The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
Internet-based teleoperation using wave variables with prediction
Open accessAbstract
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 given.
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Cites
Feedback Systems: Input-Output Properties
Desoer, C. A., Vidyasagar, M., & Willson, A. N. (1975) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3426967 · Cited by 3,225
Bilateral control of teleoperators with time delay
Anderson, R. J., & Spong, M. W. (1989) · IEEE Transactions on Automatic Control · doi:10.1109/9.24201 · Cited by 2,128
Niemeyer, G., & Slotine, J.-J. E. (1991) · IEEE Journal of Oceanic Engineering · doi:10.1109/48.64895 · Cited by 1,407
CLOSER CONTROL OF LOOPS WITH DEAD TIME
Smith, O. J. M. (1957) · Cited by 924
Cruz, J. B. (1971) · Cited by 380
Towards force-reflecting teleoperation over the Internet
Niemeyer, G., & Slotine, J.-J. E. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.680592 · Cited by 355
Using wave variables in time delayed force reflecting teleoperation
Niemeyer, G. (1996) · DSpace@MIT (Massachusetts Institute of Technology) · Cited by 155
Brady, K. J., & TARN, T. J. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2001.932623 · Cited by 73
Cited by
Passivity-based control for bilateral teleoperation: A tutorial
Nuño, E., Basañez, L., & Ortega, R. (2011) · Automatica · doi:10.1016/j.automatica.2011.01.004 · Cited by 370
Synchronization of bilateral teleoperators with time delay
Chopra, N., Spong, M. W., & Lozano, R. (2008) · Automatica · doi:10.1016/j.automatica.2007.12.002 · Cited by 337
Position Tracking for Non-linear Teleoperators with Variable Time Delay
Nuño, E., Basañez, L., Ortega, R., & Spong, M. W. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364908099461 · Cited by 242
Lu, S., Zhang, M. Y., Ersal, T., & Yang, X. J. (2019) · International Journal of Human–Computer Interaction · doi:10.1080/10447318.2019.1574059 · Cited by 50
Metadata
- Authors
- Munir, S., & Book, W. J.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2002-06
- Volume
- 7
- Issue
- 2
- Pages
- 124-133
- ISSN
- 1083-4435 (ISSN-L)
- OpenAlex
- W2155405623
- Cited by
- 375
- References
- 8
- FWCI
- 46.77
- Type
- journal article
- Language
- en
- Open access
- green
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