Wi-Fi Based Teleoperation System of a Robot with Four Degrees of Freedom Using a Computer and a Smartphone

2018 ◽  
pp. 138-144 ◽  
Author(s):  
Julián Arturo Hoyos Rodríguez ◽  
Octavio José Salcedo Parra ◽  
Javier Medina
Keyword(s):  
Degrees Of Freedom ◽  
Teleoperation System

scholarly journals Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1121-1136 ◽  
Author(s):  
Emre Uzunoğlu ◽  
Mehmet İsmet Can Dede
Keyword(s):  
Time Delays ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Test Results ◽  
Bilateral Teleoperation ◽  
Extended Version ◽  
Teleoperation System ◽  
Teleoperation Systems ◽  
Three Degrees Of Freedom

SUMMARYIn this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.

Nonlinear Bilateral Adaptive Impedance Control With Applications in Telesurgery and Telerehabilitation

2016 ◽  
Vol 138 (11) ◽  
Author(s):  
Mojtaba Sharifi ◽  
Saeed Behzadipour ◽  
Hassan Salarieh
Keyword(s):  
Degrees Of Freedom ◽  
Impedance Control ◽  
Joint Space ◽  
Cartesian Coordinates ◽  
Teleoperation System ◽  
Force Tracking ◽  
Asymptotic Tracking ◽  
The Stability ◽  
Teleoperation Systems ◽  
Impedance Models

A bilateral nonlinear adaptive impedance controller is proposed for the control of multi-degrees-of-freedom (DOF) teleoperation systems. In this controller, instead of conventional position and/or force tracking, the impedance of the nonlinear teleoperation system is controlled. The controller provides asymptotic tracking of two impedance models in Cartesian coordinates for the master and slave robots. The proposed bilateral controller can be used in different medical applications, such as telesurgery and telerehabilitation, where the impedance of the robot in interaction with human subject is of great importance. The parameters of the two impedance models can be adjusted according to the application and corresponding objectives and requirements. The dynamic uncertainties are considered in the model of the master and slave robots. The stability and the tracking performance of the system are proved via a Lyapunov analysis. Moreover, the adaptation laws are proposed in the joint space for reducing the computational complexity, however, the controller and the stability proof are all presented in Cartesian coordinates. Using simulations on a 2DOF robot, the effectiveness of the proposed controller is investigated in telesurgery and telerehabilitation operations.

The motion of a lunar orbiter

1966 ◽  
Vol 25 ◽  
pp. 373
Author(s):  
Y. Kozai
Keyword(s):  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Artificial Satellite ◽  
Equations Of Motion ◽  
Triaxial Ellipsoid ◽  
The Moon ◽  
Secular Motion ◽  
The Earth ◽  
Close Satellite ◽  
The Mean

The motion of an artificial satellite around the Moon is much more complicated than that around the Earth, since the shape of the Moon is a triaxial ellipsoid and the effect of the Earth on the motion is very important even for a very close satellite.The differential equations of motion of the satellite are written in canonical form of three degrees of freedom with time depending Hamiltonian. By eliminating short-periodic terms depending on the mean longitude of the satellite and by assuming that the Earth is moving on the lunar equator, however, the equations are reduced to those of two degrees of freedom with an energy integral.Since the mean motion of the Earth around the Moon is more rapid than the secular motion of the argument of pericentre of the satellite by a factor of one order, the terms depending on the longitude of the Earth can be eliminated, and the degree of freedom is reduced to one.Then the motion can be discussed by drawing equi-energy curves in two-dimensional space. According to these figures satellites with high inclination have large possibilities of falling down to the lunar surface even if the initial eccentricities are very small.The principal properties of the motion are not changed even if plausible values ofJ3andJ4of the Moon are included.This paper has been published in Publ. astr. Soc.Japan15, 301, 1963.

Representing utility and deploying the body

2020 ◽  
Vol 43 ◽  
Author(s):  
David Spurrett
Keyword(s):  
Functional Activity ◽  
Degrees Of Freedom ◽  
The Body ◽  
Target Article ◽  
Processing Demands ◽  
The Many

Abstract Comprehensive accounts of resource-rational attempts to maximise utility shouldn't ignore the demands of constructing utility representations. This can be onerous when, as in humans, there are many rewarding modalities. Another thing best not ignored is the processing demands of making functional activity out of the many degrees of freedom of a body. The target article is almost silent on both.

