Design of force compensator with variable gain for bilateral control system under time delay

Morimitsu, Hidetaka; Katsura, Seiichiro; Tomizuka, Masayoshi

doi:10.1109/isie.2013.6563744

Cited by 6 publications

(6 citation statements)

References 14 publications

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“…Apart from delay, the scaling factor in macro-micro teleoperations [19,20] and the difference in inertia between the master and the slave system [21] can also deteriorate systems transparency [22]. Time-Delay compensation techniques [23,24,25] can overcome these barriers while Fuzzy Controller techniques [26,27] can protect the haptic systems from failure when data transmission is insufficient. The high-computational-cost in Tele-Haptic applications can be moderated with a high-performance computing environment such as a computational grid [28].…”

Section: Internet-based Supermedia Applicationsmentioning

confidence: 99%

Interconnecting Haptic Interfaces through The Internet

Kokkonis¹,

Ke²,

Kontogiannis³

et al. 2018

Preprint

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Supermedia streams transfer video, audio, haptic and other sensory data. Real -time transfering of supermedia streams over the Internet is quite challenging. This paper outlines the proposed protocols for transferring supermedia streams over the Internet. Moreover, it describes the Quality of Service (QoS) requirements for supermedia applications that a network has to fulfill. Extensive simulations and experiments for the performance evaluation of transport protocols for real time transferring HEVC streams with supermedia data are carried out. Complements, differences and relevancies between simulation and real world experiments are discussed. The metrics that are measured for the performance evaluation are delay, jitter, throughput, efficiency, packet loss and one proposed by the authors, packet arrival deviation. The simulation tests reveal which protocols could be used for the transfer of real-time supermedia data with a HEVC video stream.

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Section: Internet-based Supermedia Applicationsmentioning

confidence: 99%

Interconnecting Haptic Interfaces through The Internet

Kokkonis¹,

Ke²,

Kontogiannis³

et al. 2018

Preprint

View full text Add to dashboard Cite

show abstract

“…Other factors that can deteriorate the QoE is the scaling factor in macro-micro teleoperations [20,21] and the inertia of the haptic system [22,23]. Some interesting techniques that can compensate the delay of the network are shown in [24][25][26]. Moreover Fuzzy algorithms [27,28] can be used when the network performance is not sufficient.…”

Section: Internet-based Haptic Applicationsmentioning

confidence: 99%

Interconnecting Haptic Interfaces with High Update Rates through the Internet

Kokkonis

Psannis

Kontogiannis

et al. 2018

ASI

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Real-time transferring of the haptic sense over the Internet is quite a challenging task. This paper outlines the proposed protocols for transferring haptic streams over the Internet. Moreover, it describes the Quality of Service requirements that a network has to fulfill in order to successfully use haptic interfaces with high update rates over the Internet. Extensive simulations and experiments for the performance evaluation of transport protocols for real-time transferring haptic data are carried out. Complements between simulation and real world experiments are discussed. The metrics that are measured for the performance evaluation are delay, jitter, throughput, efficiency, packet loss and one proposed by the authors, packet arrival deviation. The simulation tests reveal which protocols could be used for the transfer of real-time haptic data over the Internet.

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“…The concept of frequency domain damping (FDD) was proposed (15) to enhance the stability performance. Force controller gain was designed to be variable (16) to realize good position tracking performance. There is another method that utilizes visual information to deal with a communication delay (17) .…”

Section: Introductionmentioning

confidence: 99%

“…Since the orientation of the control criteria is different from any other conventional methods, a bilateral control system with a phase-lag compensator only is utilized as the conventional method in the experiments. It is known that the stability can be enhanced by the use of a phase-lag compensator (16) .…”

Section: Introductionmentioning

confidence: 99%

Realization of Simultaneity in Bilateral Control System under Communication Delay

Nishimura

Katsura

2015

IEEJ Journal IA

Self Cite

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The realization of a new communication medium that realizes the transmission of haptic information between distant places is required. A bilateral control system is an effective technique that can share tactile sensation between two systems. However, the performance of the bilateral control tends to destabilize, and the haptic information deteriorates under a communication delay because haptic information has the bilateral information flow property. This is because the control goals cannot be achieved in real time owing to the delay time. Therefore, a novel method is proposed to realize simultaneity in a bilateral control system under a communication delay. The proposed control system is designed to realize the control goal equations for bilateral control regardless of the delay time and is designed symmetrically. Buffering the force information of the system resolves the interference between the modal space caused by the communication delay. The entire control system is stabilized by using a phase-lag compensator that has the equivalent meaning of acceleration response feedback with a high pass filter. The validity of the proposed method is confirmed by experiments.

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Design of force compensator with variable gain for bilateral control system under time delay

Cited by 6 publications

References 14 publications

Interconnecting Haptic Interfaces through The Internet

Interconnecting Haptic Interfaces through The Internet

Interconnecting Haptic Interfaces with High Update Rates through the Internet

Realization of Simultaneity in Bilateral Control System under Communication Delay

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