EP3603012A1 - Verfahren und vorrichtung zum schutz einer kommunikation zwischen mindestens einer ersten kommunikationseinrichtung und wenigstens einer zweiten kommunikationseinrichtung insbesondere innerhalb eines kommunikationsnetzwerkes einer industriellen fertigung und/oder automatisierung - Google Patents
Verfahren und vorrichtung zum schutz einer kommunikation zwischen mindestens einer ersten kommunikationseinrichtung und wenigstens einer zweiten kommunikationseinrichtung insbesondere innerhalb eines kommunikationsnetzwerkes einer industriellen fertigung und/oder automatisierungInfo
- Publication number
- EP3603012A1 EP3603012A1 EP18727176.2A EP18727176A EP3603012A1 EP 3603012 A1 EP3603012 A1 EP 3603012A1 EP 18727176 A EP18727176 A EP 18727176A EP 3603012 A1 EP3603012 A1 EP 3603012A1
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- European Patent Office
- Prior art keywords
- communication
- communication device
- data
- function
- network
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
- H04L63/0478—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload applying multiple layers of encryption, e.g. nested tunnels or encrypting the content with a first key and then with at least a second key
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
- H04L63/0464—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload using hop-by-hop encryption, i.e. wherein an intermediate entity decrypts the information and re-encrypts it before forwarding it
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/12—Applying verification of the received information
- H04L63/123—Applying verification of the received information received data contents, e.g. message integrity
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/12—Applying verification of the received information
- H04L63/126—Applying verification of the received information the source of the received data
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
- H04L9/0816—Key establishment, i.e. cryptographic processes or cryptographic protocols whereby a shared secret becomes available to two or more parties, for subsequent use
- H04L9/0819—Key transport or distribution, i.e. key establishment techniques where one party creates or otherwise obtains a secret value, and securely transfers it to the other(s)
- H04L9/083—Key transport or distribution, i.e. key establishment techniques where one party creates or otherwise obtains a secret value, and securely transfers it to the other(s) involving central third party, e.g. key distribution center [KDC] or trusted third party [TTP]
- H04L9/0833—Key transport or distribution, i.e. key establishment techniques where one party creates or otherwise obtains a secret value, and securely transfers it to the other(s) involving central third party, e.g. key distribution center [KDC] or trusted third party [TTP] involving conference or group key
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/14—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols using a plurality of keys or algorithms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3236—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using cryptographic hash functions
- H04L9/3242—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using cryptographic hash functions involving keyed hash functions, e.g. message authentication codes [MACs], CBC-MAC or HMAC
Definitions
- the present invention relates to a method nikationsan extract a communication, a network element and a Kommunikati ⁇ ons worn for protecting a communication between at least a first communication device and at least a second communication device within a preferably real-time communication network, and in particular in the field of industrial production and / or Automation, wherein the communication network has at least one network element, are passed over the zugehö ⁇ r communication for communication, and an associated computer ⁇ program (product).
- safety refers mainly to the security, confidentiality and / or integrity of data so ⁇ as their transfer and security, confidentiality and / or integrity in accessing relevant data.
- the authentication in data transfers or data access belongs the term "security”.
- Under a cryptographic functionality is generally understood, for example, a function for encryption, to protect the confidentiality, integrity protection and / or authentication of data (eg user data, control data, configuration data or administrative data).
- the cryptographic protection functionality since ⁇ include, for example at one or more of the following set ⁇ led functionalities:
- the enumerated cryptographic functionalities can in each case be carried out again with other / further methods or combinations of these methods.
- the data interface can be designed and set up as a serial or parallel data interface.
- the communication between the components is not limited to a point-to-point (peer) communication. Group communication, broadcast messages or publish / subscribe communication patterns are also conceivable.
- Communication (end) facilities may include field devices, industrial controllers, industrial PCs, handheld computer systems, pocket PC devices, mobile phones, smart phones,
- Tablets and other communication devices that can handle computer-aided processing, processors and other electronic computing devices.
