Many safety-critical systems require the timely processing of sensor inputs to avoid potential safety hazards. Additionally, to support useful application features, such systems increasingly have a large, rich operating system (OS) at the cost of potential security bugs. Thus, if a malicious party gains supervisor privileges, they could cause real-world damage by denying service to time-sensitive programs. Many past approaches to this problem completely isolate time-sensitive programs with a hypervisor; however, this prevents the programs from accessing useful OS services. We introduce Ringmaster, a novel framework that enables enclaves or TEEs (Trusted Execution Environments) to asynchronously access rich, but potentially untrusted, OS services via Linux's io_uring. When the untrusted OS denies service, enclaves continue to operate on Ringmaster's minimal ARM TrustZone kernel with access to small, critical device drivers. This approach balances the need for secure, time-sensitive processing with the convenience of rich OS services. Additionally, Ringmaster supports large unmodified programs as enclaves, offering lower overhead compared to existing systems. We demonstrate how Ringmaster helps us build a working, highly secure system with minimal engineering. In our experiments with an unmanned aerial vehicle, Ringmaster achieved nearly 1GiB/sec of data into enclaves on a Raspberry Pi4B, 0-3% throughput overhead compared to non-enclave tasks.

Due to the growing third-party software stack necessary to build modern data-rich robotics and cyber-physical systems (CPS), it has become important to protect safety-critical and timing-sensitive programs and their communication—even against an adversarial rich operating system (OS). Enclaves and Trusted Execution Environments (TEEs) are often used to protect code and memory against an untrusted OS, but they generally do not have good availability protections. To illustrate, we present three attacks, showing that even with secure timer access and memory protections, existing TEE platforms still face challenges in achieving availability. In response, we present PARTEE, the first design and implementation of a “partitioning” TEE OS for the diverse, distributed, and time-sensitive robotics software ecosystem. PARTEE ensures time-sensitive enclaves cannot be denied service by partitioning system resources, providing reliable communication channels and a time-sensitive system call interface. We analyze the security and performance of PARTEE using an unmanned aerial vehicle implemented on the Raspberry Pi4B using the ARM TrustZone, and show that despite the behavior of an adversarial partition or a rich OS, the drone's most safety-critical enclaves remain available and can communicate to prevent harm or damage.

Modern memory management systems suffer from poor performance and subtle concurrency bugs, slowing down applications while introducing security vulnerabilities. We observe that both issues stem from the conventional design of memory management systems with two levels of abstraction: a software-level abstraction (e.g., VMA trees in Linux) and a hardware-level abstraction (typically, page tables). This design increases portability but requires correctly and efficiently synchronizing two drastically different and complex data structures, which is generally challenging.

Real-time systems power safety-critical applications that require strong isolation among each other. Such isolation needs to be enforced at two orthogonal levels. On the micro-architectural level, this mainly involves avoiding interference through micro-architectural states, such as cache lines. On the algorithmic level, this is usually achieved by adopting real-time partitions to reserve resources for each application. Implementations of such systems are often complex and require formal verification to guarantee proper isolation. In this paper, we focus on algorithmic isolation, which is mainly related to scheduling-induced interferences. We address earliest-deadline-first (EDF) partitions to achieve compositionality and utilization, while imposing constraints on tasks' periods and enforcing budgets on these periodic partitions to ensure isolation between each other. The formal verification of such a real-time OS kernel is challenging due to the inherent complexity of the dynamic priority assignment on the partition level. We tackle this problem by adopting a dynamically constructed abstraction to lift the reasoning of a concrete scheduler into an abstract domain. Using this framework, we verify a real-time operating system kernel with budget-enforcing EDF partitions and prove that it indeed ensures isolation between partitions. All the proofs are mechanized in Coq.

A new hierarchical software architecture is proposed to improve the safety and reliability of a safety-critical drone system from the perspective of its source code. The proposed architecture uses formal verification methods to ensure that the implementation of each module satisfies its expected design specification, so that it prevents a drone from crashing due to unexpected software failures. This study builds on top of a formally verified operating system kernel, certified kit operating system (CertiKOS). Since device drivers are considered the most important parts affecting the safety of the drone system, we focus mainly on verifying bus drivers such as the serial peripheral interface and the inter-integrated circuit drivers in a drone system using a rigorous formal verification method. Experiments have been carried out to demonstrate the improvement in reliability in case of device anomalies.

Concurrent abstraction layers are ubiquitous in modern computer systems because of the pervasiveness of multithreaded programming and multicore hardware. Abstraction layers are used to hide the implementation details (e.g., fine-grained synchronization) and reduce the complex dependencies among components at different levels of abstraction. Despite their obvious importance, concurrent abstraction layers have not been treated formally. This severely limits the applicability of layer-based techniques and makes it difficult to scale verification across multiple concurrent layers.

An operating system (OS) kernel forms the lowest level of any system software stack. The correctness of the OS kernel is the basis for the correctness of the entire system. Recent efforts have demonstrated the feasibility of building formally verified general-purpose kernels, but it is unclear how to extend their work to verify the functional correctness of device drivers, due to the non-local effects of interrupts. In this paper, we present a novel compositional framework for building certified interruptible OS kernels with device drivers. We provide a general device model that can be instantiated with various hardware devices, and a realistic formal model of interrupts, which can be used to reason about interruptible code. We have realized this framework in the Coq proof assistant. To demonstrate the effectiveness of our new approach, we have successfully extended an existing verified non-interruptible kernel with our framework and turned it into an interruptible kernel with verified device drivers. To the best of our knowledge, this is the first verified interruptible operating system with device drivers.