we wish to detect any attempt to brake it below $\SI{500}{rpm}$. The -difference in centrifugal acceleration that our accelerometer will have to detect then is a factor of -$\frac{\omega_2^2}{\omega_1^2}=4$. If we choose our accelerometer's location to maximize its dynamic range, any -commercial MEMS accelerometer should suffice for this degree of accuracy even over long timespans. For rapid -deceleration, commercial accelerometers will be much more sensitive as effects of long-term drift can be ignored. If we -wish to also detect very slow deceleration, we have to take into account the accelerometer's drift characteristics. - -In Section~\ref{sec_accel_meas} below we conduct an empirical evaluation of a commercial automotive high-$g$ MEMS -accelerometer for braking detection in our prototype IHSM. - -\subsection{Mechanical layout} - -With our IHSM's components taken care of, what remains to be decided is how to put together these individual components -into a complete device. A basic spinning HSM might look like shown in Figure~\ref{fig_schema_one_axis}. Shown are the -axis of rotation, an accelerometer on the rotating part that is used to detect braking, the protected payload and the -area covered by the rotating tamper detection mesh. A key observation is that we only have to move the tamper -protection mesh, not the entire contents of the HSM. The HSM's payload and with it most of the HSM's mass can be -stationary. This reduces the moment of inertia of the moving part. This basic schema accepts a weak spot at the point -where the shaft penetrates the spinning mesh. This trade-off makes for a simple mechanical construction and allows -power and data connections to the stationary payload through a hollow shaft. - -\begin{figure} - \center - \includegraphics{concept_vis_one_axis.pdf} - \caption{Concept of a simple spinning Inertial HSM. 1 - Shaft. 2 - Security mesh. 3 - Payload. 4 - - Accelerometer. 5 - Shaft penetrating security mesh.} - \label{fig_schema_one_axis} -\end{figure} - -The spinning mesh must be designed to cover the entire surface of the payload, but it suffices if it sweeps over every -part of the payload once per rotation. This means we can design longitudinal gaps into the mesh that allow outside air -to flow through to the payload. In traditional boundary-sensing HSMs, cooling of the payload processor is a serious -issue since any air duct or heat pipe would have to penetrate the HSM's security boundary. This problem can only be -solved with complex and costly siphon-style constructions, so in commercial systems heat conduction is used -exclusively~\cite{isaacs2013}. This limits the maximum power dissipation of the payload and thus its processing power. -Using longitudinal gaps in the mesh, our setup allows direct air cooling of regular heatsinks. This unlocks much more -powerful processing capabilities that greatly increase the maximum possible power dissipation of the payload. In an -evolution of our design, the spinning mesh could even be designed to \emph{be} a cooling fan. - -\section{Attacks} -\label{sec_attacks} - -After outlining the basic mechanical design of an inertial HSM above, in this section we will detail possible ways to -attack it. At the core of an IHSM's defenses is the same security mesh or other technology as it is used in traditional -HSMs. This means that in the end an attacker will have to perform the same steps they would have to perform to attack a -traditional HSM. Only, they will either have to perform these attack steps with a tool that follows the HSMs rotation -at high speed or they will first have to defeat the braking sensor. Attacking the IHSM in motion may require specialized -mechanical tools, CNC actuators or even a contactless attack using a laser, plasma jet or water jet. - -\subsection{The Swivel Chair Attack} -\label{sec_swivel_chair_attack} - -First we will consider the most basic of all attacks: A human attacker holding a soldering iron trying to rotate -themselves along with the mesh using a very fast swivel chair. Let us pessimistically assume that this co-rotating -attacker has their center of mass on the axis of rotation. The attacker's body is likely on the order of -$\SI{200}{\milli\meter}$ wide along its shortest axis, resulting in a minimum radius from axis of rotation to surface of -about $\SI{100}{\milli\meter}$. Wikipedia lists horizontal g forces in the order of $\SI{20}{g}$ as the upper end of the -range tolerable by humans for seconds at a time or longer. We thus set our target acceleration to -$\SI{100}{g}\;\approx\;\SI{1000}{\meter\per\second^2}$, a safety factor of $5$ past that range. Centrifugal -acceleration is $a=\omega^2 r$. In our example this results in a minimum angular velocity of $f_\text{min} = -\frac{1}{2\pi}\sqrt{\frac{a}{r}} = \frac{1}{2\pi}\sqrt{\frac{\SI{1000}{\meter\per\second^2}}{\SI{100}{\milli\meter}}} -\approx \SI{16}{\hertz} \approx \SI{1000}{rpm}$. From this we can conclude that even at moderate speeds of -$\SI{1000}{rpm}$ and above, a manual attack is no longer possible and any attack would have to be carried out using some -kind of mechanical tool. - -\subsection{Mechanical weak spots} - -The tamper defense of an IHSM rests on the security mesh moving too fast to tamper. Depending on the type of motion -used, the meshes speed may vary by location and over time. Our example configuration of a rotating mesh can keep moving -continuously, so it does not have any time-dependent weak spots. It does however have a weak spot at its axis of -rotation, at the point where the shaft penetrates the mesh. The meshes tangential velocity decreases close to the shaft, -and the shaft itself may allow an attacker to insert tools such as probes into the device through the opening it -creates. This issue is related to the issue conventional HSMs also face with their power and data connections. In -conventional HSMs, power and data are routed into the enclosure through the PCB or flat flex cables sandwiched in -between security mesh foil layers. In traditional HSMs this interface rarely is a mechanical weak spot since they use a -thin mesh substrate and create a meandering path by folding the interconnect substrate/security mesh layers several -times. In inertial HSMs, careful engineering is necessary to achieve the same effect. Figure~\ref{shaft_cm} shows -variations of the shaft interface with increasing complexity. - -\begin{figure} - \begin{subfigure}[t]{0.3\textwidth} - \center - \includegraphics[width=4cm]{ihsm_shaft_countermeasures_a.pdf} - \caption{Cross-sectional view of the basic configuration with no special protection of the shaft. Red: Moving - mesh -- Black: Stationary part.