## 2024

### ■ Journal

- Y. Takeda, T. Shin, K. Teranishi, 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, Volume ??, Issue ??, pp. ???-???, June 2024.
- K. Kosha, T. Miyazaki, K. Teranishi, K. Kogiso, and K. Kawashima: Detection and cancellation of multiplicative FDI attack on bilateral encrypted control system, IEEE Access, Volume 12, pp. 120979-120993, August 2024.
- H. Takanashi, K. Teranishi, and K. Kogiso: Secure motion-copying via homomorphic encryption, SICE Journal of Control, Measurement, and System Integration, Volume 17, Issue 1, pp. 297-307, July 2024.
- 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, Volume 18, Issue 11, pp. 1461-1474, July 2024.
- 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, Volume 12, pp. 10535-10547, January 2024.
- 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, Volume 11, Issue 1, pp. 271-283, March 2024.

### ■ Conference

- S. Munakata, T. Hashimoto, K. Kitano, H. Ichikawa, and K. Kogiso: Application of decision-making model involving irrationality to service robot, 5th IFAC Workshop on Cyber-Physical and Human Systems, pp. ???-???, 2024/12/12-12/13. (accepted)
- 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, pp. ???-???, 2024/10/22–10/25. (accepted)

## 2023

### ■ Journal

- 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, Volume 16, Issue 1, pp. 203-214, 2023.
- M. Miyamoto, K. Teranishi, K. Emura, and K. Kogiso: Cybersecurity-enhanced encrypted control system using keyed-homomorphic public key encryption, IEEE Access, Volume 11, pp. 45749-45760, May 2023.
- K. Teranishi and K. Kogiso: Optimal controller and security parameter for encrypted control systems under least squares identification, IEEE Control Systems Letters (w/ CDC23 option), Volume 7, pp. 1482-1487, April 2023.
- T. Ishikawa, K. Hamamoto, and K. Kogiso: Trajectory tracking switching control system for autonomous crawler dump under varying ground condition, Automation in Construction, Volume 148, pp. 104740, April 2023.
- J. Zhou, N. Koizumi, Y. Nishiyama, K. Kogiso, T. Ishikawa, K. Kobayashi, Y. Watanabe, T. Fujibayashi, M. Yamada, M. Matsuyama, H. Tsukihara, R. Tsumura, K. Yoshinaka, N. Matsumoto, M. Ogawa, H. Miyazaki, K. Numata, H. Nagaoka, T. Iwai, and H. Iijima: A VS ultrasound diagnostic system with kidney image evaluation functions, International Journal of Computer Assisted Radiology and Surgery, Volume 18, Number 2, pp. 227-246, February 2023.
- 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, Volume 68, Issue 4, pp. 2183-2198, April 2023.
- T. Ishikawa, M. Masuda, S. Uda, K. Yokoyama, K. Hamamoto, and K. Kogiso: Constrained remote control of construction machine with time-varying delay and packet loss, Advanced Robotics, Volume 37, Issue 1-2, pp. 46-60, January 2023.

### ■ Conference

- K. Teranishi and K. Kogiso: Optimal controller and security parameter for encrypted control systems under least squares identification, 62nd IEEE Conference on Decision and Control (CDC), pp. 3838-3843, 2023/12/13-12/15.
- T. Ishikawa, K. Hamamoto, and K. Kogiso: Numerical investigation of cyberattacks on autonomous construction machine, IFAC World Congress, pp. 5035-5038, 2023/7/9-7/14.
- H. Kawase, W. Meinhold, and J. Ueda: Encrypted classification for prevention of adversarial perturbation and individual identification in health-monitoring, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. ???-???, 2023/6/27-7/1. (Kawase: AIM 2023 Student Travel Support)
- Y. Takeda and K. Kogiso: Experimental regularization parameter search for polynomial approximation of nonlinear PAM controller, IEEE/SICE International Symposium on System Integrations (SII), pp. ???-???, 2023/1/17-1/20.
- K. Kogiso and M. Miyamoto: Development and examination of secure quadcopter control system with partially homomorphic encryption, IEEE/SICE International Symposium on System Integrations (SII), pp. ???-???, 2023/1/17-1/20.
- H. Takanashi, K. Teranishi, and K. Kogiso: Experimental validation of reaction force estimation for secure robot teleoperation, IEEE/SICE International Symposium on System Integrations (SII), pp. ???-???, 2023/1/17-1/20.
- 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 (SII), pp. ???-???, 2023/1/17-1/20.

