HapticV1, PascalFrancis, Corpus, bibRecord, 000457

Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach

Identifieur interne : 000457 ( PascalFrancis/Corpus ); précédent : 000456; suivant : 000458

Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach

Auteurs : Changhoon Seo ; Jong-Phil Kim ; Jaeha Kim ; Hyo-Sung Ahn ; Jeha Ryu

Source :

Journal of mechanical science and technology [ 1738-494X ] ; 2011.

RBID : Pascal:11-0382943

Descripteurs français

Pascal (Inist)
- Téléopération, Système à retard, Système paramètre variable, Réalité virtuelle, Commande robuste, Robustesse, Robotique, Réseau communication, Commande force, Commande position, Transmission donnée, Relation maître esclave, Canal transmission, Retard variable, Perte transmission, Commutation paquet, Méthode énergétique, Temps retard, Interface utilisateur, Stabilité robuste, Transparence, Bilatéral, ..

English descriptors

KwdEn :
- Bilateral, Communication network, Data transmission, Delay system, Delay time, Energy method, Force control, Master slave relationship, Packet switching, Position control, Remote operation, Robotics, Robust control, Robust stability, Robustness, Time varying system, Transmission channel, Transmission loss, Transparency, User interface, Variable delay, Virtual reality.

Abstract

This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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C01	`01`		`ENG`	@0 This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.
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Format Inist (serveur)

NO :	PASCAL 11-0382943 INIST
ET :	Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach
AU :	SEO (Changhoon); KIM (Jong-Phil); KIM (Jaeha); AHN (Hyo-Sung); RYU (Jeha)
AF :	School of Mechatronics, Gwangju Institute of Science and Technology/Gwangju, 500-712/Corée, République de (1 aut., 3 aut., 4 aut., 5 aut.); Korea Institute of Science and Technology/Seoul, 136-791/Corée, République de (2 aut.)
DT :	Publication en série; Niveau analytique
SO :	Journal of mechanical science and technology; ISSN 1738-494X; Corée, République de; Da. 2011; Vol. 25; No. 8; Pp. 2089-2100; Bibl. 31 ref.
LA :	Anglais
EA :	This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.
CC :	001D02D11; 001D02B04; 001D02D06
FD :	Téléopération; Système à retard; Système paramètre variable; Réalité virtuelle; Commande robuste; Robustesse; Robotique; Réseau communication; Commande force; Commande position; Transmission donnée; Relation maître esclave; Canal transmission; Retard variable; Perte transmission; Commutation paquet; Méthode énergétique; Temps retard; Interface utilisateur; Stabilité robuste; Transparence; Bilatéral; .
ED :	Remote operation; Delay system; Time varying system; Virtual reality; Robust control; Robustness; Robotics; Communication network; Force control; Position control; Data transmission; Master slave relationship; Transmission channel; Variable delay; Transmission loss; Packet switching; Energy method; Delay time; User interface; Robust stability; Transparency; Bilateral
SD :	Teleacción; Sistema con retardo; Sistema parámetro variable; Realidad virtual; Control robusta; Robustez; Robótica; Red de comunicación; Control fuerza; Regulación de la posición; Transmisión datos; Relación maestro esclavo; Canal transmisión; Retardo variable; Pérdida transmisión; Conmutación por paquete; Método energético; Tiempo retardo; Interfase usuario; Estabilidad robusta; Transparencia; Bilateral
LO :	INIST-27006.354000508561040230
ID :	11-0382943

