EFFECT OF NETWORK QUALITY ON PERFORMANCE OF BILATERAL TELEOPERATED HYDRAULIC ACTUATORS: A COMPARATIVE STUDY

Yaser Maddahi, Ramhuzaini A. Rahman, Wai-keung Fung, and Nariman Sepehri

References

  1. [1] A. Bleicher, The Gulf Spill’s lessons for robotics, IEEE Spec-trum, 47(8), 2010, 9–11.
  2. [2] J. Gomez-Santamaria, A. Avello, P. Carmena, and A. Rubio,Telerobotics maintenance of nuclear power plants, Journal ofNuclear Plant, 20(2), 2002, 32–36.
  3. [3] P. Sim, V. Sacco, and G.S. Virk, The user interface system forthe Robovolc exploration robot, Journal of Industrial Robot,31, 2004, 189–200.
  4. [4] H. Yamada and T. Muto, Construction tele-robotic systemwith virtual reality (CG presentation of virtual robot and taskobject using stereo vision system), Journal of Control andIntelligent Systems, 35, 2007, 195–201.
  5. [5] R. Oboe, and P. Fiorini, A design and control environmentfor Internet-based telerobotics, Journal of Robotics Research,17(2), 1998, 433–449.
  6. [6] R. Trinh and M. Aldeen, Robust control of time-variant systemswith time-varying delay and nonlinear perturbations, Journalof Control and Intelligent Systems, 26, 1998, 86–91.
  7. [7] B. Zhang et al., Measurement-based analysis, modeling, andsynthesis of the Internet delay space, IEEE/ACM Transactionson Networking, 18(1), 2010, 229–242.
  8. [8] Nessoft LLC, Packet loss or latency at intermediate hops. 2010(11/23), Available: http://www.nessoft.com/kb/24.
  9. [9] W.R. Ferrell, Remote manipulation with transmission delay,IEEE Transactions on Human Factors Electronics, 6(1), 1965,24–32.
  10. [10] R.J. Anderson and M.W. Spong, Bilateral control of teleoper-ators with time delay, IEEE Conf. on Decision and Control,
  11. [11] G. Niemeyer and J.E. Slotine, Stable adaptive teleoperation,American Control Conf., San Diego,CA,USA, 1990, 1186–1191.
  12. [12] G.M.H. Leung, B.A. Francis, and B. Apkarian, Bilateral con-troller for teleoperators with time delay via µ-synthesis, IEEETransaction on Robotics and Automation, 11(1), 1995, 105–116.
  13. [13] H. Du, N. Zhang, and J. Lam, Computation of robust H∞ con-trollers for time-delay systems using genetic algorithms, Jour-nal of Control and Intelligent Systems, 35, 2007, 395–400.
  14. [14] A. Birouche, B. Mourllion, and M. Basset, Model reductionfor discrete-time switched linear time-delay systems via theH∞ robust stability, Journal of Control and Intelligent Systems,39, 2011, 78–86.
  15. [15] W.S. Kim, B. Hannaford, and A.K. Fejczy, Force-reflection andshared compliant control in operating telemanipulators withtime delay, IEEE Transaction on Robotics and Automation,8(2), 1992, 176–185.23Austin, T , USA, 1998, 167–173.X
  16. [16] S. Munir and W.J. Book, Internet-based teleoperation usingwave variables with prediction, IEEE/ASME Transactions onMechatronics, 7(2), 2002, 124–133.
  17. [17] E.J. Rodr´ıguez-Seda, D. Lee, and M.W. Spong, Experimentalcomparison study of control architectures for bilateral teleoper-ators, IEEE Transactions on Robotics, 25(6), 2009, 1304–1318.
  18. [18] P. Arcara and C. Melchiorri, Control schemes for teleoperationwith time delay: A comparative study, Journal of Roboticsand Autonomous Systems, 38(1), 2002, 49–64.
  19. [19] M. Guiatni, A. Kheddar, and H. Melouah, Sliding modebilateral control and four channels scheme control of a forcereflecting master/slave teleoperator, IEEE International Conf.on Mechatronics and Automation, 2005, 1660–1665.
  20. [20] J.W. Kim, H.W. Kim, B.J. Yi, and S.I. Hong, Comparativestudy on the stability and the performance in bilateral tele-operation, International Conf. on Control, Automation andSystems, Jeju, Korea, 2001, 1616–1618.
  21. [21] I. Aliaga, A. Rubio, and E. Sanchez, Experimental quantita-tive comparison of different control architectures for master–slave teleoperation, IEEE Transactions on Control SystemsTechnology, 12(1), 2004, 2–11.
  22. [22] A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem,Wave-based time delay compensation in bilateral teleopera-tion: Two-channel versus four-channel architectures, AmericanControl Conf., NewYork, NY, USA, 2007, 1449–1454.
