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Secure Motion-Copying via Homomorphic Encryption
This study aims to develop an encrypted motion-copying system using homomorphic encryption for secure motion preservation and reproduction.
Encrypted Simultaneous Control of Joint Angle and Stiffness of Antagonistic Pneumatic Artificial Muscle Actuator by Polynomial Approximation
First, a novel simultaneous control system design is considered for the joint angle and stiffness of a PAM actuator in a model-based design approach, facilitating the use of an encrypted control method.
Optimal Security Parameter for Encrypted Control Systems Against Eavesdropper and Malicious Server
A sample identifying complexity and a sample deciphering time have been introduced in a previous study to capture an estimation error and a computation time of system identification by adversaries.
Cyber-Secure Teleoperation With Encrypted Four-Channel Bilateral Control
The experimental results demonstrate that the developed bilateral control system can facilitate encrypted communication and controller, synchronize the posture, and feed the reaction force back.
Optimal Controller and Security Parameter for Encrypted Control Systems Under Least Squares Identification
This study investigates an optimal design of encrypted control systems when facing an attack attempting to estimate a system parameter by the least squares method from the perspective of the security level.
Towards Provably Secure Encrypted Control Using Homomorphic Encryption
Additionally, cryptography does not consider certain types of attacks on encrypted control systems; therefore, the security of such a system cannot be guaranteed using a secure cryptosystem.
Sample Identifying Complexity of Encrypted Control Systems Under Least Squares Identification
The proposed complexity is characterized by a controllability Gramian and ratio of identification input variance to the noise variance.
Input-Output History Feedback Controller for Encrypted Control with Leveled Fully Homomorphic Encryption
Protecting the parameters, states, and input/output signals of a dynamic controller is essential for securely outsourcing its computation to an untrusted third party.
Sensor-less Angle and Stiffness Control of Antagonistic PAM Actuator Using Reference Set
This paper proposes a simultaneous control method for the angle and stiffness of the joint in an antagonistic pneumatic artificial muscle (PAM) actuator system using only pressure measurements, and clarifies the allowable references for the PAM actuator system.
Designing Optimal Key Lengths and Control Laws for Encrypted Control Systems based on Sample Identifying Complexity and Deciphering Time
Based on these two tractable new notions, we propose a systematic method for designing the both of an optimal key length to prevent system identification with a given precision within a given life span of systems, and of an optimal controller to maximize both of the control performance and the difficulty of the identification.
Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF
This study proposes a detailed nonlinear mathematical model of an antagonistic pneumatic artificial muscle (PAM) actuator system for estimating the joint angle and torque using an unscented Kalman filter (UKF).
