├── .gitignore ├── LICENSE ├── README.md └── imgs └── RSF_Diagram_generic.jpg /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | # GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 [Free Software Foundation, Inc.](http://fsf.org/) 5 | 6 | Everyone is permitted to copy and distribute verbatim copies of this license 7 | document, but changing it is not allowed. 8 | 9 | ## Preamble 10 | 11 | The GNU General Public License is a free, copyleft license for software and 12 | other kinds of works. 13 | 14 | The licenses for most software and other practical works are designed to take 15 | away your freedom to share and change the works. By contrast, the GNU General 16 | Public License is intended to guarantee your freedom to share and change all 17 | versions of a program--to make sure it remains free software for all its users. 18 | We, the Free Software Foundation, use the GNU General Public License for most 19 | of our software; it applies also to any other work released this way by its 20 | authors. You can apply it to your programs, too. 21 | 22 | When we speak of free software, we are referring to freedom, not price. Our 23 | General Public Licenses are designed to make sure that you have the freedom to 24 | distribute copies of free software (and charge for them if you wish), that you 25 | receive source code or can get it if you want it, that you can change the 26 | software or use pieces of it in new free programs, and that you know you can do 27 | these things. 28 | 29 | To protect your rights, we need to prevent others from denying you these rights 30 | or asking you to surrender the rights. Therefore, you have certain 31 | responsibilities if you distribute copies of the software, or if you modify it: 32 | responsibilities to respect the freedom of others. 33 | 34 | For example, if you distribute copies of such a program, whether gratis or for 35 | a fee, you must pass on to the recipients the same freedoms that you received. 36 | You must make sure that they, too, receive or can get the source code. And you 37 | must show them these terms so they know their rights. 38 | 39 | Developers that use the GNU GPL protect your rights with two steps: 40 | 41 | 1. assert copyright on the software, and 42 | 2. offer you this License giving you legal permission to copy, distribute 43 | and/or modify it. 44 | 45 | For the developers' and authors' protection, the GPL clearly explains that 46 | there is no warranty for this free software. For both users' and authors' sake, 47 | the GPL requires that modified versions be marked as changed, so that their 48 | problems will not be attributed erroneously to authors of previous versions. 49 | 50 | Some devices are designed to deny users access to install or run modified 51 | versions of the software inside them, although the manufacturer can do so. This 52 | is fundamentally incompatible with the aim of protecting users' freedom to 53 | change the software. The systematic pattern of such abuse occurs in the area of 54 | products for individuals to use, which is precisely where it is most 55 | unacceptable. Therefore, we have designed this version of the GPL to prohibit 56 | the practice for those products. If such problems arise substantially in other 57 | domains, we stand ready to extend this provision to those domains in future 58 | versions of the GPL, as needed to protect the freedom of users. 59 | 60 | Finally, every program is threatened constantly by software patents. States 61 | should not allow patents to restrict development and use of software on 62 | general-purpose computers, but in those that do, we wish to avoid the special 63 | danger that patents applied to a free program could make it effectively 64 | proprietary. To prevent this, the GPL assures that patents cannot be used to 65 | render the program non-free. 66 | 67 | The precise terms and conditions for copying, distribution and modification 68 | follow. 69 | 70 | ## TERMS AND CONDITIONS 71 | 72 | ### 0. Definitions. 73 | 74 | *This License* refers to version 3 of the GNU General Public License. 75 | 76 | *Copyright* also means copyright-like laws that apply to other kinds of works, 77 | such as semiconductor masks. 78 | 79 | *The Program* refers to any copyrightable work licensed under this License. 80 | Each licensee is addressed as *you*. *Licensees* and *recipients* may be 81 | individuals or organizations. 82 | 83 | To *modify* a work means to copy from or adapt all or part of the work in a 84 | fashion requiring copyright permission, other than the making of an exact copy. 85 | The resulting work is called a *modified version* of the earlier work or a work 86 | *based on* the earlier work. 87 | 88 | A *covered work* means either the unmodified Program or a work based on the 89 | Program. 90 | 91 | To *propagate* a work means to do anything with it that, without permission, 92 | would make you directly or secondarily liable for infringement under applicable 93 | copyright law, except executing it on a computer or modifying a private copy. 94 | Propagation includes copying, distribution (with or without modification), 95 | making available to the public, and in some countries other activities as well. 96 | 97 | To *convey* a work means any kind of propagation that enables other parties to 98 | make or receive copies. Mere interaction with a user through a computer 99 | network, with no transfer of a copy, is not conveying. 100 | 101 | An interactive user interface displays *Appropriate Legal Notices* to the 102 | extent that it includes a convenient and prominently visible feature that 103 | 104 | 1. displays an appropriate copyright notice, and 105 | 2. tells the user that there is no warranty for the work (except to the 106 | extent that warranties are provided), that licensees may convey the work 107 | under this License, and how to view a copy of this License. 108 | 109 | If the interface presents a list of user commands or options, such as a menu, a 110 | prominent item in the list meets this criterion. 111 | 112 | ### 1. Source Code. 113 | 114 | The *source code* for a work means the preferred form of the work for making 115 | modifications to it. *Object code* means any non-source form of a work. 116 | 117 | A *Standard Interface* means an interface that either is an official standard 118 | defined by a recognized standards body, or, in the case of interfaces specified 119 | for a particular programming language, one that is widely used among developers 120 | working in that language. 121 | 122 | The *System Libraries* of an executable work include anything, other than the 123 | work as a whole, that (a) is included in the normal form of packaging a Major 124 | Component, but which is not part of that Major Component, and (b) serves only 125 | to enable use of the work with that Major Component, or to implement a Standard 126 | Interface for which an implementation is available to the public in source code 127 | form. A *Major Component*, in this context, means a major essential component 128 | (kernel, window system, and so on) of the specific operating system (if any) on 129 | which the executable work runs, or a compiler used to produce the work, or an 130 | object code interpreter used to run it. 131 | 132 | The *Corresponding Source* for a work in object code form means all the source 133 | code needed to generate, install, and (for an executable work) run the object 134 | code and to modify the work, including scripts to control those activities. 135 | However, it does not include the work's System Libraries, or general-purpose 136 | tools or generally available free programs which are used unmodified in 137 | performing those activities but which are not part of the work. For example, 138 | Corresponding Source includes interface definition files associated with source 139 | files for the work, and the source code for shared libraries and dynamically 140 | linked subprograms that the work is specifically designed to require, such as 141 | by intimate data communication or control flow between those subprograms and 142 | other parts of the work. 143 | 144 | The Corresponding Source need not include anything that users can regenerate 145 | automatically from other parts of the Corresponding Source. 146 | 147 | The Corresponding Source for a work in source code form is that same work. 148 | 149 | ### 2. Basic Permissions. 150 | 151 | All rights granted under this License are granted for the term of copyright on 152 | the Program, and are irrevocable provided the stated conditions are met. This 153 | License explicitly affirms your unlimited permission to run the unmodified 154 | Program. The output from running a covered work is covered by this License only 155 | if the output, given its content, constitutes a covered work. This License 156 | acknowledges your rights of fair use or other equivalent, as provided by 157 | copyright law. 158 | 159 | You may make, run and propagate covered works that you do not convey, without 160 | conditions so long as your license otherwise remains in force. You may convey 161 | covered works to others for the sole purpose of having them make modifications 162 | exclusively for you, or provide you with facilities for running those works, 163 | provided that you comply with the terms of this License in conveying all 164 | material for which you do not control copyright. Those thus making or running 165 | the covered works for you must do so exclusively on your behalf, under your 166 | direction and control, on terms that prohibit them from making any copies of 167 | your copyrighted material outside their relationship with you. 168 | 169 | Conveying under any other circumstances is permitted solely under the 170 | conditions stated below. Sublicensing is not allowed; section 10 makes it 171 | unnecessary. 