} - \label{shaft_cm_a} - \end{subfigure} - \hfill - \begin{subfigure}[t]{0.3\textwidth} - \center - \includegraphics[width=4cm]{ihsm_shaft_countermeasures_b.pdf} - \caption{An internal counter-rotating disc greatly decreases the space available to attackers at the expense of - another moving part and a second moving monitoring circuit.} - \label{shaft_cm_a} - \end{subfigure} - \hfill - \begin{subfigure}[t]{0.3\textwidth} - \center - \includegraphics[width=4cm]{ihsm_shaft_countermeasures_c.pdf} - \caption{A second moving tamper detection mesh also enables more complex topographies.} - \label{shaft_cm_a} - \end{subfigure} - \caption{Mechanical countermeasures to attacks through or close to the shaft of a fixed-axis rotating IHSM.} - \label{shaft_cm} -\end{figure} - -\subsection{Attacking the mesh in motion} - -To disable the mesh itself, an attacker can choose two paths. One is to attack the mesh itself, for example by bridging -its traces. The other option is to tamper with the monitoring circuit to prevent a damaged mesh from triggering an -alarm~\cite{dexter2015}. Attacks in both locations are electronic attacks, i.e.\ they require electrical contact to -parts of the circuit. Traditionally, this contact is made by soldering a wire or by placing a probe such as a thin -needle. We consider this type of attack hard to perform on an object spinning at high speed. Possible remaining attack -avenues may be to rotate an attack tool in sync with the mesh, or to use a laser or ion beam fired at the mesh to cut -traces or carbonize parts of the substrate to create electrical connections. Encapsulating the mesh in a potting -compound and shielding it with a metal enclosure as is common in traditional HSMs will significantly increase the -complexity of such attacks. - -\subsection{Attacks on the rotation sensor} - -Instead of attacking the mesh in motion, an attacker may also try to first stop the rotor. To succeed, they would need -to falsify the rotor's MEMS accelerometer measurements. We can disregard electronic attacks on the sensor or the -monitoring microcontroller because they would be no easier than attacking the mesh traces. What remains would be -physical attacks of the accelerometer's sensing mechanism. -MEMS accelerometers usually use a cantilever design in which a proof mass moves a cantilever whose precise position is -measured electronically. A topic of recent academic interest have been acoustic attacks tampering with these -mechanics~\cite{trippel2017}, but such attacks do not yield sufficient control to precisely falsify sensor readings. -A possible more invasive attack may be to first decapsulate the sensor MEMS using laser ablation synchronized with the -device's rotation. Then, a fast-setting glue such as a cyanoacrylate could be deposited on the MEMS, locking the -mechanism in place. This type of attack can be mitigated by mounting the accelerometer in a shielded location inside the -security envelope and by varying the rate of rotation over time. - -\subsection{Attacks on the alarm circuit} - -Besides trying to deactivate the tamper detection mesh, an electronic attack could also target the alarm circuitry -inside the stationary payload, or the communication link between rotor and payload. The link can be secured using a -cryptographically secured protocol like one would use for wireless radio links along with a high-frequency heartbeat -message. The alarm circuitry has to be designed such that it is entirely contained within the HSM's security envelope. -Like in conventional HSMs, it has to be built to either tolerate or detect environmental attacks using sensors for -temperature, ionizing radiation, laser radiation, supply voltage variations, ultrasound or other vibration and gases or -liquids. If a wireless link is used between the IHSM's rotor and stator, this link must be cryptographically secured. -To prevent replay attacks link latency must continuously be measured, so this link must be bidirectional. -% If it were unidirectional, an attacker could -% act as a Man-in-the-Middle and replay the mesh's authenticated ``no alarm'' signal at slightly below real-time speed -% (say at $\SI{99}{\percent}$ speed). The receiver would not be able to distinguish between this attack and ordinary -% deviations in the transmitter's local clock frequency. Thus, after some time the attacker can simply stop the rotor and -% break the mesh while replaying the leftover recorded ``no alarm'' signal. Given the frequency stability of commercial -% crystals, this would yield the attacker several seconds of undisturbed attack time per hour of recording time. - -\subsection{Fast and violent attacks} - -A variation of the above attacks on the alarm circuitry is to simply destroy the part of the HSM that erases data in -response to tampering before it can perform its job using a tool such as a large hammer or a gun. To mitigate this type -of attack, the HSM must be engineered to be either tough or brittle: Tough enough that the tamper response circuitry -will reliably withstand any attack for long enough to carry out its function or brittle in a way that during any attack, -the payload is reliably destroyed before the tamper response circuitry. - -\section{Proof of Concept Prototype implementation} -\label{sec_proto} - -As we elaborated above, the mechanical component of an IHSM significantly increases the complexity of any attack even -when implemented using only