Secure Communication in the Low-SNR Regime: A Characterization of the Energy-Secrecy Tradeoff Mustafa Cenk Gursoy Department of Electrical Engineering University of Nebraska-Lincoln, Lincoln, NE 68588 Email: [email protected] 9 Abstract—1 Secrecycapacityofamultiple-antennawiretapchan- to average input power constraints, energy efficiency improves 0nel isstudiedinthelow signal-to-noiseratio (SNR) regime. Expres- as one operates at lower SNR levels, and the minimum bit 0sions for the first and second derivatives of the secrecy capacity energy is achieved as SNR vanishes [11]. Hence, requirements 2withrespecttoSNRatSNR=0arederived.Transmissionstrategies onenergyefficiencynecessitateoperationinthelow-SNRregime. requiredto achieve these derivatives are identified.In particular, it nis shown that it is optimal in the low-SNR regime to transmit in Additionally,operatingatlowSNRlevelshasitsbenefitsinterms JawthheermeaHximmuamnd-eHigeendvaenluoeteetigheencshpaanceneolfmΦatr=iceHs†masHsomcia−tedNNmweiHth†eHthee ofIlnimtihtiinsgpthapeeirn,teirnferoerndceer itnowaidredlreesssssythsetemtws.o critical issues 0legitimate receiver and eavesdropper, respectively, and Nm and Ne of security and energy-efficiency jointly, we study the secrecy 2arethenoisevariancesatthereceiverandeavesdropper,respectively. Energy efficiency is analyzed by finding the minimum bit energy capacity in the low-SNRregime. We consider a generalmultiple- ]requiredforsecureandreliablecommunications,andthewideband input and multiple-output (MIMO) channel model and identify T slope. Increased bit energy requirements under secrecy constraints the optimal transmission strategies in this regime under secrecy Iare quantified. Finally, the impact of fading is investigated. constraints. Since secrecy capacity is in general smaller than . s the capacity attained in the absence of confidentiality concerns, c I. INTRODUCTION [ energyperbitrequirementsincreaseduetosecrecyconstraints.In Securetransmissionofconfidentialmessagesisacriticalissue this work, we quantify these increased energy costs and address 1in communication systems and especially in wireless systems the energy-secrecy tradeoff. vdue to the broadcast nature of wireless transmissions. In [1], 0 Wyner addressed the transmission security from an information- II. CHANNEL MODEL 3 theoreticpointofview,andidentifiedtherate-equivocationregion 1 We consider a MIMO channel model and assume that the 3and established the secrecy capacity of the discrete memoryless transmitter, legitimate receiver, and eavesdropper are equipped .wiretap channel in which the wiretapper receives a degraded 1 with nT,nR, and nE antennas, respectively. We further assume version of the signal observed by the legitimate receiver. The 0 that the channel input-output relations between the transmitter 9secrecy capacity is defined as the maximum communicationrate and legitimate receiver,and the transmitter and eavesdropperare 0from the transmitter to the legitimate receiver, which can be given by :achieved while keeping the eavesdroppercompletely ignorantof v ithe transmitted messages. Later, these results are extended to ym =Hmx+nm and ye =Hex+ne, (1) X Gaussian wiretap channelin [2]. In [3], Csisza´r and Ko¨rnercon- respectively.Above,xdenotesthe n ×1–dimensionaltransmit- rsideredamoregeneralwiretapchannelmodelandestablishedthe T a ted signal vector. This channel input is subject to the following secrecycapacitywhenthetransmitterhasacommonmessagefor average power constraint: two receivers and a confidential message to only one. Recently, there has been a flurry of activity in the area of information- E{kxk2}=tr(K )≤P (2) x theoretic security, where, for instance, the impact of fading, where tr denotes the trace operation