Robotic Telepresence

1986 ◽  
Vol 30 (1) ◽  
pp. 43-44 ◽  
Author(s):  
George C. Mohr
Keyword(s):  
Cognitive Functions ◽  
Closed Loop ◽  
Industrial Robot ◽  
Space Station ◽  
Human Operator ◽  
Closed Loop Control ◽  
Loop Control ◽  
Novel Approach ◽  
Operator Tasks ◽  
High Level

The Air Force sees a need for a militarized robot, designed to perform flight line maintenance and repair operations during a chemical/biological/radiological attack, or to assist man in space operations such as constructing a space station or performing such tasks as satellite inspection, diagnosis, repair, modification or deactivation. Obviously, these tasks require more than the pre-programmed behavior of an industrial robot. To obtain the high degree of adaptability required, the robot needs either the closed-loop control of a human operator, or a high level “artificial intelligence” capable of emulating human cognitive functions. Robotic telepresence is a novel approach to closed-loop control. By coupling the human operator's visual, tactile, motor and cognitive functions with a remote robot's “head, eyes, and hands,” the human operator is placed effectively “in-the-scene.” With this approach, the natural synergism between the human visual system and hands is exploited to endow the robotic system with human-like capacities to inspect, evaluate, and manipulate. Through robotic telepresence technology, the essential human operator tasks can then be performed in a lethally hazardous environment without exposing the human operator directly.

scholarly journals Performance Evaluation of Closed-loop Industrial Applications Over Imperfect Networks

2019 ◽  
pp. 32-38
Author(s):  
Sándor Rácz ◽  
Géza Szabó ◽  
József Pető
Keyword(s):  
Closed Loop ◽  
Industrial Robot ◽  
Industrial Applications ◽  
Maximum Speed ◽  
Closed Loop Control ◽  
Robot Arm ◽  
5G Networks ◽  
Network Delay ◽  
Performance Impact ◽  
Loop Control

5G networks provide technology enablers targeting industrial applications. One key enabler is the Ultra Reliable Low Latency Communication (URLLC). This paper studies the performance impact of network delay on closed-loop control for industrial applications. We investigate the performance of the closed-loop control of an UR5 industrial robot arm assuming fix delay. The goal is to stress the system at the upper limit of the possible network delay. We prove that to achieve the maximum speed, URLLC is a must have.

A novel hybrid closed-loop control approach for dexterous prosthetic hand based on myoelectric control and electrical stimulation

2018 ◽  
Vol 45 (4) ◽  
pp. 526-538 ◽  
Author(s):  
Li Jiang ◽  
Qi Huang ◽  
Dapeng Yang ◽  
Shaowei Fan ◽  
Hong Liu
Keyword(s):  
Motion Control ◽  
Sensory Feedback ◽  
Closed Loop ◽  
Control Method ◽  
Human Motion ◽  
Prosthetic Hand ◽  
Closed Loop Control ◽  
Content Type ◽  
Loop Control ◽  
High Level

Purpose The purpose of this study is to present a novel hybrid closed-loop control method together with its performance validation for the dexterous prosthetic hand. Design/methodology/approach The hybrid closed-loop control is composed of a high-level closed-loop control with the user in the closed loop and a low-level closed-loop control for the direct robot motion control. The authors construct the high-level control loop by using electromyography (EMG)-based human motion intent decoding and electrical stimulation (ES)-based sensory feedback. The human motion intent is decoded by a finite state machine, which can achieve both the patterned motion control and the proportional force control. The sensory feedback is in the form of transcutaneous electrical nerve stimulation (TENS) with spatial-frequency modulation. To suppress the TENS interfering noise, the authors propose biphasic TENS to concentrate the stimulation current and the variable step-size least mean square adaptive filter to cancel the noise. Eight subjects participated in the validation experiments, including pattern selection and egg grasping tasks, to investigate the feasibility of the hybrid closed-loop control in clinical use. Findings The proposed noise cancellation method largely reduces the ES noise artifacts in the EMG electrodes by 18.5 dB on average. Compared with the open-loop control, the proposed hybrid closed-loop control method significantly improves both the pattern selection efficiency and the egg grasping success rate, both in blind operating scenarios (improved by 1.86 s, p < 0.001, and 63.7 per cent, p < 0.001) or in common operating scenarios (improved by 0.49 s, p = 0.008, and 41.3 per cent, p < 0.001). Practical implications The proposed hybrid closed-loop control method can be implemented on a prosthetic hand to improve the operation efficiency and accuracy for fragile objects such as eggs. Originality/value The primary contribution is the proposal of the hybrid closed-loop control, the spatial-frequency modulation method for the sensory feedback and the noise cancellation method for the integrating of the myoelectric control and the ES-based sensory feedback.