  23. [23] S. Munir and W.J. Book, Control techniques and programmingissues for time delayed Internet based teleoperation, ASMEJournal of Dynamic Systems, Measurement, and Control,125(2), 2003, 205–214.
  24. [24] K. Zarei-Nia, A.Y. Goharrizi, N. Sepehri, and W.K. Fung,Experimental evaluation of bilateral control schemes appliedto hydraulic actuators: A comparative study, Transactions ofthe Canadian Society for Mechanical Engineering, 33(2), 2009,377–398.
  25. [25] TATA Consultancy Services Ltd, WANem 2.0: Wide areanetwork emulator. 2011 (1/21), Available: http://wanem.sourceforge.net.
  26. [26] L. An and N. Sepehri, Leakage fault detection in hydraulicactuators subject to unknown external loading, Journal ofFluid Power, 9, 2008, 15–25.
  27. [27] A. Alleyne, Nonlinear force control of an electro-hydraulicactuator, Japan–USA Symposium on Flexible Automation,
  28. [28] N. Niksefat and N. Sepehri, Design and experimental evaluationof a robust force controller for an electro-hydraulic actuator viaquantitative feedback theory, Journal of Control EngineeringPractice, 8, 2000, 1335–1345.
  29. [29] M. Karpenko and N. Sepehri, Robust position control of anelectrohydraulic actuator with a faulty actuator piston seal,Journal of Dynamic Systems, Measurement and Control, 125,2003, 413–423.
  30. [30] M. Karpenko, N. Sepehri, and J. Anderson, Decentralizedcoordinated motion control of two hydraulic actuators handlinga common object, Journal of Dynamic Systems, Measurementand Control, 129, 2007, 729–741.
  31. [31] P.A. Prokopiou, S.G. Tzafestas, and W.S. Harwin, A novelscheme for human-friendly and time-delays robust neuropredic-tive teleoperation, Journal of Intelligent and Robotic Systems:Theory and Applications, 25, 1999, 311–340.
  32. [32] M.H. Zadeh, D. Wang, and E. Kubica, Factors affecting theperception-based compression of haptic data, Intech Publica-tion, 2010, 517–542, ISBN: 978-953-307-093-3.
  33. [33] S. Hemminger, Network emulation with NetEm, Proceedingsof the Australia’s 6th National Linux Conference, Canberra,Australia,2005.
  34. [34] R. Oboe, Force-reflecting teleoperation over the Internet: TheJBIT project, Proceedings of the IEEE, 91(2), 2003, 449–462.
  35. [35] Z. Li and D. Constantinescu, Remote dynamic proxies for wave-based peer-to-peer haptic interaction, International Conf. onWorld Haptics Conference, Salt Lake City,USA, 2009, 553 –558.
  36. [36] H. Larijani and K. Radhakrishnan, Voice quality in VoIPnetworks based on random neural networks, InternationalConf. on Networks, Menuires, France, 2010, 89–92.
  37. [37] J.A. Colmenares et al., Real-time component based soft-ware architecture for QoS-adaptive networked multimedia ap-plications, IEEE International Symposium on Object andComponent - Oriented Real - Time Distributed Computing,133–142.
  38. [38] D.A. Lawrence, Stability and transparency in bilateral tele-operation, IEEE Transactions on Robotics and Automation,9(4), 1993, 624–637.
  39. [39] F. Najafi, M. Karpenko, N. Sepehri, and P. Irani, Force regulat-ing using concepts of haptic and visual force feedbacks, Trans-actions of the Canadian Society for Mechanical Engineering,35(2), 2011, 177–199.
  40. [40] G. Sankaranarayanan and B. Hannaford, Experimental com-parison of Internet haptic collaboration with time-delay com-pensation techniques, IEEE International Conf. on Roboticsand Automation, Pasadena, CA, USA, 2008, 206–211.
  41. [41] S. Sirouspour and A. Shahdi, Model predictive control fortransparent teleoperation under communication time delay,IEEE Transactions on Robotics, 22, 2006, 1131–1145.
  42. [42] G. Niemeyer and J.E. Slotine, Telemanipulation with timedelays, Journal of Robotics Research, 23, 2004, 873–890.
  43. [43] C. Zhiwei et al., QoS management of supermedia enhancedteleoperation via overlay networks, International Conf. onIntelligent Robots and Systems, 2005, 1630–1635.
  44. [44] C. Zhiwei et al., Improving the operation efficiency of super-media enhanced Internet based teleoperation via an overlaynetwork, International Conf. on Robotics and Automation,

Important Links:

Go Back