Time domain passivity control of teleoperation systems with random asymmetric time delays

Author(s):  
Yongqiang Ye ◽  
Ya-Jun Pan ◽  
Yash Gupta
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.


Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1121-1136 ◽  
Author(s):  
Emre Uzunoğlu ◽  
Mehmet İsmet Can Dede

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.


2021 ◽  
Vol 502 (2) ◽  
pp. 2912-2921
Author(s):  
Yiping Shu ◽  
Vasily Belokurov ◽  
N Wyn Evans

ABSTRACT We present a new method of discovering galaxy-scale, strongly lensed QSO systems from unresolved light curves using the autocorrelation function. The method is tested on five rungs of simulated light curves from the Time Delay Challenge 1 that were designed to match the light-curve qualities from existing, ongoing, and forthcoming time-domain surveys such as the Medium Deep Survey of the Panoramic Survey Telescope And Rapid Response System 1, the Zwicky Transient Facility, and the Rubin Observatory Legacy Survey of Space and Time. Among simulated lens systems for which time delays can be successfully measured by current best algorithms, our method achieves an overall true-positive rate of 28–58 per cent for doubly imaged QSOs (doubles) and 36–60 per cent for quadruply imaged QSOs (quads) while maintains ≲10 per cent false-positive rates. We also apply the method to observed light curves of 22 known strongly lensed QSOs, and recover 20 per cent of doubles and 25 per cent of quads. The tests demonstrate the capability of our method for discovering strongly lensed QSOs from major time domain surveys. The performance of our method can be further improved by analysing multifilter light curves and supplementing with morphological, colour, and/or astrometric constraints. More importantly, our method is particularly useful for discovering small-separation strongly lensed QSOs, complementary to traditional imaging-based methods.


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