scholarly journals Learning robust, real-time, reactive robotic grasping

2019 ◽  
Vol 39 (2-3) ◽  
pp. 183-201 ◽  
Author(s):  
Douglas Morrison ◽  
Peter Corke ◽  
Jürgen Leitner
Keyword(s):  
Success Rate ◽  
Deep Neural Networks ◽  
Closed Loop ◽  
State Of The Art ◽  
Closed Loop Control ◽  
Loop Control ◽  
Depth Images ◽  
Novel Approach ◽  
Grasp Synthesis ◽  
Unseen Objects

We present a novel approach to perform object-independent grasp synthesis from depth images via deep neural networks. Our generative grasping convolutional neural network (GG-CNN) predicts a pixel-wise grasp quality that can be deployed in closed-loop grasping scenarios. GG-CNN overcomes shortcomings in existing techniques, namely discrete sampling of grasp candidates and long computation times. The network is orders of magnitude smaller than other state-of-the-art approaches while achieving better performance, particularly in clutter. We run a suite of real-world tests, during which we achieve an 84% grasp success rate on a set of previously unseen objects with adversarial geometry and 94% on household items. The lightweight nature enables closed-loop control of up to 50 Hz, with which we observed 88% grasp success on a set of household objects that are moved during the grasp attempt. We further propose a method combining our GG-CNN with a multi-view approach, which improves overall grasp success rate in clutter by 10%. Code is provided at https://github.com/dougsm/ggcnn

A Novel Approach to GSA, GA and Wavelet Transform to Design Fuzzy Logic Controller for 1ϕ Multilevel Inverter

2016 ◽  
Vol 7 (4) ◽  
pp. 1200
Author(s):  
Varsha Singh ◽  
S. Gupta ◽  
S. Pattnaik ◽  
Aarti Goyal
Keyword(s):  
Fuzzy Logic ◽  
Wavelet Transform ◽  
Output Voltage ◽  
Closed Loop ◽  
Fuzzy Logic Controller ◽  
Multilevel Inverter ◽  
Closed Loop Control ◽  
Voltage Waveform ◽  
Loop Control ◽  
Novel Approach

<p>This paper proposes a novel approach for obtaining a closed loop control scheme based on Fuzzy Logic Controller to regulate the output voltage waveform of multilevel inverter. Fuzzy Logic Controller is used to guide and control the inverter to synthesize a stepped output voltage waveform with reduced harmonics. In this paper, three different intelligent soft-computing methods are used to design a fuzzy system to be used as a closed loop control system for regulating the inverter output. Gravitational Search Algorithm and Genetic Algorithm are used as optimization methods to evaluate switching angles for different combination of input voltages applied to MLI. Wavelet Transform is used as synthesizing technique to shape stepped output waveform of inverter using orthogonal wavelet sets. The proposed FLC controlled method is carried out for a wider range of input dc voltages by considering ±10% variations in nominal voltage value. A 7-level inverter is used to validate the results of proposed control methods. The three proposed methods are then compared in terms of various parameters like computational time, switching angles and THD to justify the performance and system flexibility. Finally, hardware based results are also obtained to verify the viability of the proposed method.</p>

Sign in / Sign up

Export Citation Format

Share Document