- a measure to protect industrial components and machines is to divide them into different zones according to their trustworthiness and their protection requirements (zone model). There will usually be no more within such a zone
- the zones are usually so decor with dark ⁇ tet that the communication between the components takes place within the zone and only conditionally possible to communicate with components au ⁇ ßer Halb its own zone.
- the halt or the nodes or components within the Zo ⁇ ne are protected and there are dedicated transfer points to other zones.
- Such cell protection concepts are no longer suitable because communication is increasingly being conducted across the zone boundaries.
- Such transition points ⁇ often delay the data flow and thus affect the real-time behavior.
- the components should be more flexible in such scenarios. Thus, static / physical solutions are no longer practicable.
- TLS Transport Layer Security
- IPSec in ⁇ ternet Protocol Security
- Transport layer and IPSec (on plane or layer 3 Ver ⁇ mediate layer) of the communication technology ver Liste- th OSI reference model or a similar network models, such as TCP / IP stack defined.
- Level 4 protocols tend to be ineligible for group communication.
- Logical communication paths are not yet protected by cryptographic measures.
- a logical Kommunikati ⁇ onsweg between communication (end) facilities can be realized by an identifier in data packets.
- Ethernet-based protocols are used at level 2 of the OSI reference model.
- the so-called backup ⁇ layer (Layer 2) provides generally for an error-free DA Transmission and possibly for a data flow control on Sen ⁇ der- and receiver side.
- MACSec which 802. IX is be ⁇ wrote in IEEE standard 802.1AE or IEEE is working on level 2 and allows standard ⁇ default only a point-to-point security / encryption. To secure a group communication, all the individual point-to-point connections between the network elements would have to be configured. If MACSEC for
- the invention claims a method for protecting a communication between at least a first communication device and at least a second communication device within a communications network, insbeson ⁇ particular in the environment of an industrial manufacturing and / or automation mation, wherein the communication network comprises at least one network element are routed through the communication zugehö ⁇ membered data, comprising the steps of: - protecting the data by means of a first cryptic tographischen protection function, which are transmitted from at least a first communication device to at least one second communication device .
- Communication device are passed to the at least second communication device and containing the data, - Providing a verification function by the at least one network element, which checks the authenticity and / or integrity of the messages based on the second protection function,
- the invention is not limited to point-to-point communication within the group, but can also be a
- the advantage of the invention lies in the detection and defense against attacks in which an unauthorized attacker wants to gain access to works or devices.
- Network elements can monitor the authenticity and / or integrity of messages.
- a further advantage of the invention lies in the fact that the invention is not limited to an initially explained zone, but can optionally be used over several transition points.
- a development of the invention provides that the second protective function encloses the first protective function and is cryptographically independent of the first protective function.
- a further development of the invention provides that, in order to continue the communication, the messages which contain data which remain protected by means of the first protective function are conducted protected by the second protective function to the at least second communication device.
- a development of the invention provides that the communication between the mentioned communication devices takes place via a virtually logically formed communication network.
- a development of the invention provides that a communication protocol on level 2 of the OSI reference model or comparable network model used in communication technology is used for communication between the communication devices.
- a development of the invention envisages that is set for communication between the communication devices, a communication protocol on level 3, also network layer ge ⁇ Nannt, the OSI reference model used in the communication technology or equivalent network model ⁇ is.
- a development of the invention provides that the first protective function uses a first key, in particular a first group key.
- a development of the invention provides that the second protective function uses a second key, in particular a second group key.
- a development of the invention provides that the first key is derived from the second key.
- a development of the invention provides that in the
- Key derivation function is a belonging to the communication facilities secret, in particular a group secret ⁇ nis received.
- a development of the invention provides that the data (D) can be supplemented with further data (D x ) before the provision of the second cryptographic protection function. These additional or other data may then by authorized network elements on the communication modifi ed ⁇ or added and are protected by the second protective function.
