Passivity-Based Bilateral Tele-Driving System With Parametric Uncertainty and Communication Delays

Dong, Yimeng; Chopra, Nikhil

doi:10.1109/lcsys.2018.2879952

Cited by 10 publications

(4 citation statements)

References 9 publications

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“…Having a human operator in the control loop is very desirable and advantageous in applications where the remote site interaction has unknown and unstructured characteristics [60]. Over the last sixty years, there have been increasingly more telerobotics applications in various fields such as space [58], underwater control [66], hazardous environments [67], forest fire detection [68], military [69], mobile robots [70], tele-driving [71], telemedicine such as telesurgery [72] and telerehabilitation [62].…”

Section: Control Methods For Telerobotic Systems With Time Delaysmentioning

confidence: 99%

Review of Control Methods for Upper Limb Telerehabilitation With Robotic Exoskeletons

Bauer

Pan

2020

IEEE Access

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Section: Control Methods For Telerobotic Systems With Time Delaysmentioning

confidence: 99%

Review of Control Methods for Upper Limb Telerehabilitation With Robotic Exoskeletons

Bauer

Pan

2020

IEEE Access

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“…e) Intelligent state prediction model: One significant issue for bilateral teleoperation systems is synchronization or tracking performance error while considering variable time delay. Potential solutions need further evaluation and development, such as state synchronization schemes [244], wave filter models [245], and AIenabled state predictive models [246]. environments due to shortcomings in exiting online parameter estimation models.…”

Section: Summary and Insightsmentioning

confidence: 99%

QoS Provisioning: Key Drivers and Enablers Toward the Tactile Internet in Beyond 5G Era

et al. 2022

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The Tactile Internet has become a revolution for Internet technology, greatly improving the transmission of skill sets (audio, video, text, and haptics) over communication channels compared with traditional triple-play data (audio, video, text). It is a strong candidate to support next-generation delay-sensitive and loss-intolerant smart applications. However, stringent requirements for the Tactile Internet, including ultra-low latency, ultra-high reliability, high availability, and ultra-security, present critical challenges to ensure Quality of Service (QoS). Consequently, several approaches have been proposed to meet these QoS requirements. This article reviews QoS provisioning approaches for the Tactile Internet. First, we present key concepts for the fifth-generation and beyond technologies, Tactile Internet, and haptic communication. Second, we discuss the Tactile Internet use cases along with strict QoS requirements. Third, we classify existing solutions, including haptic codecs, control system designs, hybrid schemes, and intelligent prediction models; provide in-depth discussion regarding these approaches to improve QoS for the Tactile Internet applications; and investigate strengths and weaknesses for each proposed solution. Finally, we present open research challenges and discuss potential future research avenues to realize the Tactile Internet services.

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“…Suzuki et al [13] analyse a HITL semi-autonomous vehicle teleoperation system using 3D maps and GPS time synchronisation in a highly deterministic environment. Dong et al [14] propose a HITL tele-driving control design with a passivity-based adaptive control algorithm to enable a human driver to tele-drive a car-like mobile robot with haptic feedback using a two-degree-of-freedom (DOF) local robot (joystick). Zhang [15] discusses the vision, opportunities, and challenges in automated vehicle teleoperation.…”

Section: Related Workmentioning

confidence: 99%

Conceptualisation of Human-on-the-Loop Haptic Teleoperation With Fully Autonomous Self-Driving Vehicles in the Urban Environment

Kuru¹

2021

IEEE Open J. Intell. Transp. Syst.

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The automotive industry aims to deploy commercial level-5 fully autonomous self-driving vehicles (FA-SDVs) in a diverse range of benefit-driven concepts on city roads in the years to come. In all future visions of operating networks of FA-SDVs, humans are expected to intervene with some kind of remote supervisory role. Recent advances in cyber-physical systems (CPS) within the concept of Internet of Everything (IoE) using tactile internet (TI) teleport us to teleoperate remote objects within the cyber-world. Human-on-the-loop (HOTL) haptic teleoperation with an extension of human control and sensing capability by coupling with artificial sensors and actuators with an increased sense of real-time driving in the remote vehicle can help overcome the challenging tasks when the new driver -artificial intelligence (AI) agent -encounters an unorthodox situation that can't be addressed by the autonomous capabilities. This paper analyses HOTL real-time haptic delay-sensitive teleoperation with FA-SDVs, in the aspects of human-vehicle teamwork by establishing two similar remote parallel worlds -real-world vehicle time-varying environment and cyber-world emulation of this environment, i.e., digital twins (DTs) -in which a human telesupervisor (HTS), as a biological agent, can be immersed with no cybersickness enabling omnipresence through a timely bidirectional flow of energy and information. The experiments conducted as a proof of concept of HOTL haptic teleoperation regarding learning with human-vehicle collaboration show promising results and the potential of benefiting from the proposed framework.

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Passivity-Based Bilateral Tele-Driving System With Parametric Uncertainty and Communication Delays

Cited by 10 publications

References 9 publications

Review of Control Methods for Upper Limb Telerehabilitation With Robotic Exoskeletons

Review of Control Methods for Upper Limb Telerehabilitation With Robotic Exoskeletons

QoS Provisioning: Key Drivers and Enablers Toward the Tactile Internet in Beyond 5G Era

Conceptualisation of Human-on-the-Loop Haptic Teleoperation With Fully Autonomous Self-Driving Vehicles in the Urban Environment

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