Links to Exploration step

Pascal:11-0382943

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.</div>
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<fC01 i1="01" l="ENG"><s0>This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D02D11</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D02B04</s0>
</fC02>
<fC02 i1="03" i2="X"><s0>001D02D06</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Système à retard</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Delay system</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Sistema con retardo</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Système paramètre variable</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Time varying system</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Sistema parámetro variable</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Réalité virtuelle</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Virtual reality</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Realidad virtual</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Commande robuste</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Robust control</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Control robusta</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Robustesse</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Robustness</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Robustez</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Robotique</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Robotics</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Robótica</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Réseau communication</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Communication network</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Red de comunicación</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Commande force</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Force control</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>14</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Commande position</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Position control</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Regulación de la posición</s0>
<s5>15</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Transmission donnée</s0>
<s5>16</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Data transmission</s0>
<s5>16</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Transmisión datos</s0>
<s5>16</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Relation maître esclave</s0>
<s5>18</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Master slave relationship</s0>
<s5>18</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Relación maestro esclavo</s0>
<s5>18</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Canal transmission</s0>
<s5>19</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Transmission channel</s0>
<s5>19</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Canal transmisión</s0>
<s5>19</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Retard variable</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Variable delay</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Retardo variable</s0>
<s5>20</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Perte transmission</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Transmission loss</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Pérdida transmisión</s0>
<s5>21</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Commutation paquet</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Packet switching</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Conmutación por paquete</s0>
<s5>22</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Méthode énergétique</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Energy method</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Método energético</s0>
<s5>23</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Temps retard</s0>
<s5>24</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Delay time</s0>
<s5>24</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Tiempo retardo</s0>
<s5>24</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>25</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>User interface</s0>
<s5>25</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>25</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Stabilité robuste</s0>
<s5>26</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Robust stability</s0>
<s5>26</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Estabilidad robusta</s0>
<s5>26</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Transparence</s0>
<s5>27</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Transparency</s0>
<s5>27</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Transparencia</s0>
<s5>27</s5>
</fC03>
<fC03 i1="22" i2="X" l="FRE"><s0>Bilatéral</s0>
<s5>41</s5>
</fC03>
<fC03 i1="22" i2="X" l="ENG"><s0>Bilateral</s0>
<s5>41</s5>
</fC03>
<fC03 i1="22" i2="X" l="SPA"><s0>Bilateral</s0>
<s5>41</s5>
</fC03>
<fC03 i1="23" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fN21><s1>262</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 11-0382943 INIST</NO>
<ET>Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach</ET>
<AU>SEO (Changhoon); KIM (Jong-Phil); KIM (Jaeha); AHN (Hyo-Sung); RYU (Jeha)</AU>
<AF>School of Mechatronics, Gwangju Institute of Science and Technology/Gwangju, 500-712/Corée, République de (1 aut., 3 aut., 4 aut., 5 aut.); Korea Institute of Science and Technology/Seoul, 136-791/Corée, République de (2 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Journal of mechanical science and technology; ISSN 1738-494X; Corée, République de; Da. 2011; Vol. 25; No. 8; Pp. 2089-2100; Bibl. 31 ref.</SO>
<LA>Anglais</LA>
<EA>This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.</EA>
<CC>001D02D11; 001D02B04; 001D02D06</CC>
<FD>Téléopération; Système à retard; Système paramètre variable; Réalité virtuelle; Commande robuste; Robustesse; Robotique; Réseau communication; Commande force; Commande position; Transmission donnée; Relation maître esclave; Canal transmission; Retard variable; Perte transmission; Commutation paquet; Méthode énergétique; Temps retard; Interface utilisateur; Stabilité robuste; Transparence; Bilatéral; .</FD>
<ED>Remote operation; Delay system; Time varying system; Virtual reality; Robust control; Robustness; Robotics; Communication network; Force control; Position control; Data transmission; Master slave relationship; Transmission channel; Variable delay; Transmission loss; Packet switching; Energy method; Delay time; User interface; Robust stability; Transparency; Bilateral</ED>
<SD>Teleacción; Sistema con retardo; Sistema parámetro variable; Realidad virtual; Control robusta; Robustez; Robótica; Red de comunicación; Control fuerza; Regulación de la posición; Transmisión datos; Relación maestro esclavo; Canal transmisión; Retardo variable; Pérdida transmisión; Conmutación por paquete; Método energético; Tiempo retardo; Interfase usuario; Estabilidad robusta; Transparencia; Bilateral</SD>
<LO>INIST-27006.354000508561040230</LO>
<ID>11-0382943</ID>
</server>
</inist>
</record>

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Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach

Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach

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