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Article: Performance analysis of telerobotic system based on event prediction

TitlePerformance analysis of telerobotic system based on event prediction
Authors
KeywordsEvent prediction
Time-delay prediction
Tele-operation
Stability
Robot
Issue Date2012
Citation
Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science), 2012, v. 40, n. 9, p. 123-130 How to Cite?
AbstractThe variable time delay and packet loss of Internet significantly degrade the manipulability of Internet-based telerobotic systems and even make the systems unstable. In order to lessen the influence of the variable time delay on the system performance, a single-step time-delay prediction algorithm is proposed based on the sparse multivariate linear regression algorithm of variable sliding windows. Then, a new Internet-based telerobotic system is built up in view of event prediction. In the proposed system, a discrete path governor based on time delay prediction is added at the master site, which generates a suitable event parameter online for predicting the path by solving a look-ahead optimization function, thus improving the tracking performance and environmental adaptability of the proposed system so as to deal with emergent events. Moreover, the stability conditions of the proposed system are also proposed according to the Lyapunov stability theorem. The results of local and trans-regional experiments of a telerobot demonstrate that the proposed methods can effectively solve the stability and performance degradation pro-blems caused by the variable time delay and the packet loss.
Persistent Identifierhttp://hdl.handle.net/10722/213280
ISSN
2015 SCImago Journal Rankings: 0.200

 

DC FieldValueLanguage
dc.contributor.authorChen, Dan-
dc.contributor.authorXi, Ning-
dc.contributor.authorTang, Xu Sheng-
dc.date.accessioned2015-07-28T04:06:45Z-
dc.date.available2015-07-28T04:06:45Z-
dc.date.issued2012-
dc.identifier.citationHuanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science), 2012, v. 40, n. 9, p. 123-130-
dc.identifier.issn1000-565X-
dc.identifier.urihttp://hdl.handle.net/10722/213280-
dc.description.abstractThe variable time delay and packet loss of Internet significantly degrade the manipulability of Internet-based telerobotic systems and even make the systems unstable. In order to lessen the influence of the variable time delay on the system performance, a single-step time-delay prediction algorithm is proposed based on the sparse multivariate linear regression algorithm of variable sliding windows. Then, a new Internet-based telerobotic system is built up in view of event prediction. In the proposed system, a discrete path governor based on time delay prediction is added at the master site, which generates a suitable event parameter online for predicting the path by solving a look-ahead optimization function, thus improving the tracking performance and environmental adaptability of the proposed system so as to deal with emergent events. Moreover, the stability conditions of the proposed system are also proposed according to the Lyapunov stability theorem. The results of local and trans-regional experiments of a telerobot demonstrate that the proposed methods can effectively solve the stability and performance degradation pro-blems caused by the variable time delay and the packet loss.-
dc.languageeng-
dc.relation.ispartofHuanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science)-
dc.subjectEvent prediction-
dc.subjectTime-delay prediction-
dc.subjectTele-operation-
dc.subjectStability-
dc.subjectRobot-
dc.titlePerformance analysis of telerobotic system based on event prediction-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.3969/j.issn.1000-565X.2012.09.021-
dc.identifier.scopuseid_2-s2.0-84870589043-
dc.identifier.volume40-
dc.identifier.issue9-
dc.identifier.spage123-
dc.identifier.epage130-

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