Anomaly detection is an important problem that has been well-studied within diverse research areas and application domains. The aim of this survey is twofold, firstly we present a structured and comprehensive overviewof research methods in deep learning-based anomaly detection. Furthermore, we review the adoption of these methods for anomaly across various application domains and assess their effectiveness. We have grouped state-of-the-art deep anomaly detection research techniques into different categories based on the underlying assumptions and approach adopted. Within each category, we outline the basic anomaly detection technique, along with its variants and present key assumptions, to differentiate between normal and anomalous behavior. Besides, for each category, we also present the advantages and limitations and discuss the computational complexity of the techniques inreal application domains. Finally, we outline open issues in research and challenges faced while adopting deep anomaly detection techniques for real-world problems.
Today's Cyber-Physical Systems (CPSs) are large, complex, and affixed with networked sensors and actuators that are targets for cyber-attacks. Conventional detection techniques are unable to deal with the increasingly dynamic and complex nature of the CPSs. On the other hand, the networked sensors and actuators generate large amounts of data streams that can be continuously monitored for intrusion events. Unsupervised machine learning techniques can be used to model the system behaviour and classify deviant behaviours as possible attacks. In this work, we proposed a novel Generative Adversarial Networks-based Anomaly Detection (GAN-AD) method for such complex networked CPSs. We used LSTM-RNN in our GAN to capture the distribution of the multivariate time series of the sensors and actuators under normal working conditions of a CPS. Instead of treating each sensor's and actuator's time series independently, we model the time series of multiple sensors and actuators in the CPS concurrently to take into account of potential latent interactions between them. To exploit both the generator and the discriminator of our GAN, we deployed the GAN-trained discriminator together with the residuals between generator-reconstructed data and the actual samples to detect possible anomalies in the complex CPS. We used our GAN-AD to distinguish abnormal attacked situations from normal working conditions for a complex six-stage Secure Water Treatment (SWaT) system. Experimental results showed that the proposed strategy is effective in identifying anomalies caused by various attacks with high detection rate and low false positive rate as compared to existing methods.