Internet-Based Bilateral Teleoperation Based on Wave Variable With Adaptive Predictor and Direct Drift Control

2005 ◽  
Vol 128 (1) ◽  
pp. 86-93 ◽  
Author(s):  
Ho Ching ◽  
Wayne J. Book
Keyword(s):  
Force Feedback ◽  
Transmission Delay ◽  
Recursive Least Squares ◽  
Bilateral Teleoperation ◽  
Practical Applications ◽  
Wave Variable ◽  
Environmental Force ◽  
Rigid Contact ◽  
The Cost ◽  
Drift Control

In a conventional bilateral teleoperation, transmission delay over the Internet can potentially cause instability. A wave variable algorithm guarantees teleoperation stability under varying transmission delay at the cost of poor transient performance. Adding a predictor on the master side can reduce this undesirable side effect, but that would require a slave model. An inaccurate slave model used in the predictor as well as variations in transmission delay, both of which are likely under realistic situations, can result in steady-state errors. A direct drift control algorithm is used to drive this error to zero, regardless of the source of the error. A semi-adaptive predictor that can distinguish between free space and a rigid contact environment is used to provide a more accurate force feedback on the master side. A full adaptive predictor is also used that estimates the environmental force using recursive least squares with a forgetting factor. This research presents the experimental results and evaluations of the previously mentioned wave-variable-based methods under a realistic operation environment using a real master and slave. The algorithm proposed is innovative in that it takes advantage of the strengths of several control methods to build a promising bilateral teleoperation setup that can function under varying transmission delay, modeling error, and changing environment. Success could lead to practical applications in various fields, such as space-based remote control, and telesurgery.

Internet-Based Bilateral Teleoperation Based on Wave Variable With Semi-Adaptive Predictor and Direct Drift Control

2005 ◽  
Author(s):  
Ho Ching ◽  
Wayne J. Book
Keyword(s):  
Control Algorithm ◽  
Force Feedback ◽  
Transmission Delay ◽  
Bilateral Teleoperation ◽  
Robust Methods ◽  
Wave Variable ◽  
Rigid Contact ◽  
The Cost ◽  
Source Of Error ◽  
Drift Control

In a conventional bilateral teleoperation, transmission delay over the internet can potentially cause instability. One of the more robust methods of dealing with this problem is the wave variable. Wave variable guarantees teleoperation stability even under varying transmission delay at the cost of poor transient performance. Adding a predictor on the master side can reduce this undesirable side-effect, but that would require a slave model. Inaccurate slave model used in the predictor as well as variations in transmission delay, both of which are likely under realistic situations, can result in steady state errors. A direct drift control algorithm is used to drive this error to zero regardless of the source of error. A semi-adaptive predictor that can distinguish between free space and rigid contact environment is also used to provide a more accurate force feedback on the master side. This research presents the experimental results and evaluations of the previously mentioned wave variable based methods under realistic operation environment using real master and slave.

Human Evaluation of Internet-Based Bilateral Teleoperation Using Wave Variables With Adaptive Predictor and Direct Drift Control

2006 ◽  
Author(s):  
Ho Ching ◽  
Wayne J. Book
Keyword(s):  
Human Subjects ◽  
Transmission Delay ◽  
Bilateral Teleoperation ◽  
Wave Variables ◽  
Human Evaluation ◽  
Maze Navigation ◽  
Improved Performance ◽  
Tracking Surface ◽  
The Cost ◽  
Drift Control

In a conventional bilateral teleoperation, transmission delay over the Internet can potentially cause instability. The wave variables algorithm can solve this problem at the cost of poor transient response. The wave variables algorithm with adaptive predictor and drift control based on our previous work [24] has been proposed to provide stability under time delay with improved performance. The effectiveness of this algorithm is fully evaluated using human subjects with no previous experience in haptics. Three algorithms are tested using Phantom haptic devices as master and slave: conventional bilateral teleoperation with no transmission delay as control, wave variables with 200-300 ms transmission delay one way, and wave variables with adaptive predictor and direct drift control (WAPD) also with 200-300 ms delay one way. For each algorithm the human subjects are asked to perform three simple tasks: free space trajectory tracking, surface contour identification, and maze navigation. The results show WAPD to be superior to regular wave variables algorithm with higher subject ratings.

