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Control design of client using mixed sensitivity problem for multilateral teleoperation system
2015 IEEE/SICE International Symposium on System Integration (SII), 2015This paper considers a control design of client side using mixed sensitivity problem for multilateral teleoperation system. For multilateral teleoperation system, only the client side is considered. The 1-DOF (degree of freedom) paddle system as a client side is used.
Shogo Hamada +2 more
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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Automation of repetitive tasks can improve laparoscopic surgical procedures by unloading surgeons and reducing duration, trauma, and expense. However, surgical procedures involve delicate manipulation of deformable tissues in a very dynamic environment, suggesting that automated execution of surgical tasks should be carried out under the supervision of
Kamran Shamaei +6 more
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Automation of repetitive tasks can improve laparoscopic surgical procedures by unloading surgeons and reducing duration, trauma, and expense. However, surgical procedures involve delicate manipulation of deformable tissues in a very dynamic environment, suggesting that automated execution of surgical tasks should be carried out under the supervision of
Kamran Shamaei +6 more
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Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control
2018 IEEE Intelligent Vehicles Symposium (IV), 2018Despite the substantial progression of autonomous driving systems, their application is often limited e.g. due to safety margins which can be caused by uncertainties in the environment reconstruction. Then, via teleoperation as a fallback solution, a human-in-the-loop can be introduced as the main decision maker.
Michael Panzirsch +5 more
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A four-channel multilateral shared control architecture for dual-user teleoperation systems
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007This paper proposes a novel four-channel multilateral shared control architecture for dual-user teleoperation systems. The proposed control architecture is designed to allow interaction between two users as well as slave and environment through a dominance factor. The dominance factor adjusts the authority of the users over the slave robot and the task.
Behzad Khademian, Keyvan Hashtrudi-Zaad
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A novel multilateral teleoperation scheme with power-based time-domain passivity control
Transactions of the Institute of Measurement and Control, 2016Multilateral teleoperation systems, which are extended from the traditional bilateral teleoperation, have become subject to increasing attention in current years, with increasing industrial requirements, such as the remote operation of larger objects and more complex tasks.
Zheng Chen 0004 +3 more
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Written Communication System based on Multilateral Teleoperation using Scattering Matrix with Gains
2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2018This paper considers a written communication system based on a multilateral teleoperation. The main contribution of this paper is to propose a modified scattering matrix method for the multilateral teleoperation. Instead of the scattering parameter used in the previous researches, the new gains are proposed.
Yasunori Kawai, Takanori Miyoshi
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Multilateral haptics-based immersive teleoperation for improvised explosive device disposal
SPIE Proceedings, 2013Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel.
David Erickson +2 more
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Multilateral teleoperation control over time-delayed computer networks using wave variables
2012 IEEE Haptics Symposium (HAPTICS), 2012In this paper, a wave-variables-based control method for time-delayed multilateral teleoperation systems, which synchronizes position and force among multiple (three or more) master/slave arms, is proposed. The proposed method introduces a wave node, where multiple wave-variable-based transmission lines are connected.
Takahiro Kanno, Yasuyoshi Yokokohji
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2016 IEEE 55th Conference on Decision and Control (CDC), 2016
Time domain passivity control, a well known control scheme widely used for teleoperation systems, normally works under the constraint of zero division. Small force or velocity signals can cause the occurrence of zero division which ultimately leads the system to be unstable. This paper presents a novel switching time domain passivity control scheme for
Usman Ahmad 0002, Ya-Jun Pan 0001
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Time domain passivity control, a well known control scheme widely used for teleoperation systems, normally works under the constraint of zero division. Small force or velocity signals can cause the occurrence of zero division which ultimately leads the system to be unstable. This paper presents a novel switching time domain passivity control scheme for
Usman Ahmad 0002, Ya-Jun Pan 0001
openaire +1 more source
Adaptive global sliding mode control for multilateral teleoperation systems with varying-time delay
2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2022Asma Ounissi +2 more
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