and K = E{xx†} is cooperation, and interference on secrecy are studied (see e.g., x the covariance matrix of the input. In (1), n ×1–dimensional [4]andthearticlesandreferencestherein).Severalrecentresults R y and n × 1–dimensional y represent the received signal also addressed the secrecy capacity when multiple-antennas are m E e vectors at the legitimate receiver and eavesdropper, respectively. employed by the transmitter, receiver, and the eavedropper [5]– Moreover, n with dimension n ×1 and n with dimension [9]. The secrecy capacity for the most general case in which m R e n ×1areindependent,zero-meanGaussianrandomvectorswith arbitrary number of antennas are present at each terminal has E E{n n† }=N IandE{n n†}=N I,whereIistheidentity been established in [8] and [9]. m m m e e e matrix. The signal-to-noise ratio is defined as In addition to security issues, another pivotal concern in most wireless systems is energy-efficient operation especially when E{kxk2} P wireless units are powered by batteries. From an information- SNR= E{kn k2} = n N . (3) m R m theoretic perspective, energy efficiency can be measured by the Finally, in the channelmodels, H is the n ×n –dimensional energy required to send one information bit reliably. It is well- m R T channel matrix between the transmitter and legitimate receiver, known that for unfaded and fading Gaussian channels subject and H is the n × n –dimensional channel matrix between e E T 1ThisworkwassupportedinpartbytheNSFCAREERGrantCCF-0546384. thetransmitterandeavesdropper.Whilebeingfixeddeterministic matrices in unfaded channels, Hm and He in fading channels tive of the secrecy capacity at SNR=0 is given by are random matrices whose components denote the fading coef- l ficients between the corresponding antennas at the transmitting C¨ (0)=−n min α α |u†H† H u |2 s R i j j m m i and receiving ends. αi∈{[α0i,1}]∀iiX,j=1 (cid:18) Pli=1αi=1 III. SECRECY IN THELOW-SNRREGIME N2 − m|u†H†H u |2 1{λ (Φ>0)} (8) Recently, in [8] and [9], it has been shown that when the N2 j e e i max e (cid:19) channelmatricesH andH arefixedfortheentiretransmission m e where l is the multiplicity of λ (Φ) > 0, {u } are the max i period and are known to all three terminals, then the secrecy eigenvectorsthat span the maximum-eigenvalueeigenspace, and capacity in nats per dimension is given by2 1 if λ (Φ)>0 1{λ (Φ) > 0} = max is the indicator 1 1 max 0 else Cs =nR tr(KmKxxa(cid:23))x≤0Plogdet(cid:18)I+ NmHmKxH†m(cid:19) function. (cid:26) Proof: We first note that the input covariance matrix K = 1 x −logdet I+ N HeKxH†e (4) E{xx†}isbydefinitionapositivesemidefiniteHermitianmatrix. (cid:18) e (cid:19) AsaHermitianmatrix,K canbewrittenas[13,Theorem4.1.5] x where the maximization is over all possible input covariance matrices Kx (cid:23) 03 subject to a trace constraint. We note that Kx =UΛU† (9) since logdet I+1/N H K H† is a concave function of m m x m where U is a unitary matrix and Λ is a real diagonal matrix. K , the objective function in (4) is in general neither concave x (cid:0) (cid:1) Using (9), we can also express Kx as nor convex in K , making the identification the optimal input x covariance matrix a difficult task. nT K = d u u† (10) In this paper, we concentrate on the low-SNR regime. In this x i i i i=1 regime, the behavior of the secrecy capacity can be accurately X where {d } are the diagonalcomponentsof Λ, and {u } are the predicted by its first and second derivatives with respect to SNR i i column vectors of U and form an orthonormal set. Assuming at SNR=0: that the input uses all the available power, we have tr(K ) = Cs(SNR)=C˙s(0)SNR+ C¨s(0)SNR2+o(SNR2). (5) ni=T1di =P.NotingthatKx ispositivesemidefiniteandhxence 2 d ≥ 0, we can write d = α P where α ∈ [0,1] ∀i