common, off-the-shelf parts. In view of this amplification of design security we have -decided to validate our theoretical studies by implementing a proof of concept prototype IHSM -(Figure~\ref{prototype_picture}). The main engineering challenges we set out to solve in this proof of concept prototype -were: - -\begin{enumerate} - \item A mechanical design suitable for rapid prototyping that can withstand at least $\SI{500}{rpm}$. - \item The Automatic generation of security mesh PCB layouts for quick adaption to new form factors. - \item Non-contact power transmission from stator to rotor. - \item Non-contact bidirectional data communication between stator and rotor. -\end{enumerate} - -We will outline our findings on these challenges one by one in the following paragraphs. - -\subsection{Mechanical design} - -We sized our proof of concept prototype to have sufficient payload space for up to two full-size Raspberry Pi boards to -approximate a traditional HSM's processing capabilities. We use printed circuit boards as the main structural material -for the rotating part, and 2020 aluminium extrusion for its mounting frame. Figure~\ref{fig_proto_mesh} shows the -rotor's mechanical PCB designs. The design uses a $\SI{6}{\milli\meter}$ brass tube as its shaft, which is already -sufficiently narrow to pose a challenge to an attacker. The rotor is driven by a small hobby quadcopter motor. Our -prototype incorporates a functional PCB security mesh. As we observed previously, this mesh only needs to cover every -part of the system once per revolution, so we designed the longituninal PCBs as narrow strips to save weight. - -\subsection{PCB security mesh generation} - -% FIXME censor link in peer-review version! -Our proof-of-concept security mesh covers a total of five interlocking mesh PCBs (Figure~\ref{mesh_gen_sample}). A sixth -PCB contains the monitoring circuit and connects to these mesh PCBs. To speed up design iterations, we automated the -generation of this security mesh through a plugin for the KiCAD EDA -suite\footnote{\url{https://blog.jaseg.de/posts/kicad-mesh-plugin/}}. Figure~\ref{mesh_gen_viz} visualizes the mesh -generation process. First, the target area is overlaid with a grid. Then, the algorithm produces a randomized tree -covering the grid. Finally, individual mesh traces are traced according to a depth-first search through this tree. -We consider the quality of the plugin's output sufficient for practical applications. Together with FreeCAD's KiCAD -StepUp plugin, this results in an efficient toolchain from mechanical CAD design to production-ready PCB files. - -\begin{figure} - \begin{subfigure}{0.35\textwidth} - \center - \includegraphics[height=7cm]{proto_3d_design.jpg} - \caption{The 3D CAD design of the proof of concept prototype.} - \end{subfigure} - \hfill - \begin{subfigure}{0.6\textwidth} - \includegraphics[width=8cm]{rotor_stator.jpg} - \center - \caption{Assembled mechanical prototype rotor (left) and stator (right) PCB components.} - \end{subfigure} - \caption{Our proof of concept prototype IHSM's PCB security mesh design} - \label{fig_proto_mesh} -\end{figure} - -\begin{figure} - \begin{subfigure}{\textwidth} - \center - \includegraphics[width=9cm]{mesh_gen_viz.pdf} - \caption{Overview of the automatic security mesh generation process. 1 - Example target area. 2 - Grid overlay. - 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{subfigure} - \begin{subfigure}{\textwidth} - \center - \includegraphics[width=6cm]{mesh_scan_crop.jpg} - \caption{Detail of a PCB produced with a generated mesh.} - \label{mesh_gen_sample} - \end{subfigure} - \caption{Our automatic security mesh generation process} - \label{mesh_gen_fig} -\end{figure} - -\subsection{Power transmission from stator to rotor} - -The spinning mesh has its own autonomous monitoring circuit. This spinning monitoring circuit needs both power and data -connectivity to the stator. To design the power link, we first have to estimate the monitoring circuit's power -consumption. We base our calculation on the (conservative) assumption that the spinning mesh sensor should send its -tamper status to the static monitoring circuit at least once every $T_\text{tx} = \SI{10}{\milli\second}$. At -$\SI{100}{\kilo\baud}$, a transmission of a one-byte message in standard UART framing would take -$\SI{100}{\micro\second}$ and yield an $\SI{1}{\percent}$ duty cycle. If we assume an optical or RF transmitter that -requires $\SI{10}{\milli\ampere}$ of active current, this yields an average operating current of -$\SI{100}{\micro\ampere}$. Reserving another $\SI{100}{\micro\ampere}$ for the monitoring circuit itself we arrive at an -energy consumption of $\SI{1.7}{\ampere\hour}$ per year. - -This annual energy consumption is close to the capacity of a single CR123A lithium primary cell. Thus, by either using -several such cells or by optimizing power consumption several years of battery life could easily be reached. In our -proof of concept prototype we decided against using a battery to reduce rotor mass and balancing issues. - -We also decided against mechanically complex solutions such as slip rings or electronically complex ones such as -inductive power transfer. Instead, we chose a simple setup consisting of a stationary lamp pointing at several solar -cells on the rotor. At the monitoring circuit's low power consumption power transfer efficiency is irrelevant, so this -solution is practical. Our system uses six series-connected solar cells mounted on the end of the cylindrical rotor -that are fed into a large $\SI{33}{\micro\farad}$ ceramic buffer capacitor through a Schottky diode. This solution -provides around $\SI{3.0}{\volt}$ at several tens of $\si{\milli\ampere}$ to the payload when illuminated using either -a $\SI{60}{\watt}$ incandescent light bulb or a flicker-free LED studio light of similar brightness\footnote{LED lights -intended for room lighting exhibit significant flicker that can cause the monitoring circuit to reset. Incandescent -lighting requires some care in shielding the data link from the light bulb's considerable infrared output.