Secure Teleoperation Control Using Somewhat Homomorphic Encryption

Presented at 2022 Modeling, Estimation, and Control Conference (MECC) , October 2022The goal of this research is to establish control theoretic methods to enhance cyber security of networked motion control systems by utilizing somewhat homomorphic encryption. The proposed approach will encrypt the entire motion control schemes including: sensor signals, model parameters, feedback gains, and performs computation in the ciphertext space to generate motion commands to servo systems without a security hole. The paper will discuss implementation of encrypted bilateral teleoperation control schemes with nonlinear friction compensation. The paper will present (1) encrypted teleoperation control realization with somewhat homomorphic encryption and (2) simulation results.This work was supported in part by the National Science Foundation under Grant No. 2112793 and the Japan Society for the Promotion of Science KAKENHI Grant No. JP22H01509

Affective Stimuli for an Auditory P300 Brain-Computer Interface

Gaze-independent brain computer interfaces (BCIs) are a potential communication tool for persons with paralysis. This study applies affective auditory stimuli to investigate their effects using a P300 BCI. Fifteen able-bodied participants operated the P300 BCI, with positive and negative affective sounds (PA: a meowing cat sound, NA: a screaming cat sound). Permuted stimuli of the positive and negative affective sounds (permuted-PA, permuted-NA) were also used for comparison. Electroencephalography data was collected, and offline classification accuracies were compared. We used a visual analog scale (VAS) to measure positive and negative affective feelings in the participants. The mean classification accuracies were 84.7% for PA and 67.3% for permuted-PA, while the VAS scores were 58.5 for PA and −12.1 for permuted-PA. The positive affective stimulus showed significantly higher accuracy and VAS scores than the negative affective stimulus. In contrast, mean classification accuracies were 77.3% for NA and 76.0% for permuted-NA, while the VAS scores were −50.0 for NA and −39.2 for permuted NA, which are not significantly different. We determined that a positive affective stimulus with accompanying positive affective feelings significantly improved BCI accuracy. Additionally, an ALS patient achieved 90% online classification accuracy. These results suggest that affective stimuli may be useful for preparing a practical auditory BCI system for patients with disabilities

Observation of Enhanced Radial Transport of Energetic Ion due to Energetic Particle Mode Destabilized by Helically-trapped Energetic Ion in the Large Helical Device

A deuterium experiment was initiated to achieve higher-temperature and higher-density plasmas in March 2017 in the Large Helical Device (LHD). The central ion temperature notably increases compared with that in hydrogen experiments. However, an energetic particle mode called the helically-trapped energetic-ion-driven resistive interchange (EIC) mode is often excited by intensive perpendicular neutral beam injections on high ion-temperature discharges. The mode leads to significant decrease of the ion temperature or to limiting the sustainment of the high ion-temperature state. To understand the effect of EIC on the energetic ion confinement, the radial transport of energetic ions is studied by means of the neutron flux monitor and vertical neutron camera newly installed on the LHD. Decreases of the line-integrated neutron profile in core channels show that helically-trapped energetic ions are lost from the plasma

Effect of the helically-trapped energetic-ion-driven resistive interchange modes on energetic ion confinement in the Large Helical Device

The effect of the helically-trapped energetic-ion-driven resistive interchange modes (EICs) on energetic ion confinement is studied in the Large Helical Device deuterium plasmas. Neutron diagnostics such as the neutron flux monitor and the vertical neutron camera (VNC) are used in order to measure neutrons mainly created by beam-plasma reactions. The line-integrated neutron profiles are obtained by VNC in magnetohydrodynamic-quiet plasma with various neutral beam (NB) injection patterns. The profiles are consistent with that expected by the beam ion density calculated using orbit-following simulations. Significant decreases of the total neutron emission rate (Sn) and the neutron counting rate of the VNC (Cn) in central cords are observed to be synchronized with EIC bursts with perpendicular-NB injection. The drop rates of both Sn and Cn increase with EIC amplitude and reach around 50%. The line-integrated neutron profiles before and after EIC burst show that in the central cords, Cn decrease due to EIC burst whereas there is almost no change in the other cords. The experimental results suggests that the effect of EIC on helically-trapped beam ion is substantial, however the effect of passing beam ion is not significant

Time-resolved triton burnup measurement using the scintillating fiber detector in the Large Helical Device

Time-resolved measurement of triton burnup is performed with a scintillating fiber detector system in the deuterium operation of the large helical device. The scintillating fiber detector system is composed of the detector head consisting of 109 scintillating fibers having a diameter of 1 mm and a length of 100 mm embedded in the aluminum substrate, the magnetic registrant photomultiplier tube, and the data acquisition system equipped with 1 GHz sampling rate analogies to digital converter and the field programmable gate array. The discrimination level of 150 mV was set to extract the pulse signal induced by 14 MeV neutrons according to the pulse height spectra obtained in the experiment. The decay time of 14 MeV neutron emission rate after neutral beam is turned off measured by the scintillating fiber detector. The decay time is consistent with the decay time of total neutron emission rate corresponding to the 14 MeV neutrons measured by the neutron flux monitor as expected. Evaluation of the diffusion coefficient is conducted using a simple classical slowing-down model FBURN code. It is found that the diffusion coefficient of triton is evaluated to be less than 0.2 m2 s−1

