This paper presents a novel three-channel control architecture for bilateral teleoperation with/without time delay. In concrete terms, this system has two transmission channels of position and force information from the master side to the slave side and one transmission channel of force information from the slave side to the master side. The master controller of the proposed three-channel teleoperation system does not include a position controller, i.e. only force control is implemented in the master side, in order to improve operationality in the master side. Fig. 1 shows a general four-channel architecture for bilateral teleoperation. In Fig. 1 s is estimated by using not a force sensor but the reaction torque observer (RTOB). T 1 denotes delay time from the master side to the slave side and T 2 denotes delay time from the slave side to the master side. C 1 , C 4 , C m and C s are position control parameters, and C 2 , C 3 , C 5 and C 6 are force control parameters.In the proposed three-channel control architecture, control parameters are set as (1)-(3).Therefore, master and slave acceleration reference values are calculated as (4) and (5)where C p (s) = K p + K v s and C f = K f are a position controller and a force controller, respectively. K p , K v and K f denote position feedback gain, velocity feedback gain and force feedback gain, respectively. Fig. 2(a), it is shown that the position responses of the master and slave robots almost perfectly tracked each other. In addition, as shown in Fig. 2(b), the operator felt little manipulating force in free motion. The validity of the proposed method was confirmed by experimental results. Kenji Natori *
Student MemberKouhei Ohnishi *
Senior MemberHirotaka Furukawa * *
Non-memberBilateral control is one of the control methods of teleoperation systems. Human operators can feel reaction force from remote environment by means of this control scheme. This paper presents a novel control architecture for bilateral teleoperation with/without time delay. The proposed bilateral control system has three communication channels between master and slave robots. In concrete terms, this system has two transmission channels of position and force information from the master side to the slave side and one transmission channel of force information from the slave side to the master side. The master controller of the proposed three-channel teleoperation system does not include a position controller, i.e. only force control is implemented in the master side, in order to improve operationality in the master side. The three-channel controller with time delay as well as without time delay gives better performance (higher transparency) than other conventional controllers such as four-channel controllers and so on. In the proposed controller, models of a slave robot and communication time delay are not required differently from conventional methods, and robust acceleration control is achieved by using the disturbance observer (DOB). Hybrid matrices are utilized to analyze four-channel and...
Some of the different aspects of the DSP enabled receivers in access networks will be addressed in this work. A revision of the main topics which may impact DSP design will be discussed through application examples. Modulation formats, KK receivers and coherent receivers are analyzed at light of the DSP enabled receivers' impact. Also, relevant are FEC and burst mode which are debated at the light of PON requirements. Simplified analog coherent receivers are presented as a use case to serve as simplification path for non-DSP high performance receivers. On the other end, aiming at discussing current PON limits, an ultra dense wavelength division multiplexing (UDWDM) use case is also presented where several advanced topics, like pulse shaping, high density and simplified DSP operations are considered.
SUMMARYWe propose the network on demand concept to yield the optical access network system that well handles the diversity in user demands and support technologies such as module and devices configuration. In this proposal, the network accommodation equipment, such as OLT needed for each service, is installed 'virtually' using WDM, and the physical rate can adapt to the user-demanded service rate by using the WDM parallel transmission technique. It well handles the diversity in user demands/services and lowers system power consumption.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.