}. - -\subsection{Data transmission between stator and rotor} - -Besides power transfer from stator to rotor, we need a reliable, bidirectional data link to transmit mesh status and a -low-latency heartbeat signal. We chose to transport an $\SI{115}{\kilo\baud}$ UART signal through a simple IR link for a -quick and robust solution. The link's transmitter directly drives a standard narrow viewing angle IR led through a -transistor. The receiver has an IR PIN photodiode reverse-biased at $\frac{1}{2}V_\text{CC}$ feeding into an -\texttt{MCP6494} general purpose opamp configured as an $\SI{100}{\kilo\ohm}$ transimpedance amplifier. As shown in -Figure \ref{photolink_schematic}, the output of this TIA is amplified one more time before being squared up by a -comparator. Our design trades off stator-side power consumption for a reduction in rotor-side power consumption by -using a narrow-angle IR led and photodiode on the rotor, and wide-angle components at a higher LED current on the -stator. Figure~\ref{ir_tx_schema} shows the physical arrangement of both links. The links face opposite one another and -are shielded from one another by the motor's body in the center of the PCB. - -% We used an \texttt{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. - -\begin{figure} - \begin{subfigure}{0.3\textwidth} - \includegraphics[width=4.5cm]{ir_tx_schema.pdf} - \caption{Basic layout, 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{subfigure} - \hfill - \begin{subfigure}{0.65\textwidth} - \includegraphics[width=9cm]{photolink_schematic.pdf} - \caption{Schematic with sample component values. C2 is highly dependent on the photodiode characteristics and - stray capacitances.} - \label{photolink_schematic} - \end{subfigure} - \caption{IR data link implementation} -\end{figure} - -\subsection{Evaluation} - -The compoleted proof of concept hardware worked as intended. Both rotating power and data links worked well. As we -expected, the mechanical design vibrated at higher speeds but despite these unintended vibrations we were able reach -speeds in excess of $\SI{1000}{rpm}$ by clamping the device to the workbench. Even at high speeds, both the power link -and the data links continued to function without issue. - -\section{Using MEMS accelerometers for braking detection} -\label{sec_accel_meas} - -Using the proof of concept prototype from the previous section, we performed an evaluation of an \partnum{AIS1120} -commercial automotive MEMS accelerometer as a braking sensor. The device is mounted inside our prototype at a radius of -$\SI{55}{\milli\meter}$ from the axis of rotation to the center of the device's package. The \partnum{AIS1120} provides -a measurement range of $\pm 120\,g$. At its 14-bit resolution, one LSB corresponds to $15\,\mathrm{m}g$. - -Our prototype IHSM uses a motor controller intended for use in RC quadcopters. In our experimental setup, we manually -control this motor controller through an RC servo tester. In our experiments we externally measured the device's speed -of rotation using a magnet fixed to the rotor and a reed switch held close. The reed switch output is digitized using an -USB logic analyzer at a sampling rate of $\SI{100}{\mega\hertz}$. We calculcate rotation frequency as a -$\SI{1}{\second}$ running average over debounced interval lengths of this captured signal\footnote{A regular frequency -counter or commercial tachometer would have been easier, but neither was available in our limited COVID-19 home office -lab.}. - -The accelerometer is controlled from the \partnum{STM32} microcontroller on the rotor of our IHSM prototype platform. -Timed by an external quartz, the microcontroller samples accelerometer readings at $\SI{10}{\hertz}$. Readings are -accumulated in a small memory buffer, which is continuously transmitted out through the prototype platform's infrared -link. Data is packetized with a sequence number indicating the buffer's position in the data stream and a CRC-32 -checksum for error detection. On the host, a Python script stores all packets received with a valid checksum in an -SQLite database. - -Data analysis is done separately from data capture. An analysis IPython Notebook reads captured packets and reassembles -the continuous sample stream based on the packets' sequence numbers. The low $\SI{10}{\hertz}$ sampling rate and high -$\SI{115}{\kilo Bd}$ transmission speed lead to a large degree of redundancy with gaps in the data stream being rare. -This allowed us to avoid writing retransmission logic or data interpolation. - -Figure~\ref{fig-acc-steps} shows an entire run of the experiment. During this run, we started with the rotor at -standstill, then manually increased its speed of rotation in steps. Areas shaded gray are intervals where we manually -adjust the rotors speed. The unshaded areas in between are intervals when the rotor speed is steady. -Figure~\ref{fig-acc-stacked} shows a magnified view of these periods of steady rotor speed. In both graphs, orange -lines indicate centrifugal acceleration as calculated from rotor speed measurements. Visually, we can see that -measurements and theory closely match. Our frequency measurements are accurate and the main source of error are the -accelerometer's intrinsic errors as well as error in its placement due to construction tolerances. - -The accelerometer's primary intrinsic errors are offset error and scale error. Offset error is a fixed additive offset -to all measurements. Scale error is an error proportional to a measurements value that results from a deviation between -the device's specified and actual sensitivity. We correct for both errors by first extracting all stable intervals from -the time series, then fitting a linear function to the measured data. Offset error is this linear function's intercept, -and scale error is its slope. We then apply this correction to all captured data before plotting and later analysis. -Despite its simplicity, this approach already leads to a good match of measurements and theory modulo