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Passive position error correction in Internet-based teleoperation

Alejandro Fernández Villaverde, Antonio Barreiro, Cesáreo Raimúndez
2010 Automatica  
In this paper an arrangement is proposed which is capable of eliminating position errors, while maintaining passivity of an internet-like channel.  ...  Different techniques for performing stable teleoperation in non-ideal conditions have been developed, especially in a passivity framework.  ...  position error correction.  ... 
doi:10.1016/j.automatica.2010.07.009 fatcat:35w7agkekfapxf3rz36ts6m564

Passive Correction of Position Error in Internet-Based Teleoperation

Alejandro Fernández Villaverde, Antonio Barreiro Blas, Cesáreo Raimúndez Álvarez
2008 IFAC Proceedings Volumes  
However, there is not one definitive method for correcting the position error, and no robust solutions for addressing this problem with variable delay communications (internet-based, for example) have  ...  In this paper an arrangement is proposed which is capable of achieving good position tracking while maintaining passivity.  ...  As far as we know, there are no general methods capable of correcting position error in internet-based teleoperation while guaranteeing passivity.  ... 
doi:10.3182/20080706-5-kr-1001.02538 fatcat:6iup3rup4rdpplu5oo2ngmlzhy

Bilateral teleoperation under time-varying delay using wave variables

Massimo Satler, Carlo Alberto Avizzano, Antonio Frisoli, Paolo Tripicchio, Massimo Bergamasco
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we propose a new control scheme for bilateral teleoperation under time-varying communication delay entirely developed in the wave variables domain.  ...  Several approaches based on wave variables have already been proposed to deal with time-varying delay.  ...  The passivity-based approach paved the way for stable time-delayed teleoperation.  ... 
doi:10.1109/iros.2009.5354744 dblp:conf/iros/SatlerAFTB09 fatcat:pmbijxyeovccddt4ira4vnpn24

Internet-based teleoperation using wave variables with prediction

S. Munir, W.J. Book
2002 IEEE/ASME transactions on mechatronics  
Wave-based teleoperation has been previously attempted over the Internet, however, performance rapidly deteriorates with increasing delay.  ...  Successful experimental results using this technique for teleoperation in a master-slave arrangement over the Internet, where the control signal is streamed between Atlanta (Georgia) and Tokyo (Japan),  ...  Ito at the Tokyo Institute of Technology with conducting live experiments over the Internet between Atlanta and Tokyo is greatly appreciated.  ... 
doi:10.1109/tmech.2002.1011249 fatcat:ay6vaml75zd3rpo2kjgmumyayq

Experimental Comparison Study of Control Architectures for Bilateral Teleoperators

E.J. RodrIguez-Seda, Dongjun Lee, M.W. Spong
2009 IEEE Transactions on robotics  
A detailed experimental comparison study of several published algorithms for motion and force control of bilateral teleoperators, with emphasis on Internet-based teleoperation, is presented.  ...  Overall, the comparison study reports a deteriorating effect in the performance (i.e., larger position errors and lower fidelity of contact information) from delays and data losses.  ...  Wang for her recommendations on the statistical methods and tools employed in this study.  ... 
doi:10.1109/tro.2009.2032964 fatcat:zahabhriuzdgfpt6iu36ykbtey

Towards Haptic Communications over the 5G Tactile Internet

Konstantinos Antonakoglou, Xiao Xu, Eckehard Steinbach, Toktam Mahmoodi, Mischa Dohler
2018 IEEE Communications Surveys and Tutorials  
Touch is currently seen as the modality that will complement audition and vision as a third media stream over the Internet in a variety of future haptic applications which will allow full immersion and  ...  Furthermore, we focus on how the fifth generation (5G) of mobile networks will allow haptic applications to take life, in combination with the haptic data communication protocols, bilateral teleoperation  ...  In [162] , Munir and Book proposed a method that corrects the position tracking error taking timevarying delay into account.  ... 
doi:10.1109/comst.2018.2851452 fatcat:hclpvlm3nvhjhhkjlmjwftdtuq

Development of an information system for teleoperated physical rehab care service via Internet. Pilot case: patients with mild knee injury who live in geographically vulnerable zones

José Rafael Tovar-Cuevas, Juan David Diaz-Mutis, Gettsy Elizabeth Quiñones-Mora, Anabella Pabón Romero, José Isidro García-Melo
2018 Dyna  
relating to the speed, strength and position at which the prototype performs the therapeutic routines in two types of movements: passive and active.  ...  position?  ... 
doi:10.15446/dyna.v85n204.67961 fatcat:oxtpcnrkire33kmzstxoamko34

Trends in the Control Schemes for Bilateral Teleoperation with Time Delay [chapter]