172 | 173 | ### 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 174 | 175 | No covered work shall be deemed part of an effective technological measure 176 | under any applicable law fulfilling obligations under article 11 of the WIPO 177 | copyright treaty adopted on 20 December 1996, or similar laws prohibiting or 178 | restricting circumvention of such measures. 179 | 180 | When you convey a covered work, you waive any legal power to forbid 181 | circumvention of technological measures to the extent such circumvention is 182 | effected by exercising rights under this License with respect to the covered 183 | work, and you disclaim any intention to limit operation or modification of the 184 | work as a means of enforcing, against the work's users, your or third parties' 185 | legal rights to forbid circumvention of technological measures. 186 | 187 | ### 4. Conveying Verbatim Copies. 188 | 189 | You may convey verbatim copies of the Program's source code as you receive it, 190 | in any medium, provided that you conspicuously and appropriately publish on 191 | each copy an appropriate copyright notice; keep intact all notices stating that 192 | this License and any non-permissive terms added in accord with section 7 apply 193 | to the code; keep intact all notices of the absence of any warranty; and give 194 | all recipients a copy of this License along with the Program. 195 | 196 | You may charge any price or no price for each copy that you convey, and you may 197 | offer support or warranty protection for a fee. 198 | 199 | ### 5. Conveying Modified Source Versions. 200 | 201 | You may convey a work based on the Program, or the modifications to produce it 202 | from the Program, in the form of source code under the terms of section 4, 203 | provided that you also meet all of these conditions: 204 | 205 | - a) The work must carry prominent notices stating that you modified it, and 206 | giving a relevant date. 207 | - b) The work must carry prominent notices stating that it is released under 208 | this License and any conditions added under section 7. This requirement 209 | modifies the requirement in section 4 to *keep intact all notices*. 210 | - c) You must license the entire work, as a whole, under this License to 211 | anyone who comes into possession of a copy. This License will therefore 212 | apply, along with any applicable section 7 additional terms, to the whole 213 | of the work, and all its parts, regardless of how they are packaged. This 214 | License gives no permission to license the work in any other way, but it 215 | does not invalidate such permission if you have separately received it. 216 | - d) If the work has interactive user interfaces, each must display 217 | Appropriate Legal Notices; however, if the Program has interactive 218 | interfaces that do not display Appropriate Legal Notices, your work need 219 | not make them do so. 220 | 221 | A compilation of a covered work with other separate and independent works, 222 | which are not by their nature extensions of the covered work, and which are not 223 | combined with it such as to form a larger program, in or on a volume of a 224 | storage or distribution medium, is called an *aggregate* if the compilation and 225 | its resulting copyright are not used to limit the access or legal rights of the 226 | compilation's users beyond what the individual works permit. Inclusion of a 227 | covered work in an aggregate does not cause this License to apply to the other 228 | parts of the aggregate. 229 | 230 | ### 6. Conveying Non-Source Forms. 231 | 232 | You may convey a covered work in object code form under the terms of sections 4 233 | and 5, provided that you also convey the machine-readable Corresponding Source 234 | under the terms of this License, in one of these ways: 235 | 236 | - a) Convey the object code in, or embodied in, a physical product (including 237 | a physical distribution medium), accompanied by the Corresponding Source 238 | fixed on a durable physical medium customarily used for software 239 | interchange. 240 | - b) Convey the object code in, or embodied in, a physical product (including 241 | a physical distribution medium), accompanied by a written offer, valid for 242 | at least three years and valid for as long as you offer spare parts or 243 | customer support for that product model, to give anyone who possesses the 244 | object code either 245 | 1. a copy of the Corresponding Source for all the software in the product 246 | that is covered by this License, on a durable physical medium 247 | customarily used for software interchange, for a price no more than your 248 | reasonable cost of physically performing this conveying of source, or 249 | 2. access to copy the Corresponding Source from a network server at no 250 | charge. 251 | - c) Convey individual copies of the object code with a copy of the written 252 | offer to provide the Corresponding Source. This alternative is allowed only 253 | occasionally and noncommercially, and only if you received the object code 254 | with such an offer, in accord with subsection 6b. 255 | - d) Convey the object code by offering access from a designated place 256 | (gratis or for a charge), and offer equivalent access to the Corresponding 257 | Source in the same way through the same place at no further charge. You 258 | need not require recipients to copy the Corresponding Source along with the 259 | object code. If the place to copy the object code is a network server, the 260 | Corresponding Source may be on a different server operated by you or a 261 | third party) that supports equivalent copying facilities, provided you 262 | maintain clear directions next to the object code saying where to find the 263 | Corresponding Source. Regardless of what server hosts the Corresponding 264 | Source, you remain obligated to ensure that it is available for as long as 265 | needed to satisfy these requirements. 266 | - e) Convey the object code using peer-to-peer transmission, provided you 267 | inform other peers where the object code and Corresponding Source of the 268 | work are being offered to the general public at no charge under subsection 269 | 6d. 270 | 271 | A separable portion of the object code, whose source code is excluded from the 272 | Corresponding Source as a System Library, need not be included in conveying the 273 | object code work. 274 | 275 | A *User Product* is either 276 | 277 | 1. a *consumer product*, which means any tangible personal property which is 278 | normally used for personal, family, or household purposes, or 279 | 2. anything designed or sold for incorporation into a dwelling. 280 | 281 | In determining whether a product is a consumer product, doubtful cases shall be 282 | resolved in favor of coverage. For a particular product received by a 283 | particular user, *normally used* refers to a typical or common use of that 284 | class of product, regardless of the status of the particular user or of the way 285 | in which the particular user actually uses, or expects or is expected to use, 286 | the product. A product is a consumer product regardless of whether the product 287 | has substantial commercial, industrial or non-consumer uses, unless such uses 288 | represent the only significant mode of use of the product. 289 | 290 | *Installation Information* for a User Product means any methods, procedures, 291 | authorization keys, or other information required to install and execute 292 | modified versions of a covered work in that User Product from a modified 293 | version of its Corresponding Source. The information must suffice to ensure 294 | that the continued functioning of the modified object code is in no case 295 | prevented or interfered with solely because modification has been made. 296 | 297 | If you convey an object code work under this section in, or with, or 298 | specifically for use in, a User Product, and the conveying occurs as part of a 299 | transaction in which the right of possession and use of the User Product is 300 | transferred to the recipient in perpetuity or for a fixed term (regardless of 301 | how the transaction is characterized), the Corresponding Source conveyed under 302 | this section must be accompanied by the Installation Information. But this 303 | requirement does not apply if neither you nor any third party retains the 304 | ability to install modified object code on the User Product (for example, the 305 | work has been installed in ROM). 306 | 307 | The requirement to provide Installation Information does not include a 308 | requirement to continue to provide support service, warranty, or updates for a 309 | work that has been modified or installed by the recipient, or for the User 310 | Product in which it has been modified or installed. Access to a network may be 311 | denied when the modification itself materially and adversely affects the 312 | operation of the network or violates the rules and protocols for communication 313 | across the network. 314 | 315 | Corresponding Source conveyed, and Installation Information provided, in accord 316 | with this section must be in a format that is publicly documented (and with an 317 | implementation available to the public in source code form), and must require 318 | no special password or key for unpacking, reading or copying. 319 | 320 | ### 7. Additional Terms. 