Das Experten-Novizen-Paradigma und die Vertrauenskrise in der Psychologie

2016 ◽  
Vol 23 (4) ◽  
pp. 131-140 ◽  
Author(s):  
Philip Furley ◽  
Karsten Schul ◽  
Daniel Memmert
Keyword(s):  
Degrees Of Freedom

Zusammenfassung. Das Ziel des vorliegenden Beitrages ist es anhand eines vielverwendeten Paradigmas in der Sportwissenschaft – dem Experten-Novizen-Vergleich – zu prüfen, ob die momentane Vertrauenskrise in der Psychologie ebenfalls die Sportpsychologie betreffen könnte. Anhand einer exemplarischen Studie zeigen wir, dass es innerhalb dieses Paradigmas zu kontroversen Befunden kommt, welche durch die vermuteten Ursachen der Vertrauenskrise (Researcher Degrees of Freedom, kleine Stichprobengrößen) erklärt sein könnten. Zusätzlich argumentieren wir, dass weitere Faktoren (Konfundierung, Stichprobengrößen, Rosenthal Effekt, Expertise-Definition) innerhalb dieses Paradigmas die Reproduzierbarkeit von Erkenntnissen in Frage stellen. Wir diskutieren mögliche Maßnahmen, wie die dargestellten Probleme des Experten-Novizen-Paradigmas in zukünftigen Forschungsarbeiten gelöst werden können.

Determination of Graft Forces for Cranial Cruciate Ligament Reconstruction in the Dog

1996 ◽  
Vol 09 (04) ◽  
pp. 165-171 ◽  
Author(s):  
D. A. Hulse ◽  
M. R. Slater ◽  
J. F. Hunter ◽  
W. A. Hyman ◽  
B. A. Shelley
Keyword(s):  
Degrees Of Freedom ◽  
Cruciate Ligament ◽  
Insertion Site ◽  
Graft Fixation ◽  
Flexion Angle ◽  
Patellar Ligament ◽  
Graft Material ◽  
Test Apparatus ◽  
Cranial Cruciate Ligament ◽  
Tibial Insertion

SummaryA test apparatus that allowed the stifle to move in five degrees of freedom was used to determine the effect of graft location, graft preload, and flexion angle at the time of graft fixation on the tensile graft forces experienced by a replacement graft material used to simulate reconstruction of the cranial cruciate ligament deficient stifle. Two graft locations (tibial insertion site of the patellar ligament and tibial insertion site of the cranial cruciate ligament), two graft preloads (5 N and 20 N), and three flexion angles at the time of graft fixation (15°, 30° and 90°) were examined. The tibial insertion site and preload did not have as great an effect on graft force as did the flexion angle of the limb at time of graft fixation. Graft forces were highest when reconstructions were performed with the limb in 90° of flexion (ρ <0.0001). This study supports the notion that intracapsular grafts should be fixed with the limb in a normal standing angle.A five degree of freedom test apparatus was used to evaluate the effect of graft location, graft preload, and limb flexion angle at time of graft fixation on reconstructions of the cranial cruciate ligament deficient stifle. Our results suggest that intracapsular grafts should not be fixed with the limb in 90° of flexion, but in a normal standing angle.

A two degrees of freedom comb capacitive-type accelerometer with low cross-axis sensitivity

2019 ◽  
Vol 13 (3) ◽  
pp. 5334-5346
Author(s):  
M. N. Nguyen ◽  
L. Q. Nguyen ◽  
H. M. Chu ◽  
H. N. Vu
Keyword(s):  
Degrees Of Freedom ◽  
Proof Mass ◽  
Vibration Modes ◽  
Electrode Structure ◽  
Element Analysis ◽  
Mechanical Coupling ◽  
Fully Differential ◽  
Mode Effects ◽  
The Finite Element Analysis ◽  
Cross Axis

In this paper, we report on a SOI-based comb capacitive-type accelerometer that senses acceleration in two lateral directions. The structure of the accelerometer was designed using a proof mass connected by four folded-beam springs, which are compliant to inertial displacement causing by attached acceleration in the two lateral directions. At the same time, the folded-beam springs enabled to suppress cross-talk causing by mechanical coupling from parasitic vibration modes. The differential capacitor sense structure was employed to eliminate common mode effects. The design of gap between comb fingers was also analyzed to find an optimally sensing comb electrode structure. The design of the accelerometer was carried out using the finite element analysis. The fabrication of the device was based on SOI-micromachining. The characteristics of the accelerometer have been investigated by a fully differential capacitive bridge interface using a sub-fF switched-capacitor integrator circuit. The sensitivities of the accelerometer in the two lateral directions were determined to be 6 and 5.5 fF/g, respectively. The cross-axis sensitivities of the accelerometer were less than 5%, which shows that the accelerometer can be used for measuring precisely acceleration in the two lateral directions. The accelerometer operates linearly in the range of investigated acceleration from 0 to 4g. The proposed accelerometer is expected for low-g applications.

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