Wave-Variable Based Force Feedback for a Space-Qualified Telerobot

2008 ◽  
Author(s):  
J. Scot Hart ◽  
Pete Shull ◽  
Diana Gentry ◽  
Gu¨nter Niemeyer ◽  
Stephen Roderick ◽  
...  
Keyword(s):  
Dynamic Capabilities ◽  
Force Feedback ◽  
Contact Forces ◽  
Stable Operation ◽  
Bilateral Teleoperation ◽  
Large Space ◽  
Wave Variable ◽  
Control Framework ◽  
Acceleration Feedback ◽  
Local Feedback

Bilateral teleoperation across significant time delays has been extensively studied and is posed to provide remote control of orbiting robots. Unfortunately, most standard approaches assume an impedance controlled, backdrivable robot. In this work, we apply wave variable control to Ranger, a large, space-qualified, geared robot. We incorporate local feedback of contact forces into the control framework to achieve backdrivable operation. In particular, this control framework imitates an idealized point mass to respect Ranger’s dynamic capabilities. Beyond perceiving steady state contact forces, the user’s perception can be enhanced with high-frequency acceleration feedback of contact transients. Experimental results from controlling Ranger using network communications show stable operation in free space and contact.

scholarly journals Sensuator: A Hybrid Sensor–Actuator Approach to Soft Robotic Proprioception Using Recurrent Neural Networks

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 30
Author(s):  
Pornthep Preechayasomboon ◽  
Eric Rombokas
Keyword(s):  
Neural Networks ◽  
Recurrent Neural Networks ◽  
Linear Models ◽  
Open Loop ◽  
Proof Of Concept ◽  
State Estimator ◽  
Loop Control ◽  
Practical Applications ◽  
Soft Actuator ◽  
The Cost

Soft robotic actuators are now being used in practical applications; however, they are often limited to open-loop control that relies on the inherent compliance of the actuator. Achieving human-like manipulation and grasping with soft robotic actuators requires at least some form of sensing, which often comes at the cost of complex fabrication and purposefully built sensor structures. In this paper, we utilize the actuating fluid itself as a sensing medium to achieve high-fidelity proprioception in a soft actuator. As our sensors are somewhat unstructured, their readings are difficult to interpret using linear models. We therefore present a proof of concept of a method for deriving the pose of the soft actuator using recurrent neural networks. We present the experimental setup and our learned state estimator to show that our method is viable for achieving proprioception and is also robust to common sensor failures.

scholarly journals Ring-Forming Polymerization toward Perfluorocyclobutyl and Ortho-Diynylarene-Derived Materials: From Synthesis to Practical Applications

Materials ◽  
2021 ◽  
Vol 14 (6) ◽  
pp. 1486
Author(s):  
Eugene B. Caldona ◽  
Ernesto I. Borrego ◽  
Ketki E. Shelar ◽  
Karl M. Mukeba ◽  
Dennis W. Smith
Keyword(s):  
Chemical Resistance ◽  
Structural Features ◽  
Review Article ◽  
Aryl Ether ◽  
Aromatic Rings ◽  
Practical Applications ◽  
Repeat Units ◽  
Wide Range ◽  
Synthetic Routes ◽  
The Cost

Many desirable characteristics of polymers arise from the method of polymerization and structural features of their repeat units, which typically are responsible for the polymer’s performance at the cost of processability. While linear alternatives are popular, polymers composed of cyclic repeat units across their backbones have generally been shown to exhibit higher optical transparency, lower water absorption, and higher glass transition temperatures. These specifically include polymers built with either substituted alicyclic structures or aromatic rings, or both. In this review article, we highlight two useful ring-forming polymer groups, perfluorocyclobutyl (PFCB) aryl ether polymers and ortho-diynylarene- (ODA) based thermosets, both demonstrating outstanding thermal stability, chemical resistance, mechanical integrity, and improved processability. Different synthetic routes (with emphasis on ring-forming polymerization) and properties for these polymers are discussed, followed by their relevant applications in a wide range of aspects.

scholarly journals Enhanced Thermoelectric Performance of n-Type Bi2Se3 Nanosheets through Sn Doping

Nanomaterials ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 1827
Author(s):  
Mengyao Li ◽  
Yu Zhang ◽  
Ting Zhang ◽  
Yong Zuo ◽  
Ke Xiao ◽  
...  
Keyword(s):  
Figure Of Merit ◽  
Cost Effective ◽  
Low Grade ◽  
Hot Press ◽  
Processing Technologies ◽  
Sn Doping ◽  
Practical Applications ◽  
Alternative Materials ◽  
The Cost ◽  
Low Grade Heat

