The Effect of Controller Design on Delayed Bilateral Teleoperation Performance: An Experimental Comparison

Abstract

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

“…The main objective of using those components in a holistic system is to help the HTS to experience and perceive a realistic vehicle SSA leading to his/her appropriate and prompt decision-making in supervising the FA-SDV safely while realising its tasks optimally. However, communication delays highly affect both the closedloop stability and performance of HTSs, often measured in terms of motion synchronisation and accurate rendering of the vehicle-environment interaction force to the operator [58]. The transfer of data requires massive communication bandwidth for reducing time-varying delays between two ends without causing cybersickness regarding the disorientation or desynchronisation of the inputs (e.g., audiovisual (real-time video compression), SSA and haptics).…”

Experimental Validation of Reaction Force Estimation for Secure Robot Teleoperation

“…Recent developments in communication technology have enabled teleoperation over the Internet, and subsequently, the problems of communication delays, packet losses, and cybersecurity must be overcome. Numerous studies on communication delays and packet loss in teleoperation have been conducted [4], [7], [19]- [23], whereas cybersecurity issues have recently emerged because of increased cyberattacks against industrial control systems, such as Stuxnet and Industroyer [24], [25].…”