321 | 322 | *Additional permissions* are terms that supplement the terms of this License by 323 | making exceptions from one or more of its conditions. Additional permissions 324 | that are applicable to the entire Program shall be treated as though they were 325 | included in this License, to the extent that they are valid under applicable 326 | law. If additional permissions apply only to part of the Program, that part may 327 | be used separately under those permissions, but the entire Program remains 328 | governed by this License without regard to the additional permissions. 329 | 330 | When you convey a copy of a covered work, you may at your option remove any 331 | additional permissions from that copy, or from any part of it. (Additional 332 | permissions may be written to require their own removal in certain cases when 333 | you modify the work.) You may place additional permissions on material, added 334 | by you to a covered work, for which you have or can give appropriate copyright 335 | permission. 336 | 337 | Notwithstanding any other provision of this License, for material you add to a 338 | covered work, you may (if authorized by the copyright holders of that material) 339 | supplement the terms of this License with terms: 340 | 341 | - a) Disclaiming warranty or limiting liability differently from the terms of 342 | sections 15 and 16 of this License; or 343 | - b) Requiring preservation of specified reasonable legal notices or author 344 | attributions in that material or in the Appropriate Legal Notices displayed 345 | by works containing it; or 346 | - c) Prohibiting misrepresentation of the origin of that material, or 347 | requiring that modified versions of such material be marked in reasonable 348 | ways as different from the original version; or 349 | - d) Limiting the use for publicity purposes of names of licensors or authors 350 | of the material; or 351 | - e) Declining to grant rights under trademark law for use of some trade 352 | names, trademarks, or service marks; or 353 | - f) Requiring indemnification of licensors and authors of that material by 354 | anyone who conveys the material (or modified versions of it) with 355 | contractual assumptions of liability to the recipient, for any liability 356 | that these contractual assumptions directly impose on those licensors and 357 | authors. 358 | 359 | All other non-permissive additional terms are considered *further restrictions* 360 | within the meaning of section 10. If the Program as you received it, or any 361 | part of it, contains a notice stating that it is governed by this License along 362 | with a term that is a further restriction, you may remove that term. If a 363 | license document contains a further restriction but permits relicensing or 364 | conveying under this License, you may add to a covered work material governed 365 | by the terms of that license document, provided that the further restriction 366 | does not survive such relicensing or conveying. 367 | 368 | If you add terms to a covered work in accord with this section, you must place, 369 | in the relevant source files, a statement of the additional terms that apply to 370 | those files, or a notice indicating where to find the applicable terms. 371 | 372 | Additional terms, permissive or non-permissive, may be stated in the form of a 373 | separately written license, or stated as exceptions; the above requirements 374 | apply either way. 375 | 376 | ### 8. Termination. 377 | 378 | You may not propagate or modify a covered work except as expressly provided 379 | under this License. Any attempt otherwise to propagate or modify it is void, 380 | and will automatically terminate your rights under this License (including any 381 | patent licenses granted under the third paragraph of section 11). 382 | 383 | However, if you cease all violation of this License, then your license from a 384 | particular copyright holder is reinstated 385 | 386 | - a) provisionally, unless and until the copyright holder explicitly and 387 | finally terminates your license, and 388 | - b) permanently, if the copyright holder fails to notify you of the 389 | violation by some reasonable means prior to 60 days after the cessation. 390 | 391 | Moreover, your license from a particular copyright holder is reinstated 392 | permanently if the copyright holder notifies you of the violation by some 393 | reasonable means, this is the first time you have received notice of violation 394 | of this License (for any work) from that copyright holder, and you cure the 395 | violation prior to 30 days after your receipt of the notice. 396 | 397 | Termination of your rights under this section does not terminate the licenses 398 | of parties who have received copies or rights from you under this License. If 399 | your rights have been terminated and not permanently reinstated, you do not 400 | qualify to receive new licenses for the same material under section 10. 401 | 402 | ### 9. Acceptance Not Required for Having Copies. 403 | 404 | You are not required to accept this License in order to receive or run a copy 405 | of the Program. Ancillary propagation of a covered work occurring solely as a 406 | consequence of using peer-to-peer transmission to receive a copy likewise does 407 | not require acceptance. However, nothing other than this License grants you 408 | permission to propagate or modify any covered work. These actions infringe 409 | copyright if you do not accept this License. Therefore, by modifying or 410 | propagating a covered work, you indicate your acceptance of this License to do 411 | so. 412 | 413 | ### 10. Automatic Licensing of Downstream Recipients. 414 | 415 | Each time you convey a covered work, the recipient automatically receives a 416 | license from the original licensors, to run, modify and propagate that work, 417 | subject to this License. You are not responsible for enforcing compliance by 418 | third parties with this License. 419 | 420 | An *entity transaction* is a transaction transferring control of an 421 | organization, or substantially all assets of one, or subdividing an 422 | organization, or merging organizations. If propagation of a covered work 423 | results from an entity transaction, each party to that transaction who receives 424 | a copy of the work also receives whatever licenses to the work the party's 425 | predecessor in interest had or could give under the previous paragraph, plus a 426 | right to possession of the Corresponding Source of the work from the 427 | predecessor in interest, if the predecessor has it or can get it with 428 | reasonable efforts. 429 | 430 | You may not impose any further restrictions on the exercise of the rights 431 | granted or affirmed under this License. For example, you may not impose a 432 | license fee, royalty, or other charge for exercise of rights granted under this 433 | License, and you may not initiate litigation (including a cross-claim or 434 | counterclaim in a lawsuit) alleging that any patent claim is infringed by 435 | making, using, selling, offering for sale, or importing the Program or any 436 | portion of it. 437 | 438 | ### 11. Patents. 439 | 440 | A *contributor* is a copyright holder who authorizes use under this License of 441 | the Program or a work on which the Program is based. The work thus licensed is 442 | called the contributor's *contributor version*. 443 | 444 | A contributor's *essential patent claims* are all patent claims owned or 445 | controlled by the contributor, whether already acquired or hereafter acquired, 446 | that would be infringed by some manner, permitted by this License, of making, 447 | using, or selling its contributor version, but do not include claims that would 448 | be infringed only as a consequence of further modification of the contributor 449 | version. For purposes of this definition, *control* includes the right to grant 450 | patent sublicenses in a manner consistent with the requirements of this 451 | License. 452 | 453 | Each contributor grants you a non-exclusive, worldwide, royalty-free patent 454 | license under the contributor's essential patent claims, to make, use, sell, 455 | offer for sale, import and otherwise run, modify and propagate the contents of 456 | its contributor version. 457 | 458 | In the following three paragraphs, a *patent license* is any express agreement 459 | or commitment, however denominated, not to enforce a patent (such as an express 460 | permission to practice a patent or covenant not to sue for patent 461 | infringement). To *grant* such a patent license to a party means to make such 462 | an agreement or commitment not to enforce a patent against the party. 463 | 464 | If you convey a covered work, knowingly relying on a patent license, and the 465 | Corresponding Source of the work is not available for anyone to copy, free of 466 | charge and under the terms of this License, through a publicly available 467 | network server or other readily accessible means, then you must either 468 | 469 | 1. cause the Corresponding Source to be so available, or 470 | 2. arrange to deprive yourself of the benefit of the patent license for this 471 | particular work, or 472 | 3. arrange, in a manner consistent with the requirements of this License, to 473 | extend the patent license to downstream recipients. 474 | 475 | *Knowingly relying* means you have actual knowledge that, but for the patent 476 | license, your conveying the covered work in a country, or your recipient's use 477 | of the covered work in a country, would infringe one or more identifiable 478 | patents in that country that you have reason to believe are valid. 