- a further aspect of the invention provides a communication ⁇ arrangement for protecting a communication between at least a first communication device and at least a second communication device within a communications network before, especially in the environment of a converted ⁇ len manufacturing and / or automation, wherein the communication network comprises at least one network element, are routed through the data associated with communication, comprising:
- Means for protecting the data using a first cryptographic protection function which are transmitted from at least a first Kommunikati ⁇ ons worn to at least one second communication device,
- Means for providing a second cryptographic protection function which messages protects between a communication device and a network element, which are conducted via the at least one network element of the ers ⁇ th communication device for the at least second communication device and which contain the data
- a development of the invention provides that the data (D) can be supplemented with further data (D x ) before the provision of the second cryptographic protection function. These additional or other data may then by authorized network elements on the communication modifi ed ⁇ or added and are protected by the second protective function.
- a further aspect of the invention provides a network element suitable for supporting a protected communication between at least a first communication device and at least one second communication device within a communications network before, in particular in order ⁇ field of industrial production and / or automation, wherein via the network element to communicate data associated with to be directed, comprising:
- Means for reading cryptographically protected data from cryptographically protected messages which are routed via the network element from the first communication device to the at least second communication device,
- a development of the invention provides that the data (D) can be supplemented with further data (D x ) before the provision of the second cryptographic protection function. These additional or other data may then through our authorized network elements on the communication modifi ed ⁇ or added and are protected by the second protective function.
- a further aspect of the invention provides a communication device for protecting a communication with at least one other communication device within a communications network before, especially in the environment of a indust ⁇ -material manufacturing and / or automation, wherein the communication network comprises at least one network element, via the associated communication Data can be routed, comprising:
- Means for protecting the data by means of a first cryptographic protection function which are transmitted from the communication device to at least one second communication device,
- Network element protected via the network elements are conducted to the at least second Kommunikati ⁇ ons founded and include Since ⁇ th, wherein, depending thentizticians- from a result of Au and / or integrity check of the protected messages, at a continuation of the communication, the data to be protected by the first protection function , remain protected until their receipt by the at least second communication device by means of the first protective function.
- a development of the invention provides that the data (D) can be supplemented with further data (D x ) before the provision of the second cryptographic protective function. These additional or other data may then by authorized network elements on the communication modifi ed ⁇ or added and are protected by the second protective function.
- the assembly device and network element may entspre ⁇ accordingly Removing of the embodiments / developments of the above-mentioned process or be further formed.
- the above-mentioned units or means can be used in
- Another aspect of the invention may be a computer program or a computer program product with at least one Compu ⁇ terprogramm with means for carrying out the method and its referred embodiments when the computer program (product) and the at least one computer program divides comparable within the communication apparatus according to above described type is carried out for execution.
- the above devices, arrangements and, where appropriate, the computer program (product) can be developed or developed substantially analogously to the method and its embodiments or further developments.
- FIGS. 1 and 2 show the procedure according to the invention for checking the authenticity and / or integrity of a logical communication connection between two communication devices, the messages containing the data being routed via one or more network elements.
- Figures 1 and 2 each show an attack scenario in ⁇ nerrenz a communication network, for example a mentioned virtual logical network (VLN), in which an attacker A tries an attack on a network element NE of possible multiple network elements of a communications network.
- VLN virtual logical network
- the attacker A wants to disrupt the communication between the communication devices PLC1 and PLC2.
- These communication devices can be ICS components (Industrial Control System).
- the network element NE checks the authentication information, for example MAC, to determine whether they are messages from an authenticated group subscriber of the communication network. If this is not the case, eg because the attacker feeds in messages without being able to generate the correct authentication information.
- NEN the affected data packets are discarded and not forwarded by the network element.
- the data is protected twice on the end-to-end or on the point-to-point transport path (dashed and rectangular rectangle).
- MAC Message Authentication Code
- HMAC Home MAC
- OMAC Open Mobile communications
- CBC-MAC CBC-MAC
- K_D_VLNx is used for confidentiality protection
- Step 1 The data D (solid rectangle) to be sent is provided with a first protection function, e.g. protected by a group key K_D_VLNx from a first communication device PLC1 (confidentiality / authenticity / integrity protection). It arises
- K_D_VLNx is only the regular group members of the communication network VLNx and not the network elements e.g. NE known.
- Step 2 The data packet ⁇ [D]> is replaced by a second one
- additional data D x can be modified or supplemented by authorized network elements, eg PLC1, on the communication path, and by the second
- Step 3 The network element NE receives the data packet ⁇ [D]>> and extracts or reads the authentication information of the second protection function from the message.
