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Impedance Field-based Teleoperation with Data Holders for Reducing Data Traffic in Haptic Transmission and Its Analysis of Performance and Stability

Satoshi Hangai, Takahiro Nozaki
2020 IEEE Access  
In order to realize a vivid tactile transmission in a teleoperation system, it is necessary to send and receive a lot of motion information such as position, speed, and force with extreme high frequency  ...  INDEX TERMS Haptics, bilateral control, teleoperation, traffic reduction, information technology. 6334 This work is licensed under a Creative Commons Attribution 4.0 License.  ...  ANALYSIS In this section, the performance and stability of the bilateral control system with FOH communication are analyzed under different packet transmission periods.  ... 
doi:10.1109/access.2020.3047853 fatcat:k6smrnbyrbejdphiiqhu24ch4q

Three-channel control architecture for multilateral teleoperation under time delay

Uğur TÜMERDEM
2019 Turkish Journal of Electrical Engineering and Computer Sciences  
As in bilateral teleoperation, time delay is an important problem, and stability and transparency, which quantifies the performance of the teleoperation system, are critical in the design of multilateral  ...  control systems.  ...  With the advances in communication technologies and widespread use of bilateral teleoperation systems in applications such as robotic surgery [1] , robotic rehabilitation [2] , and telediagnosis [3]  ... 
doi:10.3906/elk-1802-144 fatcat:k66hlm4xjraurfbef47wzau72m

$H_{\infty }$ Loop Shaping Bilateral Controller for a Two-Fingered Tele-Micromanipulation System

Moussa Boukhnifer, Antoine Ferreira
2007 IEEE Transactions on Control Systems Technology  
Index Terms--loop-shaping design, microteleoperation, motion and force scaling, robust bilateral controller, time delay.  ...  However, reliable and efficient microteleoperation systems with haptic feedback over the internet face strong problems due to microenvironment variations, the scaling effect problem between worlds with  ...  DESIGN OF THE LOOP SHAPING CONTROLLER The bilateral controller to be used for the teleoperation system needs to satisfy optimal performance and stability robustness against multiple disturbances (communication  ... 
doi:10.1109/tcst.2007.902951 fatcat:23h23tydsjg3rkyssqnqooy4da

Exploring Computation-Communication Tradeoffs in Camera Systems [article]

Amrita Mazumdar, Thierry Moreau, Sung Kim, Meghan Cowan, Armin Alaghi, Luis Ceze, Mark Oskin, Visvesh Sathe
2017 arXiv   pre-print
In this paper, we characterize two novel camera systems that use acceleration techniques to push the extremes of energy and performance scaling, and explore the computation-communication tradeoffs in their  ...  The growing demand for real-time and low-power computer vision, coupled with trends towards high-efficiency heterogeneous systems, has given rise to a wide range of image processing acceleration techniques  ...  ACKNOWLEDGEMENTS We thank members of the Sampa lab and the anonymous reviewers for their feedback on earlier versions of this work.  ... 
arXiv:1706.03864v2 fatcat:2t3d4a2n6vdqvmo24pk27qlzqq

A predictive control approach and interactive GUI to enhance distal environment rendering during robotized tele-echography: Interactive platform for robotized telechography

Pierre Vieyres, Laurence Josserand, Marco Chiccoli, Juan Sandoval, Nicolas Morette, Cyril Novales, Aicha Fonte, Soteris Avgousti, Sotos Voskarides, Takis Kasparis
2012 2012 IEEE 12th International Conference on Bioinformatics & Bioengineering (BIBE)  
the operator site, the rendering of the intera remote robotic systems with its environment (i. the control of the robot's orientation.  ...  The fir development of a new control architecture ba model providing an anticipated value of the d stiffness; it is complemented with a graphic us which provides the expert with the real-time the haptic  ...  BILATERAL CONTROL ARCHITECTURE In order to preserve the stability and transparency of the system, we developed and compared two bilateral control architectures.  ... 
doi:10.1109/bibe.2012.6399680 dblp:conf/bibe/VieyresJCSMNFAVK12 fatcat:zbcicwnybja5jfiiepjppixqye

Discrete-time control of bilateral teleoperation systems: a review

Amir Aminzadeh Ghavifekr, Amir Rikhtehgar Ghiasi, Mohammad Ali Badamchizadeh
2017 Robotica (Cambridge. Print)  
Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms.  ...  SUMMARY The possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature.  ...  [8] have claimed that using finite time control can provide better control performances for teleoperation systems with position error constraints.  ... 
doi:10.1017/s0263574717000583 fatcat:wemuz5pbs5gx5gnzlbwvodlzam

Extended transparency as a quantitative performance measure in bilateral teleoperation

Jonghyun Kim, Pyung Hun Chang
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Finally, extended transparency is applied to two kinds of control architecture in a one-DOF LTI teleoperation system.  ...  In bilateral teleoperation, the performance measure has significant considerations: control objective, quantitativeness, time delay and human haptic perception, but no suitable performance measure exist  ...  And the engineers of bilateral teleoperation system need a standard of judgment about the question; which control architecture (or control gain set) has better performance?  ... 
doi:10.1109/iros.2007.4399473 dblp:conf/iros/KimC07 fatcat:jcz7cd745bec5nknkmtv7oapbi