and i i i i Moreover,C˙s(0) andC¨s(0)also enableusto analyzethe energy Pni=T1αi = 1. Now, the secrecy rate achieved with a particular efficiency in the low-SNR regime through [11] covariance matrix Kx can be expressed as P NEb0s,min = Cl˙osg(02) and S0 = 2−hCC˙¨ss((00))i2 (6) Is(SNR)= n1R logdet I+nRSNRXin=T1αiHmuiu†iH†m! n N nT where NEb0s,min denotes the minimum bit energy required for −logdet I+ RNem SNR αiHeuiu†iH†e!!. reliablecommunicationundersecrecyconstraints,andS denotes i=1 0 X (11) the widebandslope which is the slope of the secrecy capacity in bits/dimension/(3dB)atthepoint Eb .Thesequantitiespro- whereSNR is definedin (3). Asalso notedin [11], we caneasily N0s,min videalinearapproximationofthesecrecycapacityinthelow-SNR show that d logdet(I+vA)| =tr(A), (12) regime. While Eb is a performance measure for vanishing dv v=0 lSoNwR,bSut0ntoongzeetrhoeNrS0NwsR,misth.inWNEeb0ns,omteinthcahtatrhaectfeorrizmeutlhaefopretrhfeormmiannimceumat ddv22 logdet(I+vA)|v=0 =−tr(A2). (13) bit energyis valid if Cs is a concave functionof SNR, which we Now, using (12), we obtain the following expressionfor the first show later in the paper. derivative of the secrecy rate Is with respect to SNR at SNR=0: The following result identifies the first and second derivatives nT N of the secrecy capacity at SNR=0. I˙s(0)= αi tr(Hmuiu†iH†m)− Nmtr(Heuiu†iH†e) (14) Theorem 1: The first derivative of the secrecy capacity in (4) i=1 (cid:18) e (cid:19) X with respect to SNR at SNR=0 is = nT α u†H† H u − Nmu†H†H u (15) C˙s(0)=[λmax(Φ)]+ = 0λmax(Φ) eiflsλemax(Φ)>0 (7) Xin=T1 i(cid:18) i m m i N Ne i e e i(cid:19)nT (cid:26) = α u† H† H − mH†H u = α u†Φu where Φ=H†mHm− NNmeH†eHe. Moreover, the second deriva- Xi=1 i i (cid:18) m m Ne e e(cid:19) i Xi=1 i i i (16) 2Unlessstatedotherwise,alllogarithms throughoutthepaperaretothebasee. where (15) follows from the property that tr(AB) = tr(BA). res3p(cid:23)ectaivnedly≻, fdoernoHteerpmoistiiatinvemseamtriicdeesfi.nIifteAand(cid:23)poBsit,ivtehednefiAnit−e pBartiiaslaordpeorsiintigvse, Also, in (16), we have defined Φ=H†mHm−NNmeH†eHe. Since semidefinite matrix.Similarly, A≻Bimplies thatA−Bispositive definite. Φ is a Hermitian matrix and {ui} are unit vectors,we have [13, 2 Theorem 4.2.2] where (22) is obtainedby using the fact that tr(AB)=tr(BA) and performing some straightforward manipulations. Note again u†Φu ≤λ (Φ) ∀i (17) i i max that{u }aretheeigenvectorsspanningthemaximum-eigenvalue i where λ (Φ) denotes the maximum eigenvalue of the matrix eigenspace of Φ. Being necessary to achieve the first derivative, max Φ. Recall that α ∈ [0,1] and α = 1. Then, from (17), we thecovariancestructuregivenin(20)isalsonecessarytoachieve i i i obtain the second derivative. Therefore, the second derivative of the I˙ (0)= nT α u†PΦu ≤λ (Φ). (18) secrecy capacity at SNR = 0 is the maximum of the expression s i i i max in (22) over all possible values of {α }. Hence, i=1 i X Note that this upper bound can be achieved if, for instance, N2 C¨ (0)=−n min α α |u†H† H u |2− m|u†H†H u |2 α1 = 1 and αi = 0 ∀i 6= 1, and u1 is chosen as the s R {αi} i,j i j(cid:18) j m m i Ne2 j e e i (cid:19) eigenvector that corresponds to the maximum eigenvalue of Φ. αi∈[0,1]∀iX Heretofore, we have implicitly assumed that λ (Φ) > 0 and Pli=1αi=1 max (23) all the available power is used to transmit the information in the direction of the maximum eigenvalue. If λmax(Φ)≤0, then Since C¨s(0) is equal to the expressionin (23) when λmax(Φ)> all eigenvalues of Φ are less than or equal to zero, and hence 0 and is zero otherwise, the final expression in (8) is obtained Φ is a negative semidefinite matrix. In this situation, none of by multiplying the formula in (23) with the indicator function the channels of the