479 | 480 | If, pursuant to or in connection with a single transaction or arrangement, you 481 | convey, or propagate by procuring conveyance of, a covered work, and grant a 482 | patent license to some of the parties receiving the covered work authorizing 483 | them to use, propagate, modify or convey a specific copy of the covered work, 484 | then the patent license you grant is automatically extended to all recipients 485 | of the covered work and works based on it. 486 | 487 | A patent license is *discriminatory* if it does not include within the scope of 488 | its coverage, prohibits the exercise of, or is conditioned on the non-exercise 489 | of one or more of the rights that are specifically granted under this License. 490 | You may not convey a covered work if you are a party to an arrangement with a 491 | third party that is in the business of distributing software, under which you 492 | make payment to the third party based on the extent of your activity of 493 | conveying the work, and under which the third party grants, to any of the 494 | parties who would receive the covered work from you, a discriminatory patent 495 | license 496 | 497 | - a) in connection with copies of the covered work conveyed by you (or copies 498 | made from those copies), or 499 | - b) primarily for and in connection with specific products or compilations 500 | that contain the covered work, unless you entered into that arrangement, or 501 | that patent license was granted, prior to 28 March 2007. 502 | 503 | Nothing in this License shall be construed as excluding or limiting any implied 504 | license or other defenses to infringement that may otherwise be available to 505 | you under applicable patent law. 506 | 507 | ### 12. No Surrender of Others' Freedom. 508 | 509 | If conditions are imposed on you (whether by court order, agreement or 510 | otherwise) that contradict the conditions of this License, they do not excuse 511 | you from the conditions of this License. If you cannot convey a covered work so 512 | as to satisfy simultaneously your obligations under this License and any other 513 | pertinent obligations, then as a consequence you may not convey it at all. For 514 | example, if you agree to terms that obligate you to collect a royalty for 515 | further conveying from those to whom you convey the Program, the only way you 516 | could satisfy both those terms and this License would be to refrain entirely 517 | from conveying the Program. 518 | 519 | ### 13. Use with the GNU Affero General Public License. 520 | 521 | Notwithstanding any other provision of this License, you have permission to 522 | link or combine any covered work with a work licensed under version 3 of the 523 | GNU Affero General Public License into a single combined work, and to convey 524 | the resulting work. The terms of this License will continue to apply to the 525 | part which is the covered work, but the special requirements of the GNU Affero 526 | General Public License, section 13, concerning interaction through a network 527 | will apply to the combination as such. 528 | 529 | ### 14. Revised Versions of this License. 530 | 531 | The Free Software Foundation may publish revised and/or new versions of the GNU 532 | General Public License from time to time. Such new versions will be similar in 533 | spirit to the present version, but may differ in detail to address new problems 534 | or concerns. 535 | 536 | Each version is given a distinguishing version number. If the Program specifies 537 | that a certain numbered version of the GNU General Public License *or any later 538 | version* applies to it, you have the option of following the terms and 539 | conditions either of that numbered version or of any later version published by 540 | the Free Software Foundation. If the Program does not specify a version number 541 | of the GNU General Public License, you may choose any version ever published by 542 | the Free Software Foundation. 543 | 544 | If the Program specifies that a proxy can decide which future versions of the 545 | GNU General Public License can be used, that proxy's public statement of 546 | acceptance of a version permanently authorizes you to choose that version for 547 | the Program. 548 | 549 | Later license versions may give you additional or different permissions. 550 | However, no additional obligations are imposed on any author or copyright 551 | holder as a result of your choosing to follow a later version. 552 | 553 | ### 15. Disclaimer of Warranty. 554 | 555 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE 556 | LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER 557 | PARTIES PROVIDE THE PROGRAM *AS IS* WITHOUT WARRANTY OF ANY KIND, EITHER 558 | EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 559 | MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE 560 | QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE 561 | DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR 562 | CORRECTION. 563 | 564 | ### 16. Limitation of Liability. 565 | 566 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY 567 | COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS 568 | PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, 569 | INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE 570 | THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED 571 | INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE 572 | PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY 573 | HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. 574 | 575 | ### 17. Interpretation of Sections 15 and 16. 576 | 577 | If the disclaimer of warranty and limitation of liability provided above cannot 578 | be given local legal effect according to their terms, reviewing courts shall 579 | apply local law that most closely approximates an absolute waiver of all civil 580 | liability in connection with the Program, unless a warranty or assumption of 581 | liability accompanies a copy of the Program in return for a fee. 582 | 583 | ## END OF TERMS AND CONDITIONS ### 584 | 585 | ### How to Apply These Terms to Your New Programs 586 | 587 | If you develop a new program, and you want it to be of the greatest possible 588 | use to the public, the best way to achieve this is to make it free software 589 | which everyone can redistribute and change under these terms. 590 | 591 | To do so, attach the following notices to the program. It is safest to attach 592 | them to the start of each source file to most effectively state the exclusion 593 | of warranty; and each file should have at least the *copyright* line and a 594 | pointer to where the full notice is found. 595 | 596 | 597 | Copyright (C) 598 | 599 | This program is free software: you can redistribute it and/or modify 600 | it under the terms of the GNU General Public License as published by 601 | the Free Software Foundation, either version 3 of the License, or 602 | (at your option) any later version. 603 | 604 | This program is distributed in the hope that it will be useful, 605 | but WITHOUT ANY WARRANTY; without even the implied warranty of 606 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 607 | GNU General Public License for more details. 608 | 609 | You should have received a copy of the GNU General Public License 610 | along with this program. If not, see . 611 | 612 | Also add information on how to contact you by electronic and paper mail. 613 | 614 | If the program does terminal interaction, make it output a short notice like 615 | this when it starts in an interactive mode: 616 | 617 | Copyright (C) 618 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 619 | This is free software, and you are welcome to redistribute it 620 | under certain conditions; type `show c' for details. 621 | 622 | The hypothetical commands `show w` and `show c` should show the appropriate 623 | parts of the General Public License. Of course, your program's commands might 624 | be different; for a GUI interface, you would use an *about box*. 625 | 626 | You should also get your employer (if you work as a programmer) or school, if 627 | any, to sign a *copyright disclaimer* for the program, if necessary. For more 628 | information on this, and how to apply and follow the GNU GPL, see 629 | [http://www.gnu.org/licenses/](http://www.gnu.org/licenses/). 630 | 631 | The GNU General Public License does not permit incorporating your program into 632 | proprietary programs. If your program is a subroutine library, you may consider 633 | it more useful to permit linking proprietary applications with the library. If 634 | this is what you want to do, use the GNU Lesser General Public License instead 635 | of this License. But first, please read 636 | [http://www.gnu.org/philosophy/why-not-lgpl.html](http://www.gnu.org/philosophy/why-not-lgpl.html). 637 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # The `Robot Security Framework` (RSF) 2 | Robot Security Framework (RSF) is a standardized methodology to perform security assessments in robotics. 3 | 4 | ![](imgs/RSF_Diagram_generic.jpg) 5 | 6 | **Version**: 1.1 7 | 8 | ## How to cite our work 9 | 10 | [![Article](https://img.shields.io/badge/article-arxiv%3A1812.09490-red.svg)](https://arxiv.org/pdf/1806.04042.pdf) 11 | ``` 12 | @ARTICLE{2018arXiv180604042M, 13 | author = {{Mayoral Vilches}, V. and {Alzola Kirschgens}, L. and {Bilbao Calvo}, A. and 14 | {Hern{\'a}ndez Cordero}, A. and {Izquierdo Pis{\'o}n}, R. and 15 | {Mayoral Vilches}, D. and {Mu{\~n}iz Rosas}, A. and {Olalde Mendia}, G. and 16 | {Usategi San Juan}, L. and {Zamalloa Ugarte}, I. and {Gil-Uriarte}, E. and 17 | {Tews}, E. and {Peter}, A.}, 18 | title = "{Introducing the Robot Security Framework (RSF), a standardized methodology to perform security assessments in robotics}", 19 | journal = {ArXiv e-prints}, 20 | archivePrefix = "arXiv", 21 | eprint = {1806.04042}, 22 | primaryClass = "cs.CR", 23 | keywords = {Computer Science - Cryptography and Security, Computer Science - Robotics}, 24 | year = 2018, 25 | month = jun, 26 | adsurl = {http://adsabs.harvard.edu/abs/2018arXiv180604042M}, 27 | adsnote = {Provided by the SAO/NASA Astrophysics Data System} 28 | } 29 | ``` 30 | 31 | 32 | 33 | 34 | 38 | 39 | 40 | 41 | 42 | 43 | 128 | 129 | 130 | 131 | 132 | 133 | 231 | 232 |
