This paper investigates the vulnerability of bilat-eral teleoperation systems to perfectly undetectable False Data Injection Attacks (FDIAs). Teleoperation, one of the major applications in robotics, involves a leader manipulator operated by a human and a follower manipulator at a remote site, connected via a communication channel. While this setup en-ables operation in challenging environments, it also introduces cybersecurity risks, particularly in the communication link. The paper focuses on a specific class of cyberattacks: perfectly un-detectable FDIAs, where attackers alter signals without leaving detectable traces at all. Compared to previous research on linear and first-order nonlinear systems, this paper examines bilateral teleoperation systems with second-order nonlinear manipulator dynamics. The paper derives mathematical conditions based on Lie Group theory that enable such attacks, demonstrating how an attacker can modify the follower manipulator's motion while the operator perceives normal operation through the leader device. This vulnerability challenges conventional detection methods based on observable changes and highlights the need for advanced security measures in teleoperation systems. To validate the theoretical results, the paper presents experimental demonstrations using a teleoperation system connecting robots in the US and Japan.

This paper describes a 108 mega pixels (Mp) CMOS image sensor (CIS) for mobile phone applications. The 0.7 $\mu$m-pitch pixel array ($12000\times 9000$) is composed of nona-cell ($3\times 3$ unit pixel structure) cluster with binning capability for maximum light absorption. In considerations of the trade-off between area occupation and frame rate, the column-parallel topology with thousands of single-slope ADCs is chosen for the digitizer. To suppress the horizontal noise (HN) source, an ADC decision-feedback technique is proposed to minimize the current consumption difference between before and after the ADC decision. Furthermore, with the decision-feedback loop, which is implemented in each of the comparators of the ADC array, analog power consumption can be also reduced. Top pixel and bottom digitizer chips were fabricated in 65 nm and 28 nm process technologies, respectively. The measurement results of the 3-D stacked prototype imager show an input-referred random noise (RN) of 1.4 $\mathrm{e}_{\mathrm{rms}}^{-}$ with an analog gain of 16 and a frame rate of 10 fps. A suppressed RN of 0.44 $\mathrm{e}_{\mathrm{rms}}^{-}$ is also achieved with a nona-binning. The column fixed-pattern noise (FPN) of the 108 MP imager is only 66 ppm. The high-resolution image sensing system with the decision-feedback technique achieves a figure-of-merit (FoM) of 0.71 e.nJ.