The cost-effective conversion of low-grade heat into electricity using thermoelectric devices requires developing alternative materials and material processing technologies able to reduce the currently high device manufacturing costs. In this direction, thermoelectric materials that do not rely on rare or toxic elements such as tellurium or lead need to be produced using high-throughput technologies not involving high temperatures and long processes. Bi2Se3 is an obvious possible Te-free alternative to Bi2Te3 for ambient temperature thermoelectric applications, but its performance is still low for practical applications, and additional efforts toward finding proper dopants are required. Here, we report a scalable method to produce Bi2Se3 nanosheets at low synthesis temperatures. We studied the influence of different dopants on the thermoelectric properties of this material. Among the elements tested, we demonstrated that Sn doping resulted in the best performance. Sn incorporation resulted in a significant improvement to the Bi2Se3 Seebeck coefficient and a reduction in the thermal conductivity in the direction of the hot-press axis, resulting in an overall 60% improvement in the thermoelectric figure of merit of Bi2Se3.

Optimal stationary strategies in leavable Markov decision processes

1990 ◽  
Vol 27 (01) ◽  
pp. 134-145
Author(s):  
Matthias Fassbender
Keyword(s):  
Transition Probabilities ◽  
Practical Applications ◽  
Stationary Strategies ◽  
Countable State ◽  
Markov Decision ◽  
Bias Optimality ◽  
The Mean ◽  
Optimal Stationary Strategies ◽  
The Cost ◽  
Reward Criterion

This paper establishes the existence of an optimal stationary strategy in a leavable Markov decision process with countable state space and undiscounted total reward criterion. Besides assumptions of boundedness and continuity, an assumption is imposed on the model which demands the continuity of the mean recurrence times on a subset of the stationary strategies, the so-called ‘good strategies'. For practical applications it is important that this assumption is implied by an assumption about the cost structure and the transition probabilities. In the last part we point out that our results in general cannot be deduced from related works on bias-optimality by Dekker and Hordijk, Wijngaard or Mann.

scholarly journals Budget Feasible Mechanisms on Matroids

Algorithmica ◽  
2020 ◽  
Author(s):  
Stefano Leonardi ◽  
Gianpiero Monaco ◽  
Piotr Sankowski ◽  
Qiang Zhang
Keyword(s):  
Polynomial Time ◽  
Private Information ◽  
Independent Set ◽  
Deterministic Algorithm ◽  
Matroid Intersection ◽  
Practical Applications ◽  
Incentive Compatible ◽  
The Cost ◽  
Special Case ◽  
Budget Feasible

AbstractMotivated by many practical applications, in this paper we study budget feasible mechanisms with the goal of procuring an independent set of a matroid. More specifically, we are given a matroid $${\mathcal {M}}=(E,{\mathcal {I}})$$ M = ( E , I ) . Each element of the ground set E is controlled by a selfish agent and the cost of the element is private information of the agent itself. A budget limited buyer has additive valuations over the elements of E. The goal is to design an incentive compatible budget feasible mechanism which procures an independent set of the matroid of largest possible value. We also consider the more general case of the pair $${\mathcal {M}}=(E,{\mathcal {I}})$$ M = ( E , I ) satisfying only the hereditary property. This includes matroids as well as matroid intersection. We show that, given a polynomial time deterministic algorithm that returns an $$\alpha $$ α -approximation to the problem of finding a maximum-value independent set in $${\mathcal {M}}$$ M , there exists an individually rational, truthful and budget feasible mechanism which is $$(3\alpha +1)$$ ( 3 α + 1 ) -approximated and runs in polynomial time, thus yielding also a 4-approximation for the special case of matroids.

Transparent four-channel bilateral control architecture using modified wave variable controllers under time delays

Robotica ◽  
2014 ◽  
Vol 34 (4) ◽  
pp. 859-875 ◽  
Author(s):  
Da Sun ◽  
Fazel Naghdy ◽  
Haiping Du
Keyword(s):  
Time Delays ◽  
Large Time ◽  
Wave Transformation ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Wave Variable ◽  
Guarantee System ◽  
Remote Environment ◽  
The Stability ◽  
Teleoperation Systems

SUMMARYStability and transparency are two critical indices of bilateral teleoperation systems. The wave variable method is a conservative approach to robustly guarantee system passivity under arbitrary constant time delays. However, the wave-variable-based reflection is an intrinsic problem in this method because it can significantly degrade system transparency and disorient the operator's perception of the remote environment. In order to enhance both the transparency and the stability of bilateral teleoperation systems in the presence of large time delays, a new four-channel (4-CH) architecture is proposed which applies two modified wave-transformation controllers to reduce wave-based reflections. Transparency and stability of the proposed system are analyzed and the improvement in these when using this method is measured experimentally. Results clearly demonstrate that the proposed method can produce high transparency and stability even in the presence of large time delays.

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