35 | 36 | ### Physical layer 37 |
Aspect: Ports 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 58 | 59 | 60 | 61 | 66 | 67 |
Criteria: Presence of external communication ports
ObjectiveIdentify presence of unprotected external ports
RationaleUnprotected external ports can let attackers in physical proximity to perform 57 | a variety of attacks and serve as an entry point for them
Method 62 | 63 | - Inspect documentation, consult developers and inspect robot’s body and components. 64 | Look for accessible ports (e.g. Ethernet, USB, CAN, etc.) 65 | - Open all doors, which are not protected by locks and look for ports inside
68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 78 | 79 | 80 | 81 | 85 | 86 | 87 | 88 | 94 | 95 |
Criteria: Presence of internal communication ports
ObjectiveIdentify presence of unprotected internal ports that typically correspond 77 | with sensors, user interfaces, power or other robot-related components
RationaleUnplugging robot components can potentially lead to the exposure of internal 82 | communication ports. Often, these internal communication ports are typically 83 | not protected in robots. This may allow attackers in physical proximity to 84 | perform a variety of attacks and serve as an entry point
Method 89 | 90 | - Open all doors, which are not protected by locks, even those protected, and look 91 | for robot components and their buses 92 | - Investigate ventilation holes and see if they are wide enough to access internal 93 | communication ports
96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 106 | 107 | 108 | 109 | 111 | 112 | 113 | 114 | 124 | 125 |
Criteria: Security of external and internal communication ports
ObjectiveVerify if attackers can sniff or modify any critical data during communication 105 | with a docking station or by connecting to the ports
RationaleUnprotected external and internal ports can let attackers in physical proximity 110 | to perform a variety of attacks and serve as an entry point for them
Method 115 | 116 | - Try to connect to the identified communication ports: 117 | - Determine if authentication is required(e.g. Network access control for Ethernet)? 118 | - Assess whether the communication is encripted 119 | - Try communicating with them, attempt fizzing to discover if robot’s state can 120 | be affected. 121 | - If a robot connects to a docking station to transfer some data, try to use sniffers 122 | to see how data exchange is being done (verify if some sensitive, configuration or 123 | control data is transferred in clear text)
126 | 127 |
Aspect: Components 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 149 | 150 | 151 | 152 | 158 | 159 | 160 | 161 | 165 | 166 |
Criteria: Availability of components from outside
ObjectiveIdentify internal hardware that is accessible from outside without a need
RationaleDirectly accessible components can be physically damaged, stolen, tampered, 147 | removed or completely disabled causing the robot to misbehave. The most 148 | obvious example is the removal of critical sensors for the behavior of the robot
Method 153 | 154 | - Inspect robots body and look for accessible components (e.g. sensors, actuators, 155 | computation units, user interfaces, power components, etc.) 156 | - Open all doors which are not protected by locks and look for accessible components 157 | inside.
NotesAll cables should also remain inside of the robot. Some components require 162 | to be partially outside of the body frame (e.g. certain sensors such as range finders, or 163 | the antennas of certain wireless communication components) in such a case only the 164 | required part should stick out, but not the whole component
167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 177 | 178 | 179 | 180 | 183 | 184 | 185 | 186 | 194 | 195 | 196 | 197 | 200 | 201 |
Criteria: Monitoring and alerting capabilities
ObjectiveIdentify whether rogue access to the internal hardware of the robot can be 176 | detected
RationaleHaving no verification whether the internals of the robot were accessed or 181 | not means that attackers can easily tamper with any components or install a hardware 182 | *trojan* unnoticed
Method 187 | 188 | - Identify all parts of the frame that can be opened or removed to get access to the 189 | components or modules. 190 | - Check whether there is an active (tamper switches) or passive (tamper evident 191 | screws and seals) monitoring capability present. 192 | - In case of active monitoring capability, verify that operator receives a real-time 193 | alert and the incident is being logged and acted upon by reviewing procedures.
NotesPassive monitoring provides information upon inspection whether internals 198 | were accessed or not. However, there is still a time window between inspections when 199 | exploited robots can be abused
202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 213 | 214 | 215 | 216 | 219 | 220 | 221 | 222 | 227 | 228 |
Criteria: Review logs of physical changes in the robot
ObjectiveVerify the logs of the robot and look for tampering actions. Log examples 211 | include powering on/off events, connection/disconnection of physical components, 212 | sensor values or actuator actions. Detect potential tampering based on this information
RationaleMost robots register logs of a variety of events going from powering on/off 217 | the robot to each individual component data. Specially, some robots detect physical changes on their components and register it. Such changes could lead to an undetected tampering of the system. Reviewing the logs could lead to discovering physical 218 | tampering of the robot
Method 223 | 224 | - Review the logs of powering on and off routines of the robot. 225 | - Review the logs of physical changes in the robot. 226 | - Review the logs of each individual component and look for anomalies.
229 | 230 |
233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 245 | 246 | 247 | 248 | 249 | 250 | 394 | 395 | 396 | 397 | 398 | 399 | 556 | 557 |
242 | 243 | ### Network layer 244 |
Aspect: Internal robot network 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 272 | 273 |
Criteria: Network accessibility
ObjectiveDetermine and assess network accessibility and the corresponding protection mechanisms.
RationaleInternal networks could be pass
Method 268 | 269 | - Validate authentication mechanisms and verify that no known vulnerabilities are present on such. 270 | - If internal network is password protected, attempt common password guessing. 271 | - Verify whether the robot logs both successful and unsuccessful login attempts.
274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 288 | 289 | 290 | 291 | 296 | 297 |
Criteria: Network fingerprinting
ObjectiveMitigate the fingerprinting impact on the internal networks.
Rationale 287 | Network fingerprinting is useful to understand the internal network structure and its behavior, and to identify components’ operating system by analyzing packets from that component. This information could be used for malicious purposes, since it provides fine-grained determination of an operating system and its characteristics.
Method 292 | 293 | - Perform fingerprinting attacks on the internal networks. 294 | - Evaluate obtained information with the manufacturer’s available data and assessits impact. 295 | - If necessary, propose a mitigation strategy through the use of ”scrubbers”, whichwill ”normalize” the packets, and remove the unique identifying traits that the attacker is seeking. Refer to [18] for more details about the use of ”scrubbers”.
298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 312 | 313 | 314 | 315 | 320 | 321 |
Criteria: Communication protocol security
ObjectiveCheck if used communication protocol is up-to-date, secure and has noknown vulnerabilities.
Rationale 311 | Vulnerabilities in communication protocols can allow attackers to gain unauthorized access to the internal network of the robot and intercept or modify any transmitted data.
Method 316 | 317 | - Identify all present communication capabilities by inspecting documentation, byconsulting developers or by manual analysis. 318 | - Analyze if used protocol versions provide encryption and mutual authentication. 319 | - Verify that used protocol is hardened according to industry standards.
322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 344 | 345 | 346 | 347 | 356 | 357 |
Criteria: Monitoring, alert and response capabilities
ObjectiveIdentify whether internal network activity is monitored, alerts are issuedand corresponding actions are taken based on known signatures or anomalies.
RationaleProper security controls on the internal network might be challenging due 335 | to hardware limitations or performance requirements, although it is critical for robots 336 | to introspect, monitor, report and act on issues that could appear on their internal 337 | networks. Security by obscurity is unfortunately a commonly accepted approach in 338 | robotics, nevertheless, it has been demonstrated that this approach leads to critically 339 | unsecured robots. Monitoring and control capabilities should be implemented on the 340 | internal network of the robot either through the manufacturer or through additional 341 | or external solutions. The decision of applying counter-measures to the attack or only 342 | alerting should be determined by the impact of possible false positives on the operative 343 | of the robot.
