I think I have found an unreported errata to this problem.
Here is my attempt to solve the problem.
Differential Geometry of Curves and Surfaces - Chapter 1 Section 3 Exercise 3
And here is the errata I can found online.
In particular, I believe the errata should include $ \alpha'(t) = (0, 2a) $ when $ t \to \pm \infty $, not $ \alpha'(t) = (2a, 0) $
Can anyone confirm my finding? What should I do to get this included in the errata?