High detection efficiency scintillating fiber detector for time-resolved measurement of triton burnup 14 MeV neutron in deuterium plasma experiment

The behavior of the 1 MeV triton has been studied in order to understand the alpha particle confinement property in the deuterium operation of toroidal fusion devices. To obtain time evolution of the deuterium-tritium (D-T) neutron emission rate where the secondary DT neutron emission rate is approximately 1012 n/s, we designed two high detection efficiency scintillating fiber (Sci-Fi) detectors: a 1 mm-diameter scintillation fiber-based detector Sci-Fi1 and a 2 mm-diameter scintillation fiber-based detector Sci-Fi2. The test in an accelerator-based neutron generator was performed. The result shows that the directionality of each detector is 15° and 25°, respectively. It is found that detection efficiency for DT neutrons is around 0.23 counts/n cm2 for the Sci-Fi1 detector and is around 1.0 counts/n cm2 for the Sci-Fi2 detector

Initial Surgical Versus Conservative Strategies in Patients With Asymptomatic Severe Aortic Stenosis

AbstractBackgroundCurrent guidelines generally recommend watchful waiting until symptoms emerge for aortic valve replacement (AVR) in asymptomatic patients with severe aortic stenosis (AS).ObjectivesThe study sought to compare the long-term outcomes of initial AVR versus conservative strategies following the diagnosis of asymptomatic severe AS.MethodsWe used data from a large multicenter registry enrolling 3,815 consecutive patients with severe AS (peak aortic jet velocity >4.0 m/s, or mean aortic pressure gradient >40 mm Hg, or aortic valve area <1.0 cm2) between January 2003 and December 2011. Among 1,808 asymptomatic patients, the initial AVR and conservative strategies were chosen in 291 patients, and 1,517 patients, respectively. Median follow-up was 1,361 days with 90% follow-up rate at 2 years. The propensity score–matched cohort of 582 patients (n = 291 in each group) was developed as the main analysis set for the current report.ResultsBaseline characteristics of the propensity score–matched cohort were largely comparable, except for the slightly younger age and the greater AS severity in the initial AVR group. In the conservative group, AVR was performed in 41% of patients during follow-up. The cumulative 5-year incidences of all-cause death and heart failure hospitalization were significantly lower in the initial AVR group than in the conservative group (15.4% vs. 26.4%, p = 0.009; 3.8% vs. 19.9%, p < 0.001, respectively).ConclusionsThe long-term outcome of asymptomatic patients with severe AS was dismal when managed conservatively in this real-world analysis and might be substantially improved by an initial AVR strategy. (Contemporary Outcomes After Surgery and Medical Treatment in Patients With Severe Aortic Stenosis Registry; UMIN000012140

Frequency components of systolic blood pressure variability reflect vasomotor and cardiac sympathetic functions in conscious rats

In this study, after confirming the suppression of autonomic nervous function by isoflurane anesthesia using autonomic antagonists, we pharmacologically investigated the involvement of vasomotor and cardiac sympathetic functions in systolic blood pressure variability (SBPV) frequency components in conscious rats at rest and during exposure to low-ambient temperature (LT-exposure, 9°C for 90 min). Under unanesthesia, phentolamine administration (α-adrenoceptor antagonist, 10 mg/kg) decreased the mid-frequency component (MF 0.33–0.73 Hz) and inversely increased the high-frequency component (HF 1.3–2.5 Hz). The increased HF was suppressed by subsequent treatment with atenolol (β-adrenoceptor antagonist, 10 mg/kg), but not with atropine (muscarinic receptor antagonist, 10 mg/kg). Moreover, phentolamine administration after atenolol decreased MF, but did not increase HF. LT-exposure increased MF and HF; however, phentolamine pretreatment suppressed the increased MF during LT-exposure, and atenolol pretreatment dose-dependently decreased the increased HF. These results suggest that MF and HF of SBPV may reflect α-adrenoceptor-mediated vasomotor function and β-adrenoceptor-mediated cardiac sympathetic function, respectively, in the conscious state

Improved stomach selectivity of gene expression following microinstillation of plasmid DNA onto the gastric serosal surface in mice

Stomach-selective gene transfer is a promising approach as a therapeutic strategy for refractory gastric diseases. In this study, we improved the stomach selectivity of gene expression following microinstillation of naked plasmid DNA (pDNA) onto the gastric serosal surface in mice. pDNA encoding firefly luciferase was used as a reporter gene. It was confirmed that the gene expression level in the stomach 6 h after gastric serosal surface microinstillation of pDNA was significantlyhigher than after intragastric, intraperitoneal and intravenous administration. Regarding selectivity ofgene expression, the gene expression level in the stomach after gastric serosal surfacemicroinstillation of 1 μg/1 μL (dose/volume) pDNA was 5.7 times higher than that in the spleen. In our previous study (30 μg/30 μL), the expression level in the stomach was 2.7 times higher than that in the spleen; therefore, the selectivity was 2.1 times higher in this study. When we investigated gene expression at various pDNA solution concentrations, the ratio of the gene expression level in the stomach to that in the spleen was the highest as 1 μg/1 μL of pDNA, which was considered the optimal concentration. Information in this study is useful for further development of target organ-selective gene delivery systems