VR Simulator For Nano SMMS Teleoperation over the Delayed Networks

Abstract

This paper introduces VR Simulator for SMMS (Single Master Multiple Slave) nano teleoepration over the delayed communication, which enables more dexterous nano-manipulation with the aid of it. Human can take a control of master device (Haptic device) to control and to manipulate the nano/bio object by using multiple nano-manipulators in the remote area (slave site) over the delayed network. By using multiple nano-manipulators to manipulate the nano/bio object, it increases DOF in manipulating the object and thus more tasks in manipulating the object. Time delay is also one of the essential factors which need compensation in VR teleoperation system. A method to deal with time delay will also be introduced. Simulations are performed to validate the proposed framework.

Design of an MRI compatible haptic interface

“…By locally controlling the decoupled shape system, secure and tight cooperation such as formation control could be achieved. In [6] wave variable based method was applied in simulation for nano SOMR teleoperation, where operator could take a control of master device to control and manipulate the nano/bio object by using multiple nanomanipulators in the remote area over the delayed network. An approach for balancing a single operator's command and multi-robot's autonomy was proposed to allow a human to better control a team of robots in [7].…”

Design of single-operator-multi-robot teleoperation systems with random communication delay

“…By locally controlling the decoupled shape system, secure and tight cooperation such as formation control could be achieved. In [6] wave variable based method was applied in simulation for nano SOMR teleoperation, where operator could take a control of master device to control and manipulate the nano/bio object by using multiple nanomanipulators in the remote area over the delayed network. An approach for balancing a single operator's command and multi-robot's autonomy was proposed to allow a human to better control a team of robots in [7].…”

Multiple Cooperative Bilateral Teleoperation with Time-Varying Delay

“…In this system, one human can control one slave robot to perform a separated operation in a cooperative task, thus the system may demand a large number of human operators if the task requires many slave robots. In [6]- [9] the single master and multiple slaves (SMMS) systems were considered, but the control methods were proposed only for the motion coordination. Both MMMS and SMMS systems are applied for the tasks which need the cooperation of many slave robots, such as lifting heavy objects, assembly works, etc.…”