legitimate receiver is stronger than those 1{λ (Φ)>0}. (cid:4) max corresponding ones of the eavesdropper. In such a case, secrecy capacityiszero.Therefore,ifλmax(Φ)≤0,wehaveC˙s(0)=0. Remark 1: In the absence of secrecy constraints, the first and Finally,weconcludefrom(18) andthe abovediscussionthatthe second derivatives of the MIMO capacity at SNR=0 are [11] first derivative of the secrecy capacity with respect to SNR at n SNR=0 is given by C˙(0)=λmax(H†mHm) and C¨(0)=− lRλ2max(H†mHm) (24) C˙s(0)=[λmax(Φ)]+ = 0λmax(Φ) eiflsλemax(Φ)>0 . (19) swehceornedldiesrtihveatmivuesltiaprleicaictyhioefveλdmbaxy(tHra†mnsHmmitt)i.nHgeinncteh,ethmeafixrimstuamnd- (cid:26) If λ (Φ) > 0 is distinct, C˙ (0) is achieved when we choose eigenvalue eigenspace of H†mHm, the subspace in which the max s K = Pu u† where u is the eigenvector that corresponds transmitter-receiverchannelisthestrongest.Duetotheoptimality x 1 1 1 of the water-filling power allocation method, power should be to λ (Φ). Therefore, beamforming in the direction in which max equally distributed in each orthogonal direction in this subspace the eigenvalue of Φ is maximized is optimal in the sense of in order for the second derivative to be achieved. achieving the first derivative of the secrecy capacity in the low- SNR regime. More generally, if λmax(Φ)>0 has a multiplicity, Remark 2: We see from Theorem 1 that when there are se- any covariance matrix in the following form achieves the first derivative: crecyconstraints,weshouldatlowSNRstransmitinthedirection l inwhichthetransmitter-receiverchannelisstrongestwithrespect Kx =P αiuiu†i (20) to the transmitter-eavesdropper channel normalized by the ratio Xi=1 of the noise variances. For instance, C˙s(0) can be achieved by where l is the multiplicity of the maximum eigenvalue, beamforming in the direction in which the eigenvalue of Φ is {ui}li=1 are the eigenvectorsthat span the maximum-eigenvalue maximized. On the other hand, if λmax(Φ) has a multiplicity, eigenspace, and {αi}li=1 are constants, taking values in [0,1] theoptimizationproblemin(8) shouldbesolvedtoidentifyhow andhavingthe sum l α =1.Therefore,transmissionin the thepowershouldbeallocatedtodifferentorthogonaldirectionsin i=1 i maximum-eigenvalueeigenspace is necessary to achieve C˙ (0). themaximum-eigenvalueeigenspacesothatthesecond-derivative s P C¨ (0) is attained. In general, the optimal power allocation Next,weconsiderthesecondderivativeofthesecrecycapacity. s strategy is neither water-filling nor beamforming. For instance, Again, when λ (Φ) ≤ 0, the secrecy capacity is zero and therefore C¨ (0)m=ax0. Hence, in the following, we consider the consider parallel Gaussian channels for both transmitter-receiver s and transmitter-eavesdropper links, and assume that H† H = case in which λ (Φ) > 0. Suppose that the input covariance m m max diag(5,4,2) and H†H = diag(2,1,1) where diag() is used to matrix is chosen as in (20) with a particular set of {α }. Then, e e i denote a diagonal matrix with components provided in between using (13), we can obtain the parentheses. Assume further that the noise variances are l 2 equal,i.e.,N =N .Then,itcanbeeasilyseenthatλ (Φ)= m e max I¨s(0)=−nR tr αiHmuiu†iH†m! 3andhasamultiplicityof2.Solvingtheoptimizationproblemin i=1 (8) provides α = 5/12 and α = 7/12. Hence, approximately, X 1 2 2 42% of the power is allocated to the channel for which the N2 l +n m tr α H u u†H† (21) transmitter-receiverlinkhasastrengthof5,and58%isallocated RNe2 i=1 i e i i e! for the channel with strength 4. X N2 =−nR αiαj |u†jH†mHmui|2− Nm2|u†jH†eHeui|2 Remark 3: When λmax(Φ)>0 is distinct, then beamforming i,j (cid:18) e (cid:19) in the direction in which λ(Φ) is maximized is optimal in the X (22) senseofachievingbothC˙ (0)andC¨ (0).Moreover,inthiscase, s s 3 we have the considered upper bound is tight and N2 ′ ′ C¨s(0)=−nR(cid:18)kHmu1k4− Nme2kHeu1k4(cid:19) (25) Cs =mp(axx) p(yr′,mye′i|nx)∈DI(x;yr|ye) (33) where u is the eigenvector that corresponds to λ (Φ). where D is the set of joint conditional density functions 1 max ′ ′ ′ ′ p(y ,y |x) that satisfy p(y |x) = p(y |x) and p(y |x) = Remark 4: From [13, Theorem 4.3.1], we know that for two r e r r e p(y |x). Note thatfor fixed channeldistributions, the mutualin- HermitianmatricesAandBwiththesamedimensions,wehave e ′ ′ formationI(x;y |y )isaconcavefunctionoftheinputdistribu- r e λmax(A+B)≤λmax(A)+λmax(B). (26) tionp(x). Sincethe pointwiseinfimumofa setof concavefunc- ′ ′ Applying this result to our setting yields tions is concave [14], f(p(x)) = minp(yr′,ye′|x)∈DI(x;yr|ye) is also a concave function of p(x). Concavity of the functional λ (Φ)≤λ (H† H )−λ NmH†H . (27) f and the fact that maximization is over input distributions max max m m min(cid:18)Ne e e(cid:19) satisfying E{kxk2} ≤ P lead to the concavity of the secrecy Therefore, we conclude from Remark 1 that secrecy constraints capacity with respect to SNR. diminish the first derivative C˙ (0) at least by a factor of WecannowwritethefollowingcorollarytoProposition1and s Theorem 1. λ NmH†H when compared to the case in which there min Ne e e Corollary 1: The minimum bit energy attained under secrecy are no such constraints. (cid:16) (cid:17) constraints is Remark 5: In the case in which each terminal has a single E log2 b antenna, the results of Theorem 1 specialize to = . (34) N [λ (Φ)]+ 0s,min max N + Remark 6: From Remark 4, we can write C˙ (0)= |h |2− m|h |2 (28) s (cid:20) m Ne e (cid:21) Eb = log2 ≥ log2 C¨s(0)=− |hm|4− NNm22|he|4 +. (29) N0s,min [λmax(Φ)]+ λmax(H†mHm)−λmin NNmeH†eHe (cid:20) e (cid:21) log2 Eb (cid:16) (cid:17) Inthenextresult,weshowthatthesecrecycapacityisconcave ≥ = (35) in SNR. λmax(H†mHm) N0min Proposition 1: The secrecy capacity C achieved under the where Eb in (35) denotes the minimum bit energy in the averagepowerconstraintE{kxk2}≤P issa concavefunctionof absenceNo0fmisnecrecy constraints. Hence, in general, secrecy re- SNR. quirements increase the energy expenditure. When secure com- Proof: Concavity can be easily shown using the time-sharing munication is not possible, [λmax(Φ)]+ =0 and NEb0s,min =∞. argument.AssumethatatpowerlevelP1andsignal-to-noiseratio The expression for the wideband slope S0 can be readily SNR1, the optimal input is x1, which satisfies E{kx1k2} ≤ P1, obtained by plugging in the expressions in (7) and (8) into that and the secrecy capacity is Cs(SNR1). Similarly, for P2 and in (6). SNR2, the optimal input is x2, which satisfies E{kx2k2} ≤ P2, Remark 7: Energycosts of secrecy can easily be identified in and the secrecy capacity is Cs(SNR2). Now, we assume that the the single-antenna case. Clearly, the minimum bit energy in the transmitterperformstime-sharingbytransmittingattwodifferent presence of secrecy is strictly greater than that in the absence of powerlevels using x and x . More specifically, in θ fractionof such constraints: 1 2 the time, the transmitter uses the input x , transmits at most E log2 log2 E 1 b b = > = (36) at P1, and achieves the secrecy rate Cs(SNR1). In the remaining N0s,min |h |2− Nm|h |2 + |hm|2 N0min (1−θ)fractionofthetime,thetransmitteremploysx2,transmits m Ne e at most at P2, and achieves the secrecy rate Cs(SNR2). Hence, when Nm|h |2h> 0. Furthermorei, the energy requirement in- this scheme overall achieves the average secrecy rate of Ne e creasesmonotonicallyasthevalueof Nm|h |2 increases.Indeed, Ne e θCs(SNR1)+(1−θ)Cs(SNR2) (30) when NNme|he|2 = |hm|2, secure communication is not possible by transmitting at the level