## 2022

### ■ Journal

- T. Shin, T. Ibayashi, and K. Kogiso: Detailed dynamic model of antagonistic PAM system and its experimental validation: Sensorless angle and torque control with UKF, IEEE/ASME Transactions on Mechatronics, Volume 27, Issue 3, pp. 1715-1726, June 2022.
- T. Shin and K. Kogiso: Sensorless angle and stiffness control of antagonistic PAM actuator using reference set, Advanced Robotics, Volume 36, Issue 9, pp. 423-437, 2022.
- T. Shin, K. Teranishi, and K. Kogiso, “Cyber-secure pneumatic actuator system equipped with encrypted controller and attack detectors," Advanced Robotics, Volume 36, Issue 9, pp. 438-449, 2022.

### ■ Conference

- K. Teranishi and K. Kogiso: Towards provably secure encrypted control using homomorphic encryption, IEEE Conference on Decision and Control (CDC), pp. 7740-7745, 2022/12/6-12/9. (Invited Session: Encrypted Control and Optimization) (Teranishi: CDC 2022 Student Travel Support and Workshop Support)
- S. Kosieradzki, X. Zhao, H. Kawase, Y. Qiu, K. Kogiso, and J. Ueda: Secure teleoperation control using somewhat homomorphic encryption, Modeling, Estimation, and Control Conference (MECC), IFAC-PapersOnLine, Volume 55, Issue 37, pp. 593-600, 2022/10/2-10/5.
- S. Kosieradzki, Y. Qiu, K. Kogiso, and J. Ueda: Rewrite rules for automated depth reduction of encrypted control expressions with somewhat homomorphic encryption, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 804-809, 2022/7/11-7/15.
- H. Kawase, K. Teranishi, and K. Kogiso: Dynamic Quantizer Synthesis for Encrypted State-feedback Control Systems with Partially Homomorphic Encryption,American Control Conference (ACC), pp. 75-81, 2022/6/8-6/10. (Kawase: ACC 2022 Student Travel Grants)

### ■ Invited Talk

- K. Kogiso, K. Teranishi, and J. Kim, "Homomorphic Encryption and Its Application to Feedback Control," Tutorial 1B & 1C. Security of Control Systems, Asian Control Conference (ASCC), 2022/5/4-5/7.

## 2021

### ■ Journal

- K. Iinuma and K. Kogiso: Emotion-involved human decision-making model, Mathematical and Computer Modelling of Dynamical Systems, Volume 27, Issue 1, pp. 543-561, 2021.
- K. Teranishi and K. Kogiso: ElGamal-type encryption for optimal dynamic quantizer in encrypted control systems, SICE Journal of Control, Measurement, and System Integration, Volume 14, Issue 1, pp. 59-66, 2021.

### ■ Conference

- 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, 27th International Symposium on Artificial Life and Robotics, 7th International Symposium on BioComplexity, 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (AROB-ISBC-SWARM), pp. 1169-1174, 2022/1/25-1/27.
- H. Kawase, K. Sakurama, and K. Kogiso: Implementation of consensus control using encrypted distributed controller, 27th International Symposium on Artificial Life and Robotics, 7th International Symposium on BioComplexity, 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (AROB-ISBC-SWARM), pp. 1602-1607, 2022/1/25-1/27.
- K. Teranishi and K. Kogiso: Encrypted gain scheduling with quantizers for stability guarantee, IEEE Conference on Decision and Control (CDC), pp. 5621-5626, 2021/12/13-12/15. (Teranishi: CDC 2021 Student Travel Support)

### ■ Invited Talk

- K. Kogiso: (tentative) Encrypted Control: Secure Implementation of Digital Controllers With Homomorphic Encryption, AROB/ISBC/SWARM, pp. ??-??, 2022/1/25-1/27.

## 2020

### ■ Journal

- K. Teranishi, N. Shimada, and K. Kogiso: Stability-guaranteed dynamic ElGamal cryptosystem for encrypted control systems, IET Control Theory & Applications, Volume 14, Issue 16, pp. 2242-2252, November 2020.
- K. Teranishi, N. Shimada, and K. Kogiso: Development and examination of fog computing-based encrypted control system, IEEE Robotics and Automation Letters, Volume 5, Issue 3, pp. 4642-4648, July 2020.

### ■ Conference

- K. Teranishi and K. Kogiso: Dynamic quantizer for encrypted observer-based control, IEEE Conference on Decision and Control (CDC), pp. 5477-5482, 2020/12/14-12/18. (CDC 2020 Student Travel Support)
- M. Masuda, K. Yokoyama, S. Uda, T. Ishikawa, K. Hamamoto and K. Kogiso, Experimental validation of constrained control for crawler carrier dump, SICE Annual Conference, pp. 1504-1506, 2020/9/23-9/26.
- K. Teranishi, J. Ueda, and K. Kogiso: Event-triggered approach to increasing sampling period of encrypted control systems, IFAC World Congress, pp. ???-???, 2020/7/12-7/17.
- 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, pp. 613-618, 2020/7/6-7/10.