- the outer protection can be removed.
- the outer protection is not usually removed, but remains as well as the protection of the data obtained by the first protection function.
- Step 4 Second protection check to see if the message is authentic or integer. This means that the dashed box is checked, which either contains only D and can also contain D x .
- Step 5 If the message is not authentic / integer, the data packets are discarded, thus stopping the communication.
- Step 6 If the message is authentic, then received in step 3 message ⁇ [D]>> or ⁇ D X ⁇ D>> (dashed-rectangle rectangle) over the Kommunikati ⁇ onsnetz to the second communication device PLC2 (continue ). This protects the data in the dashed rectangle until it reaches the receiver. If the external protection has been removed in step 3, the message is again protected with a second cryptographic protection function, whereby the same authentication key K_NE_VLNx is usefully used for protection.
- step 7 The communication device PLC2 receives the data packet ⁇ [D]>> or ⁇ D X ⁇ D>> (dashed rectangle) and checks and removes the K_NE_VLNx authenticity / integrity protected part of the data packet.
- step 8 By decoding the data and checking the first protection function with K_D_VLNx, the communication device PLC 2 receives the actual (useful) data (solid rectangle) and can be sure that the message containing the data comes from a group member.
- the network elements NE for example, check the capacity Authenti ⁇ / integrity of the data packets before the data packets by they are forwarded.
- the network element NE can not read the data of the message itself or no data
- An advantageous embodiment of the invention is that, in addition to the data of the communication device within the spliced rectangle, additional data needed for the network infrastructure elements
- K_D_VLNx is transmitted via a key derivation function e.g. KDF (S_G,
- K_NE_VLNx K_NE_VLNx depending on K_NE_VLNx.
- the secret S_D is distributed once initially to the communication facilities of the regular group members. S_D does not necessarily have to be selected VLNx specific or group-specific, because a common S_D can be used for all VLNx / groups without the property of a group-specific one
- K_D_VLNx lose.
- the diversity of the K_D_VLNx arises from the distribution of the group-specific K_NE_VLNx to the authorized group members.
- K_D_VLNx loses.
- the diversity of the K_D_VLNx arises from the distribution of the group-specific K_NE_VLNx to the authorized group members.
- Processor or bound to specific execution schemes can be performed by software, firmware, microcode, hardware, Prozes ⁇ sensors, integrated circuits, etc. in stand-alone mode or in any combination.
- Various processing strategies can be used, for example serial processing by a single processor or multiprocessing or multitasking or parallel processing, etc.
- the instructions can be stored in local memories, but it is also possible to store the instructions on a remote system and then via Network access.
- processor central signal processing
- Control unit or “data evaluation means” as here USAGE ⁇ det, processing means includes in the broad sense, that is, for example, servers, general purpose processors, Gardnerluxo ⁇ ren, digital signal processors, application specific inte ⁇ grated circuits (ASICs), programmable logic circuits, such as FPGAs, discrete analog or digital circuits and be ⁇ undesirables combinations thereof, and any other processing means known in the art or developed in the future.
- Processors can be one or more Devices or devices or units exist. If a processor consists of several devices, these can be designed or configured for the parallel or sequential processing or execution of instructions.