Method 348 | 349 | - Sweep the internal robot network and enumerate entry points (e.g. open ports, existing component information, network map of components, etc). 350 | - Try to match the fingerprints identified and to map known vulnerabilities. 351 | - Connect to the network and attempt to perform network-based attacks (e.g. ARPpoisoning, denial of service on a particular component, etc.) 352 | - Verify whether the robot detects and registers incidents. 353 | - Verify whether the robot acts upon such events and either: 354 | - (The robot) responds to insult proactively. 355 | - An operator receives a real time alert and acts based on procedures.
358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 373 | 374 | 375 | 376 | 384 | 385 | 386 | 387 | 391 | 392 |
Criteria: Firewall
ObjectiveIdentify whether internal network is separated from the external by thefirewall.
RationaleFirewalls can help to further protect components, modules and communications 371 | from the outside and ensure that they cannot accidentally leak data to the 372 | external network.
Method 377 | 378 | - Inspect documentation, consult developers and inspect components which are responsible 379 | for external communications. Identify that such components have firewalls. 380 | - Inspect firewall settings and verify that no components or modules are allowed to 381 | communicate to the external network unless it is necessary. 382 | - If a VPN is used, verify that there are rules which allow components or modules 383 | to communicate with the outside world only via the VPN tunnel.
NotesThere should be a firewall per each interface with external networks. That 388 | means that each communication component interfacing with an external channel 389 | should have a firewall behind it or use third party solutions. For example, WiFi 390 | hotspots in robots or LTE/UMTS transceivers.
393 |
Aspect: External network 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 415 | 416 | 417 | 418 | 424 | 425 |
Criteria: Availability of components from outside
ObjectiveDetermine and assess network accessibility and the corresponding protection mechanisms.
RationaleExternal networks could be password protected. If that is the case, the 413 | corresponding mechanisms should be up to date and ensure that only authenticated 414 | users are able to access the network.
Method 419 | 420 | - Validate authentication mechanisms and verify that no known vulnerabilities are 421 | present on such. 422 | - If external network is password protected, attempt common password guessing. 423 | - Verify whether the robot logs the users connected to the network.
426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 442 | 443 | 444 | 445 | 453 | 454 |
Criteria: Network fingerprinting
ObjectiveMitigate the fingerprinting impact on the external networks.
RationaleNetwork fingerprinting is useful to understand the network structure and 439 | its behavior, as well as to identify devices’ operating system by analyzing packets 440 | from that network. This information could be used for malicious purposes since it 441 | provides fine-grained determination of an operating system and its characteristics.
Method 446 | 447 | - Perform fingerprinting attacks on the external network. 448 | - Evaluate obtained information with the manufacturer’s available data and assess 449 | its impact. 450 | - If necessary, propose a mitigation strategy through the use of ”scrubbers”, which 451 | will ”normalize” the packets, and remove the unique identifying traits that the 452 | attacker is seeking. Refer to [18] for more details about the use of ”scrubbers”.
455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 465 | 466 | 467 | 468 | 471 | 472 | 473 | 474 | 480 | 481 | 482 | 483 | 485 | 486 |
Criteria: Communication protocol security
ObjectiveCheck if used communication protocol is up-to-date, secure and has no 464 | known vulnerabilities.
RationaleVulnerabilities in communication protocols can allow attackers to gain 469 | unauthorized access to the external network of the robot and intercept or modify any 470 | transmitted data.
Method 475 | 476 | - Identify all communication capabilities being present by inspecting documentation, 477 | consulting developers or by manual analysis. 478 | - Analyze if used protocol versions provide encryption and mutual authentication. 479 | - Verify that used protocol is hardened according to industry standards.
NotesIf providing encryption on the protocol level is not possible for some reasons, 484 | VPN or application level encryption should be used.
487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 497 | 498 | 499 | 500 | 503 | 504 | 505 | 506 | 514 | 515 |
Criteria: Network ports exposure
ObjectiveIdentify whether only necessary network ports are exposed to the external 496 | network.
RationaleMore open ports mean a bigger attack surface and therefore their number 501 | should be as low as possible. Services that are exposed should have no known 502 | vulnerabilities due to the ease of their exploitation.
Method 507 | 508 | - Connect to the network that is being used by the robot for communication and scan 509 | all robot ports to find the open ones. Verify with manufacturer manuals whether 510 | their presence is required. 511 | - Identify, if possible, services running behind an open port and its version. 512 | - Verify whether identified services are still receiving security updates and have no 513 | known vulnerabilities.
516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 524 | 526 | 527 | 528 | 529 | 531 | 532 | 533 | 534 | 545 | 546 | 547 | 548 | 552 | 553 |
Criteria: Monitoring, alert and response capabilities
ObjectiveIdentify whether the external network activity is being monitored, alerts 525 | are issued based on known signatures or anomalies and appropriate actions are taken.
RationaleProperly configured external network monitoring can spot network based 530 | attacks in their inception even if other security mechanisms are compromised.
Method 535 | 536 | - Sweep the external robot network and enumerate entry points (e.g. open ports, 537 | protocol information, network map of components, robot components etc). 538 | - Try to match the fingerprints identified and map to known vulnerabilities. 539 | - Perform network based attacks (e.g. ARP poisoning, denial of service on a particular 540 | component). 541 | - Verify whether the robot detects and registers incidents on the external network. 542 | - Verify whether the robot acts upon such events and either: 543 | - (The robot) responds to insult proactively. 544 | - An operator receives a real time alert and acts based on procedures.
NotesIn those cases where it is not possible to implement external robot network 549 | monitoring, alerting and response due to limitations on the robot capabilities, manufacturers 550 | should extend their capabilities or refer to third party solutions that could 551 | offer such.
554 | 555 |
558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 | 569 | 570 | 571 | 572 | 573 | 574 | 602 | 603 | 604 | 605 | 606 | 607 | 712 | 713 | 714 | 715 | 716 | 717 | 744 | 745 |
566 | 567 | ### Firmware layer 568 |
Aspect: Operating System (OS) 575 | 576 | 577 | 578 | 579 | 580 | 581 | 582 | 583 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 598 | 599 |
Criteria: Underlying OS updates
ObjectiveVerify that the used Operating System (OS) is still supported by the manufacturer 584 | and there is a mechanism to perform system updates.
RationaleOutdated operating systems can have security vulnerabilities.
Method 593 | 594 | - Check if the underlying OS is still maintained and receives security patches. 595 | - Check whether the latest security updates are applied. 596 | - Check if there is an update mechanism present and enabled. 597 | - Check if the updates are encrypted when transferred to the robot.
600 | 601 |
Aspect: Middleware 608 | 609 | 610 | 611 | 612 | 613 | 614 | 615 | 616 | 620 | 621 | 622 | 623 | 630 | 631 | 632 | 633 | 637 | 638 |
Criteria: Verify code compliance (if accessible)
ObjectiveIn those cases where it applies (white box assessment), ensure compliance 617 | of middleware code against established compliance mechanisms. A common middleware 618 | such as ROS 2 should comply with the Motor Industry Software Reliability 619 | Association (MISRA) guidelines. Other middlewares might use different guidelines.
RationaleAs robotics and autonomy grow, especially in certain fields of robotics, 624 | users of middlewares need to be able to determine if the software is able to be used in 625 | a safety-critical environment. With suitable guidance and modification, it is expected 626 | that middleware code could be integrated as part of certain compliant system. For this 627 | purpose, code should be developed and reviewed following certain guidelines. The 628 | most common one is the Motor Industry Software Reliability Association (MISRA), 629 | widely used in many safety-critical environments and adopted by the ROS 2 middleware.
