IEEE Consumer Electronics Magazine - January/February 2024 - 57

TABLE 1. Attacks and risks on cyberphysical 3D printer based on CAN vulnerabilities in Hartzel et al.7
Vulnerability
Capabilities on CAN bus
Multicast Messaging
No message source authentication/
addressing
Common point of entry
Lack of encryption/data isolation
Multisystem Integration
Limited bandwidth
Undetectable, passive listening to all messages can occur regardless of
recipient(s).
Spoofed messages can come from any device or source.
Adversary can gain access to all nodes from a single exploit.
Information is not private, can be easily read and fabricated by any
device on the bus.
Various different systems integrate onto the CAN bus, extending the
attack surface.
Easy to DoS safety and security modules.
attacks, and data insertion/spoofing attacks
focus on generating unauthorized CAN frames
in the network by spoofing the destination ID
and payload structure of an established CAN
communication. Finally, DoS attacks prevent
any particular node (or whole network) from
providing service to other nodes. While physical
manipulation and message spam are typical
DoS methods for CAN, Mukherjee et al.10 also
demonstrated manipulation of special signals
to deny service. Hartzel et al.7 finally described
three additional possible attacker profiles: a
thief injecting software to steal data or alter
control systems, a manufacturer injecting
harmful data/firmware into the bus affecting
safe operation, and the system owner accidentally
transmitting incorrect data or unsafe
devices. Some existing security frameworks
designed for vehicle environments have been
proposed to combat these in automotive CAN
networks.11,12,13
ATTACK STRUCTURE AND
DEMONSTRATION
Similarly to vehicular CAN attacks, the structure
of 3D printing CAN attacks presents itself
in the form of compromising an existing node
or including malicious hardware within a new/
replacement node. As CAN 3D printing provides
bus-based modularity, the information needed
to understand the system can be easily captured
and reverse engineered during the device
initialization and registration period. This is
FIGURE 3. Design and structure of a generalized CAN attack on 3D printers. CAN information is captured by
the attacker during printer initialization of the modules via CAN. (Scenario 1) Commands from the main board
are blocked and spoofed by the adversary to control the modules directly. (Scenario 2) Spoofed sensor data
are generated and sent to the main board, causing a change in the response/feedback loop.
January/February 2024
57

IEEE Consumer Electronics Magazine - January/February 2024

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