a small part of -the device's offset remaining. At high speeds of rotation this remaining offset does not have an appreciable impact, but -due to the quadratic nature of centrifugal acceleration at low speeds it causes a large relative error of up to -$\SI{10}{\percent}$ at $\SI{95}{rpm}$. - -After offset and scale correction, we applied a low-pass filter to our data. The graphs show both raw and filtered data. -Raw data contains significant harmonic content. This content is due to vibrations in our prototype as well as gravity -since we tested our proof of concept prototype lying down, with its shaft pointing sideways. FFT analysis shows that -this harmonic content is a clean intermodulation product of the accelerometers sampling rate and the speed of rotation -with no other visible artifacts. - -Figure~\ref{fig-acc-theory} shows a plot of our measurement results against frequency. Data points are shown in dark -blue, and theoretical behavior is shown in orange. From our measurements we can conclude that an accelerometer is a good -choice for an IHSM's braking sensor. A simple threshold set according to the sensor's calculated expected centrifugal -force should be sufficient to reliably detect manipulation attempts without resulting in false positives. Periodic -controlled changes in the IHSM's speed of rotation allow an offset and scale calibration of the accelerometer on the -fly, without stopping the rotor. - -\begin{figure} - \center - \includegraphics[width=0.7\textwidth]{../../prototype/sensor-analysis/fig-acc-theory-meas-run50.pdf} - \caption{Centrifugal acceleration versus angular frequency in theory and in our experiments. Experimental - measurements are shown after correction for device-specific offset and scale error. Our measurements - showed good agreement with our theoretical results. Above \SI{300}{rpm}, the relative acceleration error was consistently - below $\SI{0.5}{\percent}$. Below $\SI{300}{rpm}$, the residual offset error that remains after our first-order - corrections has a strong impact ($0.05\,g$ absolute or $8\%$ relative at $\SI{95}{rpm}$.)} - \label{fig-acc-theory} -\end{figure} - -\begin{figure} - \begin{subfigure}{0.5\textwidth} - \center - \includegraphics[width=1.1\textwidth]{../../prototype/sensor-analysis/fig-acc-trace-steps-run50.pdf} - \caption{Raw recording of accelerometer measurements during one experiment run. Shaded areas indicate time - intervals when we manually adjusted speed.} - \label{fig-acc-steps} - \end{subfigure} - \hfill - \begin{subfigure}{0.45\textwidth} - \center - \includegraphics[width=1.1\textwidth]{../../prototype/sensor-analysis/fig-acc-trace-stacked-run50.pdf} - \caption{Valid measurements cropped out from \ref{fig-acc-steps} for various frequencies. Intermodulation - artifacts from the accelerometer's $\SI{10}{\hertz}$ sampling frequency and the $\SI{3}{\hertz}$ to - $\SI{18}{\hertz}$ rotation frequency due to gravity and device vibration are clearly visible.} - \label{fig-acc-stacked} - \end{subfigure} - \label{fig-acc-traces} - \caption{Traces of acceleration measurements during one experiment run.} -\end{figure} - -\section{Conclusion} -\label{sec_conclusion} - -In this paper we introduced Inertial Hardware Security Modules (iHSMs), a novel concept for the construction of advanced -hardware security modules from simple components. We analyzed the concept for its security properties and highlighted -its ability to significantly strengthen otherwise weak tamper detection barriers. We validated our design by creating a -proof of concept hardware prototype. In this prototype we have demonstrated practical solutions to the major electronics -design challenges: Data and power transfer through a rotating joint, and mechanized mesh generation. We have used our -prototype to perform several experiments to validate the rotary power and data links and the onboard accelerometer. Our -measurements have shown that our proof-of-concept solar cell power link works well and that our simple IR data link -already is sufficiently reliable for telemetry. Our experiments with an \partnum{AIS1120} automotive MEMS accelerometer -showed that this part is well-suited for braking detection in the range of rotation speed relevant to the IHSM scenario. - -Overall, our findings validate the viability of IHSMs as an evolutionary step beyond traditional HSM technology. IHSMs -offer a high level of security beyond what traditional techniques can offer even when built from simple components. They -allow the construction of devices secure against a wide range of practical attacks in small quantities and without -specialized tools. The rotating mesh allows longitudinal gaps, which enables new applications that are impossible with -traditional HSMs. Such gaps can be used to integrate a fan for air cooling into the HSM, allowing the use of powerful -computing hardware inside the HSM. We hope that this simple construction will stimulate academic research into (more) -secure hardware. - -\printbibliography[heading=bibintoc] - - -%%% FIXME remove appendix and work into text. - -\center{ - \center{This is version \texttt{\input{version.tex}\unskip} of this paper, generated on \today. The git repository - can be found at:} - - \center{\url{https://git.jaseg.de/rotohsm.git}} -} -\end{document} diff --git a/doc/paper/rotohsm_tech_report.pdf b/doc/paper/rotohsm_tech_report.pdf Binary files differdeleted file mode 100644 index b5cbade..0000000 --- a/doc/paper/rotohsm_tech_report.pdf +++ /dev/null diff --git a/doc/paper/rotohsm_tech_report.tex b/doc/paper/rotohsm_tech_report.tex deleted file mode 100644 index e9d571f..0000000 --- a/doc/paper/rotohsm_tech_report.tex +++ /dev/null @@ -1,300 +0,0 @@ -\documentclass[10pt,journal,a4paper]{IEEEtran} -\usepackage[english]{babel} -\usepackage[utf8]{inputenc} -\usepackage[T1]{fontenc} -\usepackage[ - backend=biber, - style=numeric, - natbib=true, - url=false, - doi=true, - eprint=false - ]{biblatex} -\addbibresource{rotohsm.bib} -\usepackage{amssymb,amsmath} -\usepackage{listings} -\usepackage{eurosym} -\usepackage{wasysym} -\usepackage{amsthm} -\usepackage{tabularx} -\usepackage{multirow} -\usepackage{multicol} -\usepackage{tikz} -\usepackage{mathtools} -\DeclarePairedDelimiter{\ceil}{\lceil}{\rceil} -\DeclarePairedDelimiter{\paren}{(}{)} - -\usetikzlibrary{arrows} -\usetikzlibrary{chains} -\usetikzlibrary{backgrounds} -\usetikzlibrary{calc} -\usetikzlibrary{decorations.markings} -\usetikzlibrary{decorations.pathreplacing} -\usetikzlibrary{fit} -\usetikzlibrary{patterns} -\usetikzlibrary{positioning} -\usetikzlibrary{shapes} - -\usepackage[binary-units]{siunitx} -\DeclareSIUnit{\baud}{Bd} -\DeclareSIUnit{\year}{a} -\usepackage{hyperref} -\usepackage{tabularx} -\usepackage{commath} -\usepackage{graphicx,color} -\usepackage{ccicons} -\usepackage{subcaption} -\usepackage{float} -\usepackage{footmisc} -\usepackage{array} -\usepackage[underline=false]{pgf-umlsd} -\usetikzlibrary{calc} -%\usepackage[pdftex]{graphicx,color} -\usepackage{epstopdf} -\usepackage{pdfpages} -\usepackage{minted} % pygmentized source code - -\renewcommand{\floatpagefraction}{.8} -\newcommand{\degree}{\ensuremath{^\circ}} -\newcolumntype{P}[1]{>{\centering\arraybackslash}p{#1}} - -\usepackage{fancyhdr} -\fancyhf{} -\fancyfoot[C]{\thepage} -\newcommand{\includenotebook}[2]{ - \fancyhead[C]{Included Jupyter notebook: #1} - \includepdf[pages=1, - pagecommand={\thispagestyle{fancy}\section{#1}\label{#2_notebook}} - ]{resources/#2.pdf} - \includepdf[pages=2-, - pagecommand={\thispagestyle{fancy}} - ]{resources/#2.pdf} -} - -\begin{document} - -\title{Tech Report: Inerial HSMs Thwart Advanced Physical Attacks} -\author{\IEEEauthorblockN{ - Jan Sebastian Götte\IEEEauthorrefmark{1}\IEEEauthorrefmark{2} \and - Björn Scheuermann\IEEEauthorrefmark{1}\IEEEauthorrefmark{2} - }\\ - \IEEEauthorblockA{ - \IEEEauthorrefmark{1}Alexander von Humboldt Institut für Internet und Gesellschaft (HIIG)\\ - \IEEEauthorrefmark{2}Humboldt-Universität zu Berlin\\ - \texttt{\textbf{\small goette@jaseg.de}}, \texttt{\textbf{\small scheuermann@informatik.hu-berlin.de}} - } -} -\date{2021-01-05} -\maketitle - -\section*{Abstract} - -In this tech report, we introduce a novel countermeasure against physical attacks: Inertial hardware security modules -(iHSMs). Conventional systems have in common that they try to detect attacks by crafting sensors responding to -increasingly minute manipulations of the monitored security boundary or volume. Our approach is novel in that we reduce -the sensitivity requirement of security meshes and other sensors and increase the complexity of any manipulations by -rotating the security mesh or sensor at high speed---thereby presenting a moving target to an attacker. Attempts to stop -the rotation are easily monitored with commercial MEMS accelerometers and gyroscopes. Our approach leads to a HSM that -can easily be built from off-the-shelf parts by any university electronics lab, yet offers a level of security that is -comparable to commercial HSMs. - -This tech report is the abridged version of our forthcoming paper. - -\section{Introduction} - -While information security technology has matured a great deal in the last half century, physical security has barely -changed. Given the right skills, physical access to a computer still often means full compromise. The physical -security of modern server hardware hinges on what lock you put on the room it is in. - -Currently, servers and other computers are rarely physically secured as a whole. Servers sometimes have a simple lid -switch and are put in locked ``cages'' inside guarded facilities. This usually provides a good compromise between -physical security and ease of maintenance. To handle highly sensitive data in applications such as banking or public key -infrastructure, general-purpose and low-security servers are augmented with dedicated, physically secure cryptographic -co-processors such as trusted platform modules (TPMs) or hardware security modules (HSMs). Using a limited amount of -trust in components such as the CPU, the larger system's security can then be reduced to that of its physically secured -TPM~\cite{newman2020,frazelle2019,johnson2018}. - -Like smartcards, TPMs rely on a modern IC being hard to tamper with. Shrinking things to the nanoscopic level to secure -them against tampering is a good engineering solution for some years to come. However, in essence this is a type of -security by obscurity: Obscurity here referring to the rarity of the equipment necessary to attack modern -ICs~\cite{albartus2020,anderson2020}. - -HSMs rely on a fragile foil with much larger-scale conductive traces being hard to remove intact. While we are certain -that there still are many insights to be gained in both technologies, we wish to introduce a novel approach to sidestep -the manufacturing issues of both and provide radically better security against physical attacks. Our core observation -is that any cheap but coarse HSM technology can be made much more difficult to attack by moving it very quickly. - -For example, consider an HSM as it is used in online credit card payment processing. Its physical security level is set -by the structure size of its security mesh. An attack on its mesh might involve fine drill bits, needles, wires, glue, -solder and lasers~\cite{drimer2008}. Now consider the same HSM mounted on a large flywheel. In addition to its usual -defenses the HSM is now equipped with an accelerometer that it uses to verify that it is spinning at high speed. How -would an attacker approach this HSM? They would have to either slow down the rotation---which triggers the -accelerometer---or they would have to attack the HSM in motion. The HSM literally becomes a moving target. At slow -speeds, rotating the entire attack workbench might be possible but rotating frames of reference quickly become -inhospitable to human life. Since non-contact electromagnetic or optical attacks are more limited in the first place and -can be shielded, we have effectively forced the attacker to use an attack robot. - -In Section~\ref{sec_related_work}, we will give