Composite video artifact removal by nonlinear bilateral filtering

Sunghee Kim, Kihyun Hong
2005 Visual Communications and Image Processing 2005  
Simulation and analysis show that the proposed algorithm with nonlinear bilateral filtering removes efficiently the dot crawl artifacts on composite video image and supports improving further video enhancement  ...  A large number of comb filtering techniques for a national television system committee (NTSC) or phase alternate each line (PAL) color decoding have been researched and developed for the last three decades  ...  performance of the nonlinear bilateral filter.  ... 
doi:10.1117/12.631409 fatcat:y4absuhh4jgc3dzbhllqwqotdi

Bilateral controller for teleoperators with time delay via μ-synthesis

G.M.H. Leung, B.A. Francis, J. Apkarian
1995 IEEE Transactions on Robotics and Automation  
In the standard teleoperator system, force and velocity signals are communicated between a master robot and a slave robot.  ...  It is well-known that the system can become unstable when even a small time delay exists in the communication channel.  ...  In this paper, we introduce a method for the design of a controller for a bilateral force-re ecting teleoperator with time delay through the communication channel.  ... 
doi:10.1109/70.345941 fatcat:nsb5lkdjnrd7dazk7dqgbmlfqu

Page 2417 of Mathematical Reviews Vol. , Issue 90D [page]

1990 Mathematical Reviews  
93C75 Anderson, Robert J. (1-SAND); Spong, Mark W. (1-IL-S) Bilateral control of teleoperators with time delay.  ...  This problem restricts the bandwidths of all robot systems and is not unique to bilateral teleoperators. Jerzy Jaron (Wroctaw) 90d:70064 70Q05 70E15 Karpachev, Yu. A. (2-KIEVP); Kuz'menko, Yu.  ... 

Excess Force Reduction in Bilateral Control for Precise and Safe Operation

R.M. Maheshi Ruwanthika, Seiichiro Katsura
2021 IEEJ Journal of Industry Applications  
Acceleration-based bilateral control is implemented in a virtual space with a master virtual force input, virtual position response, and replica real force-position responses.  ...  This paper proposes a constrained bilateral control method to maintain a safe force limit in a remote environment in an event where the operator applies excessive force on the master system.  ...  Acknowledgments This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 201603011, 2021.  ... 
doi:10.1541/ieejjia.21004170 fatcat:peylggu47bdi7jlcyqzymlqode

Design and Implementation of a New Adaptive Algorithm for Dynamic Bandwidth Allocation [chapter]

Giorgio Calarco, Carla Raffaelli
2004 Lecture Notes in Computer Science  
Evaluations are developed with the aim to meet quality of service constraints for real time traffic and achieve a trade off between efficiency and scalability.  ...  This paper considers dynamic bandwidth management with the aim to support QoS transfer for traffic classes that access a Differentiated Services domain.  ...  Performance Analysis Performance analysis has been developed by simulation with the aim to prove the effectiveness of the logarithmic algorithm.  ... 
doi:10.1007/978-3-540-25969-5_18 fatcat:jh4fcphvlfbl7ilsgbkjx267hi

Passive event-based extrapolation for lossy haptic data compression in bilateral presence systems

P. Kremer, M. Kuschel, C. Preusche, M. Buss, G. Hirzinger
2009 2009 IEEE International Conference on Robotics and Automation  
A new lossy compression method is proposed for haptic (force, velocity) data as exchanged in bilateral telepresence systems.  ...  The first approach that assures the stability of the overall system including delayed communication) is deadband control introduced in [6], [7] .  ...  The passive subsystems of a bilateral presence system are illustrated in the upper diagram of Fig. 2 .  ... 
doi:10.1109/robot.2009.5152661 dblp:conf/icra/KremerKPBH09 fatcat:fobmakvmfngnhpta3h6kvaicsm

Stability and transparency in bilateral teleoperation

D.A. Lawrence
1993 IEEE Transactions on Robotics and Automation  
His interests are the areas of manipulator control, teleoperation system design, adaptive systems theory, and aircraft engine and spacecraft control.  ...  Restrictions apply. faculty at the University of Cincinnati in 1988, and then the University of Colorado in 1991.  ...  A GENERAL TELEOPERATOR ARCHITECTURE A bilateral teleoperation system consists of the master and slave mechanical systems, often with some degree of "self control," i.e., control loops closed separately  ... 
doi:10.1109/70.258054 fatcat:q745h4ebpvfltomdoydc3uip7i

Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design

Dapeng Tian, Bao Zhang, Honghai Shen, Jiaquan Li
2013 Mathematical Problems in Engineering  
The wave variable has been proposed to achieve robust stability against the time delay in bilateral control system.  ...  This paper analyzes this problem and proposes a supplement to the stability analysis for wave variable based bilateral control.  ...  Introduction Bilateral control is investigated for the haptic communication, which expands the range of human beings' activities to perform complex tasks such as telesurgery, space, and undersea exploration  ... 
doi:10.1155/2013/105298 fatcat:moslnaforbdnxaxfo3wrafuxcm
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