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Conference Paper: Event based methodology for SuperMedia enhanced teleoperation

TitleEvent based methodology for SuperMedia enhanced teleoperation
Authors
KeywordsEvent-Based Control
Event-Based Sampling
SuperMedia
Teleoperation
Issue Date2006
Citation
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, 2006, p. 67-72 How to Cite?
AbstractSuperMedia provides human operators rich environmental information, thus providing telepresence and enhances efficiency of operation. However, coupling human with the remote environment via SuperMedia over the Internet poses challenges for the design of bilateral teleoperator. These challenges relate to the issues of stability, transparency and synchronization. This paper explores a novel methodology to deal with these difficulties. The method proposed is quite different from traditional methodologies. Instead of using time as motion reference for the control and sensor signals, the method, called event based methodology choose another motion reference which can efficiently carry the sensory information of teleoperator. This method can guarantee the stability of teleoperator without any knowledge of delay since the signals are all referenced with the one which is different from time. Furthermore, stability of the system is independent on the dynamic model of human operator and environment. In this paper, analysis and design of event based methodology for the SuperMedia enhanced Internet-based teleoperation are described. Stability of teleoperator system is proved and stability conditions are also given. The algorithm is verified by a simulation and results demonstrate the effectiveness of this methodology. ©2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212982

 

DC FieldValueLanguage
dc.contributor.authorLiu, Yang-
dc.contributor.authorGoradia, Amit-
dc.contributor.authorXue, Yonghui-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:05:39Z-
dc.date.available2015-07-28T04:05:39Z-
dc.date.issued2006-
dc.identifier.citation2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, 2006, p. 67-72-
dc.identifier.urihttp://hdl.handle.net/10722/212982-
dc.description.abstractSuperMedia provides human operators rich environmental information, thus providing telepresence and enhances efficiency of operation. However, coupling human with the remote environment via SuperMedia over the Internet poses challenges for the design of bilateral teleoperator. These challenges relate to the issues of stability, transparency and synchronization. This paper explores a novel methodology to deal with these difficulties. The method proposed is quite different from traditional methodologies. Instead of using time as motion reference for the control and sensor signals, the method, called event based methodology choose another motion reference which can efficiently carry the sensory information of teleoperator. This method can guarantee the stability of teleoperator without any knowledge of delay since the signals are all referenced with the one which is different from time. Furthermore, stability of the system is independent on the dynamic model of human operator and environment. In this paper, analysis and design of event based methodology for the SuperMedia enhanced Internet-based teleoperation are described. Stability of teleoperator system is proved and stability conditions are also given. The algorithm is verified by a simulation and results demonstrate the effectiveness of this methodology. ©2006 IEEE.-
dc.languageeng-
dc.relation.ispartof2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006-
dc.subjectEvent-Based Control-
dc.subjectEvent-Based Sampling-
dc.subjectSuperMedia-
dc.subjectTeleoperation-
dc.titleEvent based methodology for SuperMedia enhanced teleoperation-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO.2006.340280-
dc.identifier.scopuseid_2-s2.0-46249097159-
dc.identifier.spage67-
dc.identifier.epage72-

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