Distributed PC-based haptic, visual and acoustic telepresence system-experiments in virtual and remote environments

Baier, H.; Buss, Martin; Freyberger, F.; Hoogen, J.P.M. van den; Kammermeier, P.; Schmidt, G.

doi:10.1109/vr.1999.756942

Cited by 33 publications

(9 citation statements)

References 9 publications

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“…3 connected to a PC running under RT Linux. The original design of the pendulum can be found in [22]. The DC-motor current, resulting in torque, is provided by the PWM amplifier operated under current control.…”

Section: Methodsmentioning

confidence: 99%

Towards Quality-of-Service Control of Networked Control Systems: A Switched Time Delay Systems Approach

Chen¹,

Hirche²,

Buss³

2006

2006 IEEE International Conference on Control Applications

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Abstract-The stability and performance of a networked control system (NCS) strongly depends on the communication quality in terms of time delay for example. According to the Quality-of-Service (QoS) concept in modern communication technology, the communication quality can be adapted to the requirements of the network application. This paper presents a first approach to conjointly control the NCS as well as the communication quality on basis of the QoS concept. We assume that the controller together with the time delay is switched to meet control and network performance objectives. Sufficient stability conditions are presented for the resulting switched time delay system based on the concept of piecewise continuous Lyapunov functions and the Razumikhin approach. Simulations and experiments validate the proposed approach.

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Section: Methodsmentioning

confidence: 99%

Towards Quality-of-Service Control of Networked Control Systems: A Switched Time Delay Systems Approach

Chen¹,

Hirche²,

Buss³

2006

2006 IEEE International Conference on Control Applications

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“…5, connected to a PC running under RT Linux. The original design of the pendulum can be found in [15]. The DC-motor current, resulting in a torque, is provided by the PWM amplifier operated under current control.…”

Section: Methodsmentioning

confidence: 99%

Memoryless input-output encoding for networked systems with unknown constant time delay

Matiakis

Hirche

2006

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006

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Abstract-Communication time delay in a networked control system (NCS) degrades the performance and may lead to instability. The time delay value depends on the network configuration, e.g. number of nodes and is not exactly known during the controller design stage. Based on a novel delayindependent input-output approach the problem of unknown constant time delay is addressed in this paper. The plant and the controller input and output are encoded by a memoryless transformation into new variables which are transmitted over the communication channel. Thereby finite gain L 2 stability is achieved. The performance of the memoryless encoding approach, validated in simulations and experiments, is superior over two other approaches, the standard small gain and a leadlag control approach.

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“…The experimental setup consists of two identical single degree of freedom force feedback paddles connected to a PC; the original design of the paddles can be found in [11]. The basic configuration is shown in Fig.…”

Section: Resultsmentioning

confidence: 99%

Passive position controlled telepresence systems with time delay

Hirche

Buss

Proceedings of the 2003 American Control Conference, 2003.

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This paper discusses combined position and force control of telepresence systems with force feedback and time delay. Standard architectures use velocity/force control and well known passivity arguments. Disadvantageously, then the positions of the Human System Interface (HSI) and the teleoperator diverge in presence of disturbances, deteriorating transparency. In this paper a new method for impedance matching filter design by optimization in the frequency domain to achieve passivity of the teleoperator/environment and transparency of position-force controlled telepresence systems is proposed. The validity of the approach is shown in simulations and experimental results.

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Distributed PC-based haptic, visual and acoustic telepresence system-experiments in virtual and remote environments

Cited by 33 publications

References 9 publications

Towards Quality-of-Service Control of Networked Control Systems: A Switched Time Delay Systems Approach

Towards Quality-of-Service Control of Networked Control Systems: A Switched Time Delay Systems Approach

Memoryless input-output encoding for networked systems with unknown constant time delay

Passive position controlled telepresence systems with time delay

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