### ■ Commentary

- K. Teranishi and K. Kogiso, "Dynamic-key encryption: Homomorphic encryption for control systems security" System/Control/Information, The Institute of Systems, Control and Information Engineer, Vol. 64, No. 2, pp. ???-???, 2021 (in Japanese)

## 2019

### ■ Book

- K. Kogiso: Encrypted Control Using Multiplicative Homomorphic Encryption, Chapter 12, Privacy in Dynamical Systems, Editor F. Farokhi, Springer, pp. 267-286, 2019.

### ■ Conference

- K. Teranishi, N. Shimada, and K. Kogiso: Stability analysis and dynamic quantizer for controller encryption, IEEE Conference on Decision and Control, pp. 7184-7189, 2019/12/11-12/13.
- K. Teranishi and K. Kogiso: Control-theoretic approach to malleability cancellation by attacked signal normalization, 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, IFAC-PapersOnLine, Vol. 52, No. 20, pp. 297-302, 2019/9/16-9/17.

[poster.pdf] - K. Kogiso: Toward dynamic key cryptography for cybersecurity enhancement in networked control systems, SICE Annual Conference, pp. 669-672, 2019/9/10-9/13.
- M. Masuda, K. Yokoyama, S. Uda, T. Ishikawa, K. Hamamoto, and K. Kogiso: Implementing index-feedback remote control in crawler carrier dump, SICE Annual Conference, pp. 1734-1736, 2019/9/10-9/13.
- R. Baba and K. Kogiso: Consideration on robust stability of control systems with encryption-induced quantization errors, SICE Annual Conference, pp. 1067-1069, 2019/9/10-9/13.
- K. Teranishi, M. Kusaka, N. Shimada, J. Ueda, and K. Kogiso: Secure observer-based motion control based on controller encryption, American Control Conference, pp. 2978-2983, 2019/7/10-7/12.

### ■ Invited Talk

- K. Kogiso: Encrypted Control: Secure Implementation of Digital Controllers, Special Seminar in Osaka Prefecture University, 2020/1/14. (invited by Prof. Naoyuki Hara, OPU)
- K. Kogiso: ElGamal-based Controller Encryption with Its Experimental Validation, Special Session: Tutorials on Homomorphic Encryption and Control Systems, International Conference on Control, Automation and Systems, 2019/10/16-10/18. (invited by Prof. Hyungbo Shim, SNU)

## 2018

### ■ Journal

- T. Ishikawa, Y. Nishiyama, and K. Kogiso: Characteristic extraction for model parameters of McKibben pneumatic artificial muscles, SICE Journal of Control, Measurement, and System Integration, Vol. 11, No. 4, pp. 357-364, 2018.

### ■ Conference

- K. Kogiso: Attack detection and prevention for encrypted control systems by application of switching-key management, IEEE Conference on Decision and Control, pp. 5032-5037, 2018/12/17-12/19. (invited session)
- R. Baba, K. Kogiso, and M. Kishida: Detection method of controller falsification attacks against encrypted control system, SICE Annual Conference 2018, pp. 244-248, 2018/9/11-9/14.
- R. Baba, K. Kogiso, O. Kaneko, M. Kishida, and K. Sawada: Theory and applications of encrypted control systems for cyber security, the 13th International Workshop on Security, 2018/9/3-9/5. (poster)

[poster22.pdf] - T. Ishikawa, K. Kogiso, and K. Hamamoto: Fault analysis of aging McKibben pneumatic artificial muscle in terms of its model parameters, IEEE Conference on Control Technology and Applications, pp. 398-403, 2018/8/21-8/24.
- A. Okabe and K. Kogiso: Efficient algorithm for constructing a load-dependent McKibben pneumatic artificial muscle model, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, WCT4.5, 2018/7/9-7/12.
- Y. Qiu, A. Okabe, K. Murali, D. Gao, and J. Ueda: Coordination of whole body muscles during assisted assembly tasks, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1063-1068, 2018/7/9-7/12.
- K. Kogiso, R. Baba, and M. Kusaka: Development and examination of encrypted control systems, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1338-1343, 2018/7/9-7/12.
- K. Kogiso: Upper-bound analysis of performance degradation in encrypted control system, American Control Conference, pp. 1250-1255, 2018/6/27-6/29.
- K. Yokoyama and K. Kogiso: PID position control of McKibben pneumatic artificial muscle using only pressure feedback, American Control Conference, pp. 3362-3367, 2018/6/27-6/29.

