# Publications

## Preprint

- H. Takanashi,
**K. Teranishi**, K. Kogiso, “Secure motion-copying via homomorphic encryption” arXiv - H. Takanashi, A. Kosugi,
**K. Teranishi**, T. Mizuya, K. Abe, and K. Kogiso, “Cyber-secure teleoperation with encrypted four-channel bilateral control” arXiv **K. Teranishi**and K. Kogiso, “Sample identifying complexity of encrypted control systems under least squares identification” arXiv

## Journal

- T. Miyazaki, N. Shono,
**K. Teranishi**, T. Kanno, T. Kawase, K. Kogiso, and K. Kawashima, “Attack detection method for encrypted wave-variable-based bilateral control systems,”*IET Control Theory & Applications*, 2024. (accepted) - Y. Takeda, T. Shin,
**K. Tearnishi**, and K. Kogiso, “Encrypted simultaneous control of joint angle and stiffness of antagonistic pneumatic artificial muscle actuator by polynomial approximation,”*IEEE/ASME Transactions on Mechatronics*, 2024. (accepted) arXiv - A. Kosugi,
**K. Teranishi**, and K. Kogiso, “Experimental validation of the attack-detection capability of encrypted control systems using man-in-the-middle attacks,”*IEEE Access*, vol. 12, pp. 10535-10547, 2024. Open Access - M. Miyamoto,
**K. Teranishi**, K. Emura, and K. Kogiso, “Cybersecurity-enhanced encrypted control system using keyed-homomorphic public key encryption,”*IEEE Access*, vol. 11, pp. 45749-45760, 2023. Open Access **K. Teranishi**, T. Sadamoto, and K. Kogiso, “Input-output history feedback controller for encrypted control with leveled fully homomorphic encryption,”*IEEE Transactions on Control of Network Systems*, vol. 11, no. 1, pp. 271-283, 2024. arXiv**K. Teranishi**and K. Kogiso, “Optimal security parameter for encrypted control systems against eavesdropper and malicious server,”*SICE Journal of Control, Measurement, and System Integration*, vol. 16, iss. 1, pp. 203-214, 2023. Open Access, arXiv**K. Teranishi**and K. Kogiso, “Optimal controller and security parameter for encrypted control systems under least squares identification,”*IEEE Control Systems Letters*, vol. 7, pp. 1482-1487, 2023. arXiv**K. Teranishi**, T. Sadamoto, A. Chakrabortty, and K. Kogiso, “Designing optimal key lengths and control laws for encrypted control systems based on sample identifying complexity and deciphering time,”*IEEE Transactions on Automatic Control*, vol. 68, no. 4, pp. 2183-2198, 2023. arXiv- T. Shin,
**K. Teranishi**, and K. Kogiso, “Cyber-secure pneumatic actuator system equipped with encrypted controller and attack detectors,”*Advanced Robotics*, vol. 36, iss. 9, pp. 438-449, 2022. **K. Teranishi**and K. Kogiso, “ElGamal-type encryption for optimal dynamic quantizer in encrypted control systems,”*SICE Journal of Control, Measurement, and System Integration*, vol. 14, no. 1, pp. 59-66, 2021.**SICE Award, Outstanding Paper**Open Access**K. Teranishi**, N. Shimada, and K. Kogiso, “Stability-guaranteed dynamic ElGamal cryptosystem for encrypted control systems,”*IET Control Theory & Applications*, vol. 14, iss. 16, pp. 2242-2252, 2020. Open Access**K. Teranishi**, N. Shimada, and K. Kogiso, “Development and examination of fog computing-based encrypted control system,”*IEEE Robotics and Automation Letters*, vol. 5, no. 3, pp. 4642-4648, 2020. Open Access

