Bilateral teleoperation with reducing wave-based reflections

Zheng, Min; Chen, Qing-Hai; Wei, Xiao; Yang, Hainan

doi:10.1007/s40436-013-0016-3

Cited by 4 publications

(1 citation statement)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…With the modified 4-CH architecture, wave reflections were mitigated, the signal transmitted was improved while satisfying passivity argument. Zeng et al in [42] suggested a wave-based bilateral teleoperation approach using time domain passivity control to mitigate wave reflection and improve tracking performance. However, the two major categories for attenuating wave reflections are impedance matching and filtering techniques.…”

Section: Introductionmentioning

confidence: 99%

Experimental Testing of Bandstop Wave Filter to Mitigate Wave Reflections in Bilateral Teleoperation

et al. 2020

View full text Add to dashboard Cite

A bilateral teleoperation system can become unstable in the presence of a modest time delay. However, the wave variable algorithm provides stable operation for any fixed time delay using passivity arguments. Unfortunately, the wave variable method produces wave reflection that can degrade teleoperation performance when a mismatched impedance exists between the master and slave robot. In this work, we develop a novel bandstop wave filter and experimentally verify that the technique can mitigate the effects of wave reflections in bilaterally teleoperated systems. We apply the bandstop wave filter in the wave domain and filtered the wave signal along the communication channel. We placed the bandstop wave filter in the master-to-slave robot path to alleviate lower frequency components of the reflected signal. With the lower frequency components reduced, wave reflections that degrade teleoperation performance were mitigated and we obtained a better transient response from the system. Results from our experiment show that the bandstop wave filter performed better by 67% when compared to the shaping wave filter respectively.

show abstract

Section: Introductionmentioning

confidence: 99%

Experimental Testing of Bandstop Wave Filter to Mitigate Wave Reflections in Bilateral Teleoperation

et al. 2020

View full text Add to dashboard Cite

show abstract

Application of wave-variable control to bilateral teleoperation systems: A survey

Sun

Naghdy

2014

Annual Reviews in Control

View full text Add to dashboard Cite

QoS Provisioning: Key Drivers and Enablers Toward the Tactile Internet in Beyond 5G Era

et al. 2022

View full text Add to dashboard Cite

The Tactile Internet has become a revolution for Internet technology, greatly improving the transmission of skill sets (audio, video, text, and haptics) over communication channels compared with traditional triple-play data (audio, video, text). It is a strong candidate to support next-generation delay-sensitive and loss-intolerant smart applications. However, stringent requirements for the Tactile Internet, including ultra-low latency, ultra-high reliability, high availability, and ultra-security, present critical challenges to ensure Quality of Service (QoS). Consequently, several approaches have been proposed to meet these QoS requirements. This article reviews QoS provisioning approaches for the Tactile Internet. First, we present key concepts for the fifth-generation and beyond technologies, Tactile Internet, and haptic communication. Second, we discuss the Tactile Internet use cases along with strict QoS requirements. Third, we classify existing solutions, including haptic codecs, control system designs, hybrid schemes, and intelligent prediction models; provide in-depth discussion regarding these approaches to improve QoS for the Tactile Internet applications; and investigate strengths and weaknesses for each proposed solution. Finally, we present open research challenges and discuss potential future research avenues to realize the Tactile Internet services.

show abstract

Bilateral teleoperation with reducing wave-based reflections

Cited by 4 publications

References 14 publications

Experimental Testing of Bandstop Wave Filter to Mitigate Wave Reflections in Bilateral Teleoperation

Experimental Testing of Bandstop Wave Filter to Mitigate Wave Reflections in Bilateral Teleoperation

Application of wave-variable control to bilateral teleoperation systems: A survey

QoS Provisioning: Key Drivers and Enablers Toward the Tactile Internet in Beyond 5G Era

Contact Info

Product

Resources

About