Telerobotics with large time delays—the ROTEX experience

Author(s):  
G. Hirzinger ◽  
K. Landzettel ◽  
Ch. Fagerer
Keyword(s):  
2012 ◽  
Vol 38 (5) ◽  
pp. 858-864 ◽  
Author(s):  
Juan LI ◽  
You-Gang ZHAO ◽  
Yang YU ◽  
Peng ZHANG ◽  
Hong-Wei GAO

2016 ◽  
Vol 10 ◽  
pp. 1783-1796 ◽  
Author(s):  
Felix Kulakov ◽  
Boris Sokolov ◽  
Anatoly Shalyto ◽  
Gennady Alferov

2014 ◽  
Vol 21 (5) ◽  
pp. 929-937 ◽  
Author(s):  
E. A. Martin ◽  
J. Davidsen

Abstract. Dynamical networks – networks inferred from multivariate time series – have been widely applied to climate data and beyond, resulting in new insights into the underlying dynamics. However, these inferred networks can suffer from biases that need to be accounted for to properly interpret the results. Here, we report on a previously unrecognized bias in the estimate of time delays between nodes in dynamical networks inferred from cross-correlations, a method often used. This bias results in the maximum correlation occurring disproportionately often at large time lags. This is of particular concern in dynamical networks where the large number of possible links necessitates finding the correct time lag in an automated way. We show that this bias can arise due to the similarity of the estimator to a random walk, and are able to map them to each other explicitly for some cases. For the random walk there is an analytical solution for the bias that is closely related to the famous Lévy arcsine distribution, which provides an upper bound in many other cases. Finally, we show that estimating the cross-correlation in frequency space effectively eliminates this bias. Reanalysing large lag links (from a climate network) with this method results in a distribution peaked near zero instead, as well as additional peaks at the originally assigned lag. Links that are reassigned smaller time lags tend to have a smaller distance between them, which indicates that the new time delays are physically reasonable.


2010 ◽  
Vol 36 ◽  
pp. 253-262 ◽  
Author(s):  
Iwanori Murakami ◽  
Nghia Thi Mai ◽  
Kou Yamada ◽  
Takaaki Hagiwara ◽  
Yoshinori Ando ◽  
...  

In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. The Smith predictor is proposed by Smith to overcome time-delay and known as an effective time-delay compensator for a plant with large time-delay. The Smith predictor by Smith cannot be used for plants having an integral mode, because a step disturbance will result in a steady state error. Several papers considered the problem to design modified Smith predictors for unstable plants. However, no paper examines a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays.


Robotica ◽  
2014 ◽  
Vol 34 (4) ◽  
pp. 859-875 ◽  
Author(s):  
Da Sun ◽  
Fazel Naghdy ◽  
Haiping Du

SUMMARYStability and transparency are two critical indices of bilateral teleoperation systems. The wave variable method is a conservative approach to robustly guarantee system passivity under arbitrary constant time delays. However, the wave-variable-based reflection is an intrinsic problem in this method because it can significantly degrade system transparency and disorient the operator's perception of the remote environment. In order to enhance both the transparency and the stability of bilateral teleoperation systems in the presence of large time delays, a new four-channel (4-CH) architecture is proposed which applies two modified wave-transformation controllers to reduce wave-based reflections. Transparency and stability of the proposed system are analyzed and the improvement in these when using this method is measured experimentally. Results clearly demonstrate that the proposed method can produce high transparency and stability even in the presence of large time delays.


2014 ◽  
Vol 494-495 ◽  
pp. 1202-1205 ◽  
Author(s):  
En Rang Zheng ◽  
Li Qiang Sun ◽  
Yong Qing Xie

The generalized MFAC control algorithm is proposed for the disadvantage of the basic MFAC controller in the strong nonlinear system with large time delays.As the same time,the algorithm is applied in the double flume liquid temperature control system,the simulation of the control system is carried out.The simulation results presents the the control structure and control algorithm track ability, anti-interference,rubustness and load adaptability meet the demand of control design.The designed system have good control qualities.


2007 ◽  
Author(s):  
M. Kaba ◽  
F. C. Zhou ◽  
A. Lim ◽  
D. Decoster ◽  
J.- P. Huignard ◽  
...  

2017 ◽  
Vol 4 ◽  
pp. 101-108
Author(s):  
Khaled W. Mahmoud ◽  
Khalid Mansour ◽  
Alaa Makableh

This paper presents novel mechanisms that effectively detect password file thefts and at the same time prevent uncovering passwords. The proposed mechanism uses delay between consecutive keystrokes of the password characters. In presented case, a user should not only enter his password correctly during the sign-up process, but also needs to introduce relatively large time gaps between certain password characters. The proposed novel approaches disguise stored passwords by adding a suffix value that helps in detecting password file theft at the first sign-in attempt by an adversary who steals and cracks the hashed password file. Any attempt to login using a real password without adding the time delays in the correct positions may considered as an impersonation attack, i.e. the password file has been stolen and cracked.


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