## Conference

- K. Kosha, T. Miyazaki,
**K. Teranishi**, K. Kogiso, and K. Kawashima, “Detection of FDI attacks on pneumatic bilateral encrypted control system,”*JFPS International Symposium on Fluid Power*, 2024. (accepted) **K. Teranishi**and K. Kogiso, “Optimal controller and security parameter for encrypted control systems under least squares identification,”*IEEE Conference on Decision and Control*, 2023, pp. 3838-3843.**CDC Student Travel and Workshop Support**,**SICE International Young Authors Award**arXiv- H. Takanashi,
**K. Teranishi**, and K. Kogiso, “Experimental validation of reaction force estimation for secure robot teleoperation,”*IEEE/SICE International Symposium on System Integrations*, 2023, pp. 1004-1007. - N. Shono, T. Miyazaki,
**K. Teranishi**, K. Kogiso, and K. Kawashima, “A false data injection attack model targeting passivity of encrypted wave variable based bilateral control system,”*IEEE/SICE International Symposium on System Integrations*, 2023, pp. 992-997. **K. Teranishi**and K. Kogiso, “Towards provably secure encrypted control using homomorphic encryption,”*IEEE Conference on Decision and Control*, 2022, pp. 7740-7745.**CDC Student Travel and Workshop Support**arXiv- H. Kawase,
**K. Teranishi**, and K. Kogiso, “Dynamic quantizer synthesis for encrypted state-feedback control systems with partially homomorphic encryption,”*American Control Conference*, 2022, pp. 75-81. - N. Shono, T. Miyazaki,
**K. Teranishi**, T. Kanno, T. Kawase, K. Kogiso, and K. Kawashima, “Implementation of encrypted control of pneumatic bilateral control system using wave variables,”*International Symposium on Artificial Life and Robotics, International Symposium on BioComplexity, International Symposium on Swarm Behavior and Bio-Inspired Robotics*, 2022, pp. 1169-1174. **K. Teranishi**and K. Kogiso, “Encrypted gain scheduling with quantizers for stability guarantee,”*IEEE Conference on Decision and Control*, 2021, pp. 5621-5626.**CDC Student Travel Support****K. Teranishi**and K. Kogiso, “Dynamic quantizer for encrypted observer-based control,”*IEEE Conference on Decision and Control*, 2020, pp. 5477-5482.**CDC Student Travel Support****K. Teranishi**, J. Ueda, and K. Kogiso, “Event-triggered approach to increasing sampling period of encrypted control systems,”*IFAC World Congress*, 2020.**K. Teranishi**, K. Kogiso, and J. Ueda, “Encrypted feedback linearization and motion control for manipulator with somewhat homomorphic encryption,”*IEEE/ASME International Conference on Advanced Intelligent Mechatronics*, 2020, pp.613-618.**K. Teranishi**, N. Shimada, and K. Kogiso, “Stability analysis and dynamic quantizer for controller encryption,”*IEEE Conference on Decision and Control*, 2019, pp. 7184-7189.**K. Teranishi**and K. Kogiso “Control-theoretic approach to malleability cancellation by attacked signal normalization,”*IFAC Workshop on Distributed Estimation and Control in Networked Systems*, IFAC-PapersOnLine, vol. 52, no. 20, pp. 297-302, 2019.**K. Teranishi**, M. Kusaka, N. Shimada, J. Ueda, and K. Kogiso, “Secure observer-based motion control based on controller encryption,”*American Control Conference*, 2019, pp. 2978-2983.**ACC Student Travel Support**.**K. Teranishi**, N. Shimada, and K. Kogiso, “Encrypted control system: Theory and applications,”*International Forum on Research Promotion*, 2018.**K. Teranishi**and N. Shimada, “Precise modeling suitable for control system design based on impulse response,”*IEEE International Workshop on Advanced Motion Control*, 2018, pp. 485-490.**K. Teranishi**and N. Shimada, “Nonparametric modeling based on estimated impulse response for acceleration control systems,”*International Conference of “Science of Technology Innovation”*, 2017.

## Talks

**K. Teranishi**, “Optimal controller and security parameter for encrypted control systems”, IFAC World Congress, Jul 9, 2023. (Workshop: Encrypted control workshop)**K. Teranishi**, “Encrypted control using partially homomorphic encryption”, Asian Control Conference, May 4, 2022. (Tutorial: Homomorphic encryption and its application to feedback control)**K. Teranishi**, “ECLib: Encrypted control library for python”, Asian Control Conference, May 4, 2022. (Tutorial: Homomorphic encryption and its application to feedback control)**K. Teranishi**, Encrypted control: Cryptographic approach to secure control systems, Prof. Tanaka’s lab, The University of Texus at Austin, Feb 27, 2020.**K. Teranishi**, Cryptographic approach to security enhancement of networked control systems, Biorobotics and Human Modeling Lab, Georgia Institute of Technology, Oct 22, 2019.