## 2017

### ■ Journal

### ■ Conference

- K. Kitagawa, M. Guo, K. Kogiso, and H. Hata: Utility design for two-player normal-form games, Asian Control Conference, pp. 2077-2082, 2017/12/17-12/20.
- A. Okabe, T. Ishikawa, K. Kogiso, and Y. Nishiyama: Efficient PSO-based algorithm for parameter estimation of McKibben PAM model, IEEE Conference on Control Technology and Applications, pp. 1414-1419, 2017/8/27-8/30.
- T. Ishikawa, Y. Nishiyama, and K. Kogiso: Parameter extraction for identifying product type of McKibben pneumatic artificial muscles, IEEE Conference on Control Technology and Applications, pp. 1935-1940, 2017/8/27-8/30.
- T. Kodama and K. Kogiso: Applications of UKF and EnKF to estimation of contraction ratio of McKibben pneumatic artificial muscles, American Control Conference, pp. 5217-5222, 2017/5/24-5/26.

## 2016

### ■ Journal

- K. Kitagawa and K. Kogiso: Dynamic control of proclivity toward selling electricity using persuasive dialogue system, SICE Journal of Control, Measurement, and System Integration, Vol. 9, No. 6, pp. 264-270, 2016.

[16_CtrlProclivity.pdf]

### ■ Conference

- K. Kogiso and T. Suzuki: Parameterization of equilibrium assessment in Bayesian game with its application to belief computation, IEEE Conference on Decision and Control, pp. 3611-3616, 2016/12/12-12/14.
- K. Ishikawa, K. Nagasawa, K. Kogiso, and K. Sawada: Experimental validation of encrypted controller implemented on Raspberry Pi, IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, pp. 1-6, 2016/10/6-10/7.
- K. Kitagawa and K. Kogiso: Filling demand-supply gap by adjusting electricity selling prices under stochastic acceptance, IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, pp. 25-28, 2016/10/6-10/7.
- T. Kodama, A. Okabe, and K. Kogiso: Simultaneous estimation of contraction ratio and parameter of McKibben pneumatic artificial muscle model using log-normalized unscented Kalman filter, IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, pp. 44-48, 2016/10/6-10/7.
- A. Okabe and K. Kogiso: Application of particle swarm optimization to parameter estimation of McKibben pneumatic artificial muscle model, IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, pp. 49-54, 2016/10/6-10/7.
- N. Kitagawa, H. Hata, A. Ihara, K. Kogiso, and K. Matsumoto: Code review participation: Game theoretical modeling of reviewers in gerrit datasets, 9th International Workshop on Cooperative and Human Aspects of Software Engineering, pp. 64-67, 2016/5/16.
- R. Kadoya and K. Kogiso: Invariant-length PAM model considering virtual weight and PI compensation, SICE International Symposium on Control Systems, 4A2-1, 2016/3/7-3/10.
- K. Kitagawa and K. Kogiso: Control of proclivity toward selling electricity using persuasive dialog system, SICE International Symposium on Control Systems, 2A2-2, 2016/3/7-3/10.
- T. Suzuki and K. Kogiso: Steady-state analysis of autonomous system in equilibrium assessment of Bayesian game, SICE International Symposium on Control Systems, 4A1-4, 2016/3/7-3/10.

## 2015

### ■ Journal

### ■ Conference

- K. Kogiso: Transition models of equilibrium assessment in Bayesian game, IEEE Conference on Decision and Control, pp. 5996-6003, 2015/12/15-12/18.
- K. Kogiso and T. Fujita: Cyber-security enhancement of networked control systems using homomorphic encryption, IEEE Conference on Decision and Control, pp. 6838-6843, 2015/12/15-12/18.
- K. Urabe and K. Kogiso: Hybrid nonlinear model of McKibben pneumatic artificial muscle systems incorporating a pressure-dependent Coulomb friction coefficient, IEEE Multi-conference on Systems and Control, pp. 1571-1578, 2015/09/21-09/23. (to appear)
- T. Fujita, K. Kogiso, K. Sawada and S. Shin: Security enhancements of networked control systems using RSA public-key cryptosystem, The 10th Asian Control Conference, 2015/05/31-06/03.
- K. Urabe and K. Kogiso: Application of hybrid model predictive control to McKibben pneumatic artificial muscle system, SICE International Symposium on Control Systems, 514-5, 2015/03/04-03/07.

## 2014

### ■ Journal

- G. Matsui, T. Tachibana, K. Kogiso, and K. Sugimoto: Dynamic resource management in optical grid, IEEE Transactions on Control Systems Technology, Vol. 22, No. 4, pp. 1607- 1614, 2014.

### ■ Conference

## Awards

- Hiroaki Kawase, Ph.D Student, was awarded American Control Conference (ACC) 2022 Student Travel Grants.
- Kaoru Teranishi, Ph.D student, was awarded IEEE Conference on Decision and Control (CDC) 2021 Student Travel Support.
- Kaoru Teranishi (M2) was awarded IEEE Conference on Decision and Control (CDC) 2020 Student Travel Support.
- Kaoru Teranishi (M1) was awarded American Control Conference (ACC) 2019 Student Travel Award Grants.