Explore a comprehensive examination of CANSentry, a novel approach to securing Controller Area Network (CAN)-based cyber-physical systems against denial and spoofing attacks. Delve into the intricacies of CAN frames and arbitration, analyze existing attacks and controls, and understand the threat model. Discover a stealthy arbitration denial attack and learn about CANSentry's overview, state transition rules, and implementation. Evaluate the security analysis and draw conclusions on this cutting-edge cybersecurity solution presented by Bo Luo from The University of Kansas in this 37-minute lecture.