Internet-Based Teleoperation of an Intelligent Robot With Optimal Two-Layer Fuzzy Controller

Sim, Kwee-Bo; Byun, Kwang-Sub; Harashima, Fumio

doi:10.1109/tie.2006.878295

Cited by 64 publications

(16 citation statements)

References 10 publications

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“…These early web interfaces required the user to click on a link or refresh the page to update the robot status due to the limitations of HTML at the time. Recently robots teleoperated over the web have become more common, such as [8]. See [13] for a discussion of several other robots teleoperated over the web.…”

Section: Related Workmentioning

confidence: 99%

Effective Semi-autonomous Telepresence

Coltin

Biswas

Veloso

2012

Lecture Notes in Computer Science

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Abstract. We investigate mobile telepresence robots to address the lack of mobility in traditional videoconferencing. To operate these robots, intuitive and powerful interfaces are needed. We present CoBot-2, an indoor mobile telepresence robot with autonomous capabilities, and a browser-based interface to control it. CoBot-2 and its web interface have been used extensively to remotely attend meetings and to guide local visitors to destinations in the building. From the web interface, users can control CoBot-2's camera, and drive with either directional commands, by clicking on a point on the floor of the camera image, or by clicking on a point in a map. We conduct a user study in which we examine preferences among the three control interfaces for novice users. The results suggest that the three control interfaces together cover well the control preferences of different users, and that users often prefer to use a combination of control interfaces. CoBot-2 also serves as a tour guide robot, and has been demonstrated to safely navigate through dense crowds in a long-term trial.

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Section: Related Workmentioning

confidence: 99%

Effective Semi-autonomous Telepresence

Coltin

Biswas

Veloso

2012

Lecture Notes in Computer Science

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“…Some papers focused on analyzing the stability and designing the controller of a networked control system with random or time-varying time delays [5]- [9]. With the development of the internet, more internet-based control applications such as telerobotics and teleoperations will emerge in the near future [10]. However, for real-time internetbased control systems, the effects of random time transmission delays and data drops caused by a router cannot be ignored.…”

Section: Introductionmentioning

confidence: 99%

Algorithm for Reducing the Effect of Network Delay of Sensor Data in Network-Based AC Motor Drives

Chun¹,

Ahn²,

Lee³

et al. 2011

Journal of Power Electronics

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Network-based controls for ac motor drive systems are becoming increasingly important. In this paper, an ac motor control system is implemented by a motor control module and three sensor modules such as a voltage sensor module, a current sensor module, and an encoder module. There will inevitably be network time delays from the sensor modules to the motor control system, which often degrades and even destabilizes the motor drive system. As a result, it becomes very difficult to estimate the network delayed ac sensor data. An algorithm to reduce the effects of network time delays on sensor data is proposed, using both a synchronization signal and a simple method for estimating the sensor data. The algorithm is applied to a vector controlled induction motor drive system, and the performance of the proposed algorithm is verified with experiments.

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“…All the improvements based on the IP packets transmission control protocol include modifying the TCP data transmitted algorithm [14], adding an IP packet buffer scheme [15,16], and increasing the priority of a transmission program to a protocol handler task [17], which can only slightly reduce time delay or delay jitter. As to the freedom of slave robots, increasing freedom can ensure the security of robots in avoiding obstacles, seeking goals, and tracking paths at a task programming level [18][19][20][21]. However, the transparency and real-time operating capacity of the system are strongly deteriorated.…”

Section: Introductionmentioning

confidence: 99%

Real-time mobile robot teleoperation via Internet based on predictive control

Wang

Liu

et al. 2008

Front. Mech. Eng. China

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A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay-jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.

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Internet-Based Teleoperation of an Intelligent Robot With Optimal Two-Layer Fuzzy Controller

Cited by 64 publications

References 10 publications

Effective Semi-autonomous Telepresence

Effective Semi-autonomous Telepresence

Algorithm for Reducing the Effect of Network Delay of Sensor Data in Network-Based AC Motor Drives

Real-time mobile robot teleoperation via Internet based on predictive control

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