Method 634 | 635 | - Determine the exact set of guidelines that are being applied. 636 | - Validate whether these guidelines have been implemented.
639 | 640 | 641 | 642 | 643 | 644 | 645 | 646 | 647 | 649 | 650 | 651 | 652 | 654 | 655 | 656 | 657 | 664 | 665 |
Criteria: Middleware updates
ObjectiveVerify that the used middleware is still maintained and supported by the 648 | manufacturer. Verify to perform system updates in the middlware.
RationaleOutdated middlewares in robotics are subject to have security vulnerabilities. 653 | This is specially true with ROS, ROS 2 and other robot-related middlewares
Method 658 | 659 | - Check if the underlying middleware is still maintained and receives security 660 | patches. 661 | - Check whether the latest security updates are applied. 662 | - Check if there is an update mechanism present and enabled. 663 | - Check if the updates are encrypted when transferred to the robot.
666 | 667 | 668 | 669 | 670 | 671 | 672 | 673 | 674 | 675 | 676 | 677 | 678 | 681 | 682 | 683 | 684 | 687 |
Criteria: Middleware strict values validation
ObjectiveVerify that the used middleware introduce strict value ranges into messages.
Rationale 679 |  Messages define what data a listener can accept, but to avoid bugs and/or errors, the listener should only consider a set range of values valid for any given field. When values out of this range are received, the listener should error out in a controlled manner. 680 |
Method 685 | a) Middleware should provide primitives for range-checking ( a message type with built-in range checks can be denied on the publisher’s side before the listener ever has to interact with it) or b) listeners must implement their own range-checking. 686 |
688 | 689 | 690 | 691 | 692 | 693 | 694 | 695 | 696 | 697 | 698 | 699 | 700 | 703 | 704 | 705 | 706 | 709 |
Criteria: Middleware provides safe mode for computational nodes
ObjectiveWhen nodes fail, it is essential that core functionalities are still available
Rationale 701 | In a safe mode, basic functionalities will be pro-vided to recover the robotic system, such as when in tele-operation. 702 |
Method 707 | Middleware should provide primitives for implementing a safe mode within the software lifecycle. Ideally, such lifecyle should connect to the hardware (lifecyle) one and coherently provides means of recovery. 708 |
710 | 711 |
Aspect: Firmware 718 | 719 | 720 | 721 | 722 | 723 | 724 | 725 | 726 | 727 | 728 | 729 | 733 | 734 | 735 | 736 | 741 | 742 |
Criteria: Firmware updates
ObjectiveCheck if manufacturer firmware can be securely updated.
RationaleIf new vulnerabilities are discovered it is important to ensure that there is a 730 | way to provide updates to all the devices that are already sold to customers. However, 731 | update mechanisms can be circumvented by an attacker to deliver malicious update. 732 | Therefore, it is important to verify the origin of the update prior to installation.
Method 737 | 738 | - Identify if there is a mechanism to deliver firmware updates. 739 | - Verify that updates are cryptographically signed. 740 | - Verify that the signature is verified prior to installation.
743 |
746 | 747 | 748 | 749 | 750 | 751 | 752 | 753 | 757 | 758 | 759 | 760 | 761 | 762 | 791 | 792 | 793 | 794 | 795 | 796 | 858 | 859 | 860 | 861 | 862 | 863 | 900 | 901 | 902 | 903 | 904 | 905 | 1049 | 1050 | 1051 | 1052 | 1053 | 1054 | 1104 | 1105 | 1106 | 1107 | 1108 | 1109 | 1137 | 1138 | 1139 | 1140 | 1141 | 1142 | 1192 | 1193 |
754 | 755 | ### Application layer 756 |
Aspect: Authorization 763 | 764 | 765 | 766 | 767 | 768 | 769 | 770 | 771 | 772 | 773 | 774 | 775 | 777 | 778 | 779 | 780 | 788 | 789 |
Criteria: Access control
ObjectiveVerify that resources are accessible only to authorized users or services.
RationaleAccess to the restricted functions by anonymous users or users with lower 776 | access control rights diminishes all the benefits of access control.
Method 781 | 782 | - Log in with authorized credentials and attempt to perform different actions, record 783 | the requests that are being made. 784 | - Log out and attempt to send the same requests as an unauthenticated user. Verify 785 | whether it is successful. 786 | - Log out and log in again as a user with lower access rights. Attempt to send the 787 | same requests again. Verify whether it is successful.
790 |
Aspect: Privacy 797 | 798 | 799 | 800 | 801 | 802 | 803 | 804 | 805 | 806 | 807 | 808 | 809 | 811 | 812 | 813 | 814 | 821 | 822 |
Criteria: Privacy assessment
ObjectiveIdentify whether the robot is compliant to the privacy policies that apply.
RationaleNot complying with privacy standards could result in a breach of personal 810 | data.
Method 815 | 816 | - Verify that minimum Personally Identifiable Information (PII) is collected and 817 | transmitted over the internet. 818 | - Verify that if PII is collected users are made aware of it (e.g. in case of a video 819 | recording people can be warned by stickers or signs on the robot). 820 | - Verify that all PII is stored and transmitted in a secure manner.
823 | 824 | 825 | 826 | 827 | 828 | 829 | 830 | 831 | 834 | 835 | 836 | 837 | 838 | 839 | 840 | 841 | 849 | 850 | 851 | 852 | 855 | 856 |
Criteria: Data protection
ObjectiveIdentify whether the robot manufacturer emplaces mechanisms to ensure 832 | compliance to the data protection regulations and laws that apply. Particularly, General 833 | Data Protection Regulation (GDPR) in the EU.
RationaleNot complying with regulations could result in penalties.
Method 842 | 843 | - Assess the legitimate interests. 844 | - Assess the consent. 845 | - Assess the information provisions. 846 | - Assess the third party data. 847 | - Assess the profiling. 848 | - Assess the legacy data
MethodIt is not relevant to the security of the robot itself. However not complying 853 | with data protection regulations can result in financial penalties and should therefore 854 | be taken into consideration.
857 |
Aspect: Integrity 864 | 865 | 866 | 867 | 868 | 869 | 870 | 871 | 873 | 874 | 875 | 876 | 878 | 879 | 880 | 881 | 892 | 893 | 894 | 895 | 897 | 898 |
Criteria: Integrity check
ObjectiveIdentify whether the system performs an integrity check of critical components 872 | and takes action if they are not present or modified.
RationaleTampering with any of the critical components can make the robot cause 877 | physical damage to people and property.
Method 882 | 883 | - Consult documentation and developers to find whether integrity check for critical 884 | components is present. 885 | - Try disabling or modifying critical components (e.g. safety sensors or range finding 886 | systems) of the robot and check if the operator receives a real-time alert and 887 | the incident is being logged. 888 | - Check whether the robot continues to function afterwards. Its operation should 889 | be stopped as soon as any critical component is disabled or modified, (e.g. if a 890 | proximity sensor is disabled the robot should not be able to move, because it will 891 | not be able to spot obstacles and can easily do some physical damage).
NoteCritical components are those that can directly influence the robot’s operation, 896 | functionality or safety.
899 |
Aspect: Accounts 906 | 907 | 908 | 909 | 910 | 911 | 912 | 913 | 914 | 915 | 916 | 917 | 919 | 920 | 921 | 922 | 931 | 932 | 933 | 934 | 936 | 937 |
Criteria: Default passwords
ObjectiveIdentify presence of default passwords.
RationaleDefault passwords are easily accessible online and remain the most popular 918 | and effortless way to exploit internet connected devices.
