Hybrid event based control architecture for tele-robotic systems controlