Internet-based teleoperation using wave variables with prediction Export

@article{Munir2002, abstract = {Wave-based teleoperation has been previously attempted over the Internet, however, performance rapidly deteriorates with increasing delay. This paper focuses on the use of a modified Smith predictor, a Kalman filter and an energy regulator to improve the performance of a wave-based teleoperator. This technique is further extended for use over the Internet, where the time delay is varying and unpredictable. It is shown that the resulting system is stable even if there are large uncertainties in the model of the remote system (used in prediction). Successful experimental results using this technique for teleoperation in a master-slave arrangement over the Internet, where the control signal is streamed between Atlanta (Georgia) and Tokyo (Japan), are also}, author = {Munir, S. and Book, W. J.}, booktitle = {Mechatronics, IEEE/ASME Transactions on}, citeulike-article-id = {1679525}, journal = {IEEE/ASME Transactions on Mechatronics}, keywords = {arrangement, atlanta, bibtex-import, communicationproblems, control, delay, energy, filter, filtering, filters, georgia, internet, internet-based, japan, kalman, master-slave, modified, prediction, predictive, predictor, regulator, smith, telecontrol, teleoperation, teleoperator, theory, tokyo, usa, variables, wave, wave-based}, number = {2}, pages = {124--133}, pdf = {U:\09 Literatur verarbeitet\Munir2002 - Internet-based teleoperation using wave variables with prediction.pdf}, posted-at = {2007-09-20 17:17:27}, priority = {0}, title = {Internet-based teleoperation using wave variables with prediction}, volume = {7}, year = {2002} }

TY - JOUR ID - Munir2002 L3 - citeulike-article-id:1679525 N2 - Wave-based teleoperation has been previously attempted over the Internet, however, performance rapidly deteriorates with increasing delay. This paper focuses on the use of a modified Smith predictor, a Kalman filter and an energy regulator to improve the performance of a wave-based teleoperator. This technique is further extended for use over the Internet, where the time delay is varying and unpredictable. It is shown that the resulting system is stable even if there are large uncertainties in the model of the remote system (used in prediction). Successful experimental results using this technique for teleoperation in a master-slave arrangement over the Internet, where the control signal is streamed between Atlanta (Georgia) and Tokyo (Japan), are also IS - 2 JF - IEEE/ASME Transactions on Mechatronics EP - 133 TI - Internet-based teleoperation using wave variables with prediction VL - 7 T2 - Mechatronics, IEEE/ASME Transactions on SP - 124 KW - arrangement KW - atlanta KW - bibtex-import KW - communicationproblems KW - control KW - delay KW - energy KW - filter KW - filtering KW - filters KW - georgia KW - internet KW - internet-based KW - japan KW - kalman KW - master-slave KW - modified KW - prediction KW - predictive KW - predictor KW - regulator KW - smith KW - telecontrol KW - teleoperation KW - teleoperator KW - theory KW - tokyo KW - usa KW - variables KW - wave KW - wave-based AU - Munir, S AU - Book, WJ PY - 2002/// ER -