an overview of the state of the art in the physical security of HSMs. On -this basis, in Section~\ref{sec_ihsm_construction} we will elaborate the principles of our inertial HSM approach. We -conclude this paper with a general evaluation of our concept in Section~\ref{sec_conclusion}. - -\section{Related work} -\label{sec_related_work} -% summaries of research papers on HSMs. I have not found any actual prior art on anything involving mechanical motion -% beyond ultrasound. - -In this section, we will briefly explore the history of HSMs and the state of academic research on active tamper -detection. - -HSMs are an old technology tracing back decades in their electronic realization. Today's common approach of monitoring -meandering electrical traces on a fragile foil that is wrapped around the HSM essentially transforms the security -problem into the challenge to manufacture very fine electrical traces on a flexible foil~\cite{isaacs2013, immler2019, -anderson2020}. There has been some research on monitoring the HSM's inside using e.g.\ electromagnetic -radiation~\cite{tobisch2020, kreft2012} or ultrasound~\cite{vrijaldenhoven2004} but none of this research -has found widespread adoption yet. - -In~\cite{anderson2020}, Anderson gives a comprehensive overview on physical security. An example they cite is the IBM -4758 HSM whose details are laid out in depth in~\cite{smith1998}. This HSM is an example of an industry-standard -construction. Although its turn of the century design is now a bit dated, the construction techniques of the physical -security mechanisms have not evolved much in the last two decades. Besides auxiliary temperature and radiation sensors -to guard against attacks on the built-in SRAM memory, the module's main security barrier uses the traditional -construction of a flexible mesh wrapped around the module's core. In~\cite{smith1998}, the authors state the module -monitors this mesh for short circuits, open circuits and conductivity. The fundamental approach to tamper detection and -construction is similar to other commercial offerings~\cite{obermaier2018,drimer2008,anderson2020,isaacs2013}. - -To the best of our knowledge, we are the the first to propose a mechanically moving HSM security barrier as part of a -hardware security module. Most academic research concentrates on the issue of creating new, more sensitive security -barriers for HSMs~\cite{immler2019} while commercial vendors concentrate on means to certify and cheaply manufacture -these security barriers~\cite{drimer2008}. Our concept instead focuses on the issue of taking any existing, cheap -low-performance security barrier and transforming it into a marginally more expensive but high-performance one. The -closest to a mechanical HSM that we were able to find during our research is an 1988 patent~\cite{rahman1988} that -describes a mechanism to detect tampering along a communication cable by enclosing the cable inside a conduit filled -with pressurized gas. - -\section{Inertial HSM construction and operation} -\label{sec_ihsm_construction} - -Mechanical motion has been proposed as a means of making things harder to see with the human eye~\cite{haines2006} and is -routinely used in military applications to make things harder to hit~\cite{terdiman2013} but we seem to be the first to -use it in tamper detection. If we consider different ways of moving an HSM to make it harder to tamper with, we find -that making it spin has several advantages. - -First, the HSM has to move fairly fast. If any point of the HSM's tamper sensing mesh moves slow enough for a human to -follow, it becomes a weak spot. E.g.\ in a linear pendulum motion, the pendulum becomes stationary at its apex. Second, -a spinning HSM is compact compared to alternatives like an HSM on wheels. Finally, rotation leads to easily predictable -accelerometer measurements. A beneficial side-effect of spinning the HSM is that if the axis of rotation is within the -HSM itself, an attacker trying to follow the motion would have to rotate around the same axis. Their tangential linear -velocity would rise linearly with the radius from the axis of rotation, which allows us to limit the approximate maximum -size and mass of an attacker using an assumption on tolerable centrifugal force. In this consideration the axis of -rotation is a weak spot, but that can be mitigated using multiple nested layers of protection. - -\begin{figure} - \center - \includegraphics{concept_vis_one_axis.pdf} - \caption{Concept of a simple spinning inertial HSM. 1 - Shaft. 2 - Security mesh. 3 - Payload. 4 - - Accelerometer. 5 - Shaft penetrating security mesh.} - \label{fig_schema_one_axis} -\end{figure} - -In a rotating reference frame, centrifugal force is proportional to the square of angular velocity and proportional to -distance from the axis of rotation. We can exploit this fact to create a sensor that detects any disturbance of the -rotation by placing a linear accelerometer at some distance from the axis of rotation. During constant rotation, after -subtracting gravity both acceleration tangential to the rotation and along the axis of rotation will be zero. -Centrifugal acceleration will be constant. - -Large centrifugal acceleration at high speeds poses the engineering challenge of preventing the whole thing from flying -apart, but it also creates an obstacle to any attacker trying to manipulate the sensor. We do not need to move the -entire contents of the HSM. It suffices if we move the tamper detection barrier around a stationary payload. This -reduces the moment of inertia of the moving part and it means we can use cables for payload power and data. Even at -moderate speeds above $\SI{500}{rpm}$, an attack would have to be carried out using a robot. - -\subsection{Mechanical layout} - -Thinking about the concrete construction of our mechanical HSM, the first challenge is mounting both mesh and payload on -a single shaft. The simplest way we found to mount a stationary payload inside of a spinning security mesh is a hollow -shaft. The payload can be