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- Engineering & Computer Science (AREA)
- Computer Security & Cryptography (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Power Engineering (AREA)
- Data Exchanges In Wide-Area Networks (AREA)
- Small-Scale Networks (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102017208735.8A DE102017208735A1 (de) | 2017-05-23 | 2017-05-23 | Verfahren und Vorrichtung zum Schutz einer Kommunikation zwischen mindestens einer ersten Kommunikationseinrichtung und wenigstens einer zweiten Kommunikationseinrichtung insbesondere innerhalb eines Kommunikationsnetzwerkes einer industriellen Fertigung und/oder Automatisierung |
PCT/EP2018/061970 WO2018215209A1 (de) | 2017-05-23 | 2018-05-09 | Verfahren und vorrichtung zum schutz einer kommunikation zwischen mindestens einer ersten kommunikationseinrichtung und wenigstens einer zweiten kommunikationseinrichtung insbesondere innerhalb eines kommunikationsnetzwerkes einer industriellen fertigung und/oder automatisierung |
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EP3603012A1 true EP3603012A1 (de) | 2020-02-05 |
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EP18727176.2A Withdrawn EP3603012A1 (de) | 2017-05-23 | 2018-05-09 | Verfahren und vorrichtung zum schutz einer kommunikation zwischen mindestens einer ersten kommunikationseinrichtung und wenigstens einer zweiten kommunikationseinrichtung insbesondere innerhalb eines kommunikationsnetzwerkes einer industriellen fertigung und/oder automatisierung |
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EP (1) | EP3603012A1 (de) |
CN (1) | CN110679129B (de) |
DE (1) | DE102017208735A1 (de) |
WO (1) | WO2018215209A1 (de) |
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US20210092103A1 (en) * | 2018-10-02 | 2021-03-25 | Arista Networks, Inc. | In-line encryption of network data |
EP4211872A1 (de) | 2020-09-07 | 2023-07-19 | Hirschmann Automation and Control GmbH | Verfahren zum betreiben eines netzwerks |
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DE102005027232A1 (de) * | 2005-06-13 | 2006-12-14 | Siemens Ag | Verfahren und Anordnung zum sicheren Übertragen von Daten in einem ein Mehrsprungverfahren nutzenden Kommunikationssystem |
US8607051B2 (en) | 2006-04-11 | 2013-12-10 | Qualcomm Incorporated | Method and apparatus for binding multiple authentications |
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WO2010003713A1 (en) * | 2008-06-16 | 2010-01-14 | Telefonaktiebolaget Lm Ericsson (Publ) | Sending media data via an intermediate node |
DE102009051383A1 (de) | 2009-10-30 | 2011-05-12 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zum sicheren Übertragen von Daten |
DE102009051201B4 (de) * | 2009-10-29 | 2012-12-20 | Siemens Aktiengesellschaft | Authentifikation und Datenintegritätschutz eines Tokens |
DE102010043102A1 (de) * | 2010-10-29 | 2012-05-03 | Siemens Aktiengesellschaft | Verfahren zur manipulationsgesicherten Schlüsselverwaltung |
US8935533B2 (en) * | 2011-12-20 | 2015-01-13 | Alcatel Lucent | Method and apparatus for a scalable and secure transport protocol for sensor data collection |
US9348049B2 (en) | 2012-01-05 | 2016-05-24 | Cgg Services Sa | Simultaneous joint estimation of the P-P and P-S residual statics |
US9961095B2 (en) | 2013-03-14 | 2018-05-01 | Fidelis Cybersecurity, Inc. | System and method for extracting and preserving metadata for analyzing network communications |
US9374340B2 (en) | 2014-04-21 | 2016-06-21 | Cisco Technology, Inc. | Nested independent virtual private networks with shared rekey and consistency services |
CN104539573B (zh) * | 2014-10-30 | 2018-07-27 | 北京科技大学 | 一种基于嵌入式系统的工业安全网关的通信方法及装置 |
US10362011B2 (en) * | 2015-07-12 | 2019-07-23 | Qualcomm Incorporated | Network security architecture |
-
2017
- 2017-05-23 DE DE102017208735.8A patent/DE102017208735A1/de not_active Withdrawn
-
2018
- 2018-05-09 WO PCT/EP2018/061970 patent/WO2018215209A1/de unknown
- 2018-05-09 CN CN201880033932.2A patent/CN110679129B/zh not_active Expired - Fee Related
- 2018-05-09 US US16/610,937 patent/US11336657B2/en active Active
- 2018-05-09 EP EP18727176.2A patent/EP3603012A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
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WO2018215209A1 (de) | 2018-11-29 |
US11336657B2 (en) | 2022-05-17 |
CN110679129B (zh) | 2022-10-21 |
DE102017208735A1 (de) | 2018-11-29 |
US20210218752A1 (en) | 2021-07-15 |
CN110679129A (zh) | 2020-01-10 |
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