Jiayi Zhu, Xiaochuan He, Wail Gueaieb
2011 Lecture Notes in Computer Science  
In the last two decades, an increasing interest has been observed in the development of effective bilateral teleoperation systems.  ...  The schemes are divided into four main categories: passivity based, prediction based, sliding-mode control schemes and others.  ...  Passivity is a sufficient condition for system stability. Therefore the passivity based control schemes reviewed in this paper could all guarantee the stability of the bilateral teleoperation system.  ... 
doi:10.1007/978-3-642-21538-4_15 fatcat:bcil64bdy5hdxalkgtk7up6qse

Implementation and experiments of passive set-position modulation for internet teleoperation and slow/varying-rate haptics

Ke Huang, Dongjun Lee
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In previous papers we proposed passive setposition modulation (PSPM) framework which enables us to connect continuous-time robot's position to a sequence of discrete set-position signals via spring coupling  ...  with damping injection while enforcing passivity.  ...  For the passivity-based teleoperation control with time delays, several important results have been proposed so far. In [6] , the scattering-based method was presented.  ... 
doi:10.1109/iros.2009.5354297 dblp:conf/iros/HuangL09 fatcat:b3fzsesenbf3rgkvflpohhctie

Haptic teleoperation of multiple unmanned aerial vehicles over the internet

Dongjun Lee, Antonio Franchi, Paolo Robuffo Giordano, Hyoung Il Son, Heinrich H. Bulthoff
2011 2011 IEEE International Conference on Robotics and Automation  
We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is  ...  the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs over the Internet.  ...  PSPM-Based Teleoperation Layer For the teleoperation layer, we utilize passive set-position modulation (PSPM) framework [5] , whose passifying action will theoretically guarantee master-passivity/VPs-stability  ... 
doi:10.1109/icra.2011.5979993 dblp:conf/icra/LeeFGSB11 fatcat:y4ufadbejjh5hc5hcl4fqshale


S. Hirche, P. Hinterseer, E. Steinbach, M. Buss
2005 IFAC Proceedings Volumes  
In this paper a novel, psychophysically motivated approach to reduce the packet rate based on a deadband approach is proposed.  ...  The local control loops at the HSI and the teleoperator operate at sampling rates in the range of 500 -1000 Hz.  ...  Position Update The data reconstruction of the velocity signal induces a velocity error between the HSI and the teleoperator. As a result the teleoperator position may drift from the HSI position.  ... 
doi:10.3182/20050703-6-cz-1902.01414 fatcat:ontlxrhnbzhtvp4gtgjyeoexyu

Wave-based teleoperation with prediction

S. Munir, W.J. Book
2001 Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148)  
Recently these techniques have been extended to be used for a varying time delay, as in the case of Internet based teleoperation.  ...  Wave variables based on passivity and scattering theory provide a good tool for establishing bilateral teleoperation in the presence of a constant time delay.  ...  Introduction In 1989 Anderson and Spong [1] proposed a control law for teleoperators with time delay based on passivity and scattering theory [3] .  ... 
doi:10.1109/acc.2001.945706 fatcat:ozdfyhzgffgkdm6h3g6irhhsge

Review of Control Methods for Upper Limb Telerehabilitation with Robotic Exoskeletons

Georgeta Bauer, Ya-Jun Pan
2020 IEEE Access  
PASSIVITY-BASED CONTROL METHODS Passivity is based on the concept of energy transfer and power flow in a system.  ...  on the position and velocity errors.  ... 
doi:10.1109/access.2020.3036596 fatcat:bliks4oenrh75ol4drx2lphqqm

Control of teleoperation systems in the presence of cyber attacks: A survey

Mutaz M. Hamdan, Magdi S. Mahmoud
2021 IAES International Journal of Robotics and Automation  
This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks.  ...  The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks.  ...  Passivity based control approach Passive systems are referred to dynamical systems that have positive consumption of total energy.  ... 
doi:10.11591/ijra.v10i3.pp235-260 fatcat:4luzkwwzrjfnbihuuban75bvx4

Passive Position Feedback over Packet-Switching Communication Network with Varying-Delay and Packet-Loss

Dongjun Lee, Ke Huang
2008 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems  
We believe that this proposed passive setposition modulation would be useful for varying-rate haptics and bilateral teleoperation over the Internet.  ...  Internet) with signi cant varying-delay and packet-loss, while enforcing energetic passivity at the same time.  ...  EXAMPLE: BILATERAL TELEOPERATION OVER THE IN-TERNET In this section, we apply the proposed passive set-position modulation to the bilateral teleoperation over the Internet with substantial varying-delay  ... 
doi:10.1109/haptics.2008.4479968 dblp:conf/haptics/LeeH08 fatcat:idfhxqrffrafphhnpbl2iijcny
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