Control techniques and programming issues for time delayed Internet based teleoperation
Identifieur interne : 007032 ( Main/Exploration ); précédent : 007031; suivant : 007033Control techniques and programming issues for time delayed Internet based teleoperation
Auteurs : Saghir Munir [États-Unis] ; Wavne J. Book [États-Unis]Source :
- Journal of dynamic systems, measurement, and control [ 0022-0434 ] ; 2003.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Observateur.
English descriptors
- KwdEn :
Abstract
This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications, it is required that the control loop be closed through a time delayed network. This paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented on a windows NT based computer) of a similar system.
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Le document en format XML
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Woodruff School of Mechanical Engineering, Georgia Institute Of Technology</s1><s2>Atlanta, GA 30332</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Géorgie (États-Unis)</region></placeName></affiliation></author><author><name sortKey="Book, Wavne J" sort="Book, Wavne J" uniqKey="Book W" first="Wavne J." last="Book">Wavne J. Book</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>George W. Woodruff School of Mechanical Engineering, Georgia Institute Of Technology</s1><s2>Atlanta, GA 30332</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Géorgie (États-Unis)</region></placeName></affiliation></author></analytic><series><title level="j" type="main">Journal of dynamic systems, measurement, and control</title><title level="j" type="abbreviated">J. dyn. syst. meas. control</title><idno type="ISSN">0022-0434</idno><imprint><date when="2003">2003</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of dynamic systems, measurement, and control</title><title level="j" type="abbreviated">J. dyn. syst. meas. control</title><idno type="ISSN">0022-0434</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Bandwidth</term><term>Bilateral</term><term>Closed feedback</term><term>Control loop</term><term>Delayed time</term><term>Internet</term><term>Observer</term><term>Real time</term><term>Remote control</term><term>Remote operation</term><term>System identification</term><term>System with two degrees of freedom</term><term>Tactile sensitivity</term><term>User interface</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Boucle commande</term><term>Commande boucle fermée</term><term>Téléopération</term><term>Temps réel</term><term>Identification système</term><term>Observateur</term><term>Internet</term><term>Système 2 degrés liberté</term><term>Sensibilité tactile</term><term>Interface utilisateur</term><term>Télécommande</term><term>Temps différé</term><term>Largeur bande</term><term>Bilatéral</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Observateur</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications, it is required that the control loop be closed through a time delayed network. This paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented on a windows NT based computer) of a similar system.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Géorgie (États-Unis)</li></region></list><tree><country name="États-Unis"><region name="Géorgie (États-Unis)"><name sortKey="Munir, Saghir" sort="Munir, Saghir" uniqKey="Munir S" first="Saghir" last="Munir">Saghir Munir</name></region><name sortKey="Book, Wavne J" sort="Book, Wavne J" uniqKey="Book W" first="Wavne J." last="Book">Wavne J. 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