mounted on a fixed rod threaded through this hollow shaft along with wires for power and -data. The shaft is a weak spot of the system, but this weak spot can be alleviated through either careful construction -or a second layer of rotating meshes with a different axis of rotation. Configurations that do not use a hollow-shaft -motor are possible, but may require additional bearings to keep the stator from vibrating. - -The next design choice we have to make is the physical structure of the security mesh. The spinning mesh must be -designed to cover the entire surface of the payload, but compared to a traditional HSM it suffices if it sweeps over -every part of the payload once per rotation. This means we can design longitudinal gaps into the mesh that allow outside -air to flow through to the payload. In traditional boundary-sensing HSMs, cooling of the payload processor is a serious -issue since any air duct or heat pipe would have to penetrate the HSM's security boundary. This problem can only be -solved with complex and costly siphon-style constructions, so in commercial systems heat conduction is used -exclusively~\cite{isaacs2013}. This limits the maximum power dissipation of the payload and thus its processing power. -Our setup allows direct air cooling of regular heatsinks. This greatly increases the maximum possible power dissipation -of the payload and unlocks much more powerful processing capabilities. In an evolution of our design, the spinning mesh -could even be designed to \emph{be} a cooling fan. - -\subsection{Spinning mesh power and data transmission} - -On the electrical side, the idea of a security mesh spinning at more than $\SI{500}{rpm}$ leaves us with a few -implementation challenges. Since the spinning mesh must be monitored for breaks or short circuits continuously, we need -both a power supply for the spinning monitoring circuit and a data link to the stator. - -We think that a bright lamp shining at a rotating solar panel is a good starting point. In contrast to e.g.\ slip -rings, this setup is mechanically durable at high speeds and it also provides reasonable output power. A battery may not -provide a useful lifetime without power-optimization. Likewise, an energy harvesting setup may not provide enough -current to supply peak demand. - -Since the monitoring circuit uses little current, power transfer efficiency is not important. On the other hand, cost -may be a concern in a production device. Here it may prove worthwhile to replace the solar cell setup with an extra -winding on the rotor of the BLDC motor driving the spinning mesh. This motor is likely to be a custom part, so adding -an extra winding is unlikely to increase cost significantly. More traditional inductive power transfer may also be an -option if it can be integrated into the mechanical design. - -\begin{figure} - \center - \includegraphics{ir_tx_schema.pdf} - \caption{Example of a bidirectional IR communication link between rotor and stator, view along axis of rotation. 1 - - Rotor base plate. 2 - Stator base plate. 3 - Motor. 4 - receiver PIN photodiode. 5 - transmitter IR LED.} - \label{ir_tx_schema} -\end{figure} - -Besides power, the data link between spinning mesh and payload is critical to the HSM's design. This link is used to -transmit the occassional status report along with a low-latency alarm trigger (``heartbeat'') signal from mesh to payload. -A simple infrared optical link as shown in Figure~\ref{ir_tx_schema} may be a good solution for this purpose. - -\section{Conclusion} - -\label{sec_conclusion} To conclude, in this tech report we introduced inertial hardware security modules (iHSMs), a -novel concept for the construction of highly secure hardware security modules from inexpensive, commonly available -parts. We elaborated the engineering considerations underlying a practical implementation of this concept. - -Inertial HSMs offer a high level of security beyond what traditional techniques can offer. They allow the construction -of devices secure against a wide range of practical attacks at prototype quantities and without specialized tools. We -hope that this simple construction will stimulate academic research into secure hardware. - -\printbibliography[heading=bibintoc] -\appendix - -\subsection{Patents and licensing} -During development, we performed several hours of research on prior art for the inertial HSM concept. Yet, we could not -find any mentions of similar concepts either in academic literature or in patents. Thus, we are likely the inventors of -this idea and we are fairly sure it is not covered by any patents or other restrictions at this point in time. - -Since the concept is primarily attractive for small-scale production and since cheaper mass-production alternatives are -already commercially available, we have decided against applying for a patent and we wish to make it available to the -general public without any restrictions on its use. This paper itself is licensed CC-BY-SA (see below). As for the -inertial HSM concept, we invite you to use it as you wish and to base your own work on our publications without any fees -or commercial restrictions. Where possible, we ask you to cite this paper and attribute the inertial HSM concept to its -authors. - -\center{ - \center{\ccbysa} - - \center{This work is licensed under a Creative-Commons ``Attribution-ShareAlike 4.0 International'' license. The - full text of the license can be found at:} - - \center{\url{https://creativecommons.org/licenses/by-sa/4.0/}} - - \center{For alternative licensing options, source files, questions or comments please contact the authors.} - - \center{This is version \texttt{\input{version.tex}\unskip} generated on \today. Once the full paper has been - published, this project's git repository will be available at:} - - \center{\url{https://git.jaseg.de/rotohsm.git}} -} -\end{document} diff --git a/doc/paper/rotor_stator.jpg b/doc/paper/rotor_stator.jpg Binary files differdeleted file mode 100644 index 904052b..0000000 --- a/doc/paper/rotor_stator.jpg +++ /dev/null |