Method 923 | 924 | - Review documentation and consult developers to identify whether default passwords 925 | are used. 926 | - Attempt to log in with commonly used passwords. 927 | - If default passwords are used, verify whether their change is encouraged on the 928 | first use. 929 | - If unique passwords are created on a per device basis, ensure that they are random 930 | and not in a sequential order.
NoteWhen trying commonly used passwords, beware of account lockouts and verify 935 | that there is a recovery mechanism present.
938 | 939 | 940 | 941 | 942 | 943 | 944 | 945 | 946 | 947 | 948 | 949 | 950 | 951 | 952 | 953 | 954 | 956 | 957 | 958 | 959 | 965 | 966 |
Criteria: Password complexity
ObjectiveVerify that password complexity is enforced.
RationaleWeak passwords may take little time to guess.
MethodAttempt to change the password to a weak one and verify whether this 955 | change succeeded.
NotePassword complexity requirements depend on the sensitivity of the application. 960 | In general, the minimum requirements that should be in place are: 961 | 962 | - A password length of, at least, 8 characters. 963 | - Enforce the usage of 3 of this 4 categories:lower-case, upper-case, numbers, special 964 | characters.
967 | 968 | 969 | 970 | 971 | 972 | 973 | 974 | 975 | 976 | 977 | 978 | 979 | 981 | 982 | 983 | 984 | 986 | 987 | 988 | 989 | 993 | 994 |
Criteria: Login Lockout
ObjectiveIdentify whether the login lockout is present.
RationaleHaving strong and non-default passwords may not be enough. Brute force 980 | attempts should be prevented by implementing a login lockout mechanism.
MethodAttempt to log in with incorrect credentials multiple times. Verify that the 985 | account has got a lockout.
NoteThe lockout threshold depends on the sensitivity of the service. In general, there 990 | should be 5 login attempts or less. Prior to testing, verify that the lockout recovery 991 | mechanism is being present. Accounts can be either locked out for a specific duration 992 | of time and/or they can be recovered by physical interaction with the robot.
995 | 996 | 997 | 998 | 999 | 1000 | 1001 | 1002 | 1003 | 1004 | 1005 | 1006 | 1007 | 1010 | 1011 | 1012 | 1013 | 1018 | 1019 |
Criteria: Hardcoded or backdoor accounts
ObjectiveIdentify presence of hardcoded or backdoor accounts.
RationaleHardcoded or backdoor credentials pose the same danger as default passwords. 1008 | However, their identification is usually harder due to the need for reverse 1009 | engineering or possession of the source code.
Method 1014 | 1015 | - Consult documentation and developers to identify whether hardcoded or backdoor 1016 | credentials are used. 1017 | - Analyze the source code for hardcoded or backdoor credentials.
1020 | 1021 | 1022 | 1023 | 1024 | 1025 | 1026 | 1027 | 1028 | 1029 | 1030 | 1031 | 1032 | 1034 | 1035 | 1036 | 1037 | 1041 | 1042 | 1043 | 1044 | 1046 | 1047 |
Criteria: Cleartext passwords
ObjectiveIdentify whether passwords are stored in cleartext.
RationaleCleartext passwords can be leveraged by an attacker for privilege escalation 1033 | or lateral movement.
Method 1038 | 1039 | - Review the source code and documentation, consult developers and identify 1040 | whether passwords are stored in a cleartext.
NoteLockout threshold depends on the sensitivity of the service. In general, there 1045 | should be 5 login attempts or less.
1048 |
Aspect: Communication 1055 | 1056 | 1057 | 1058 | 1059 | 1060 | 1061 | 1062 | 1063 | 1064 | 1065 | 1066 | 1068 | 1069 | 1070 | 1071 | 1076 | 1077 |
Criteria: Encryption
ObjectiveEnsure that all sensitive data is transmitted over an encrypted channel.
RationaleIf data is transmitted in a clear text attackers can easily gather sensitive 1067 | information (e.g. credentials, audio and video streams, private data).
Method 1072 | 1073 | - Intercept connection between a robot and a control center application or a cloud 1074 | server. 1075 | - Use protocol analyzer to verify that transmitted data is encrypted.
1078 | 1079 | 1080 | 1081 | 1082 | 1083 | 1084 | 1085 | 1086 | 1087 | 1088 | 1089 | 1090 | 1092 | 1093 | 1094 | 1095 | 1101 | 1102 |
Criteria: Replay protection
ObjectiveEnsure that transmitted data cannot be replayed.
RationaleIf replay protection is absent, attackers can record legitimate packets and 1091 | then arbitrary replay them to achieve desired actions.
Method 1096 | 1097 | - Intercept the connection between the robot and a control center application or a 1098 | cloud server. 1099 | - Record the control or configuration packets sent to the robot. 1100 | - Attempt to replay the packets and verify whether the desired action is executed.
1103 |
Aspect: 3rd party libraries and components 1110 | 1111 | 1112 | 1113 | 1114 | 1115 | 1116 | 1117 | 1118 | 1119 | 1120 | 1121 | 1123 | 1124 | 1125 | 1126 | 1134 | 1135 |
Criteria: Vulnerabilities
ObjectiveVerify that 3rd party software components do not have known vulnerabilities.
RationaleIt is quite common to blindly rely on 3rd party components. However they 1122 | can easily introduce a vulnerability into the product where they are used.
Method 1127 | 1128 | - Identify which 3rd party libraries and components are used and what are their 1129 | versions. 1130 | - Look for known vulnerabilities in the current version. 1131 | - Verify whether the identified component is still receiving security updates and has 1132 | no unpatched vulnerabilities. 1133 | - Verify that the latest security updates are installed.
1136 |
Aspect: Control center application 1143 | 1144 | 1145 | 1146 | 1147 | 1148 | 1149 | 1150 | 1151 | 1152 | 1153 | 1154 | 1156 | 1157 | 1158 | 1159 | 1165 | 1166 |
Criteria: Web application
ObjectivePerform a security assessment of the web application.
RationaleThe robot can be indirectly compromised if the attacker exploits a web 1155 | control center application.
Method 1160 | 1161 | - Identify web interface that is being used (hosted on the robot itself or a cloud 1162 | server). 1163 | - Use OWASP methodology to test web application against OWASP Top 10 Web 1164 | application vulnerabilities.
1167 | 1168 | 1169 | 1170 | 1171 | 1172 | 1173 | 1174 | 1175 | 1176 | 1177 | 1178 | 1179 | 1181 | 1182 | 1183 | 1184 | 1189 | 1190 |
Criteria: Mobile application
ObjectivePerform a security assessment of the mobile application.
RationaleThe robot can be indirectly compromised if the attacker exploits a mobile 1180 | phone control center application.
Method 1185 | 1186 | - Identify whether the robot has a mobile app that can be used to control or interact 1187 | with it. 1188 | - Test the application against OWASP Mobile Top 10.
1191 |
1194 | 1195 | ## License 1196 | [GPLv3](LICENSE). 1197 | 1198 | ## Glossary 1199 | - **component**: a part of something that is discrete and identifiable with respect to combining with other parts to produce something larger (*source: ISO/IEC 24765*). 1200 | - *Note 1 to entry*: Component can be either software or hardware. Even a component that is mainly software or hardware can be referred to as a software or hardware component respectively. 1201 | - **module**: component with special characteristics to facilitate system design, integration, interoperability, re-use. 1202 | - **interoperability**: the capability to communicate and transfer data among modules and combine modules physically in a manner that requires the user to have little or no knowledge of the unique characteristics of those modules. 1203 | - **firmware**: (in the context of robotics) software that is embedded in robots. 1204 | -------------------------------------------------------------------------------- /imgs/RSF_Diagram_generic.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aliasrobotics/RSF/1ce8483a00c4c0a8a2b919ba651cfb077217e65c/imgs/RSF_Diagram_generic.jpg --------------------------------------------------------------------------------