θE{kx1k2}+(1−θ)E{kx2k2} ≤ and NEb0s,min =∞. Pθ =θP1+(1−θ)P2.Theaveragesignal-to-noiseratioisSNRθ = IV. THEIMPACT OF FADING θSNR1 +(1−θ)SNR2. Therefore, the secrecy rate in (30) is an In this section, we assume that the channel matrices H and achievablesecrecyrateatSNRθ.Since thesecrecycapacityisthe H are random matrices whose componentsare ergodic ramndom maximum achievable secrecy rate, the secrecy capacity at SNRθ vaeriables, modeling fading in wireless transmissions. We again is larger than that in (30), i.e., assume that realizations of these matrices are perfectly known Cs(SNRθ)=Cs(θSNR1+(1−θ)SNR2) (31) by all the terminals. As discussed in [12], fading channel can be regarded as a set of parallel subchannels each of which ≥θCs(SNR1)+(1−θ)Cs(SNR2), (32) corresponds to a particular fading realization. Hence, in each showing the concavity. (cid:4) subchannel, the channel matrices are fixed similarly as in the We further note that the concavity can also be shown using channelmodelconsideredin the previoussection. In[12], Liang the following facts. As also discussed in [10], MIMO secrecy et al. have shown that having independent inputs for each capacity is obtained by proving in the converse argument that subchannel is optimal and the secrecy capacity of the set of 4 parallel subchannels is equal to the sum of the capacities of channels under secrecy constraints is subchannels. Therefore, the secrecy capacity of fading channels E log2 b can be be found by averaging the secrecy capacities attained for = . (42) N E {[λ (Φ)]+} different fading realizations. 0s,min Hm,He max Remark 10: Fading has a potential to improve the low-SNR Weassumethatthetransmitterissubjecttoashort-termpower performance and hence the energy efficiency. To illustrate this, constraint.Hence,for eachchannelrealization,the same amount we consider the following example. Consider first the unfaded ofpowerisusedandwehavetr(K )≤P.Withthisassumption, Gaussian channelin whichthe deterministicchannelcoefficients x the transmitter is allowed to perform power adaptation in space are h =h =1. For this case, we have m e across the antennas, but notacross time. Under such constraints, + N E log2 it can easily be seen from the above discussion that the average C˙ (0)= 1− m and b = . (43) s N N + secrecy capacity in fading channels is given by (cid:20) e (cid:21) 0s,min 1− Nm Ne h i 1 1 Now, consider a Rayleigh fading environment and assume that C = E max logdet I+ H K H† s nR Hm,He(tr(KKxx(cid:23))≤0P (cid:18) Nm m x m(cid:19) ahbmlesanwdithhevaarreiainncdeespEen{d|ehnt,|2z}er=o-mEe{a|nh,|G2}au=ssi1a.nTrhanend,omwevcaarin- m e 1 easily find that −logdet I+ H K H† (37) (cid:18) Ne e x e(cid:19)) C˙ (0)=E |h |2− Nm|h |2 + = Ne (44) where the expectation is with respect to the joint distribution of s hm,he m N e N +N ((cid:20) e (cid:21) ) m e (H ,H ). Note that the only difference between (4) and (37) m e is the presence of expectation in (37). Due to this similarity, the leading to NEb0s,min = NlmoNg+e2Ne. Note that if Ne > 0, NmN+eNe > following result can be obtained immediately as a corollary to + 1− Nm . Hence, fading strictly improves the low-SNR per- Theorem 1. Ne fhormanceiby increasing C˙ (0) and decreasing the minimum bit Corollary 2: Thefirstderivativeoftheaveragesecrecycapac- s energyevenwithoutperformingpowercontrolovertime.Further ity in (37) with respect to SNR at SNR=0 is gains are possible with power adaptation. Another interesting C˙ (0)=E {[λ (Φ)]+} (38) observation is the following. In unfaded channels, if N ≥N , s Hm,He max m e the minimum bit energy is infinite and secure communication where again Φ = H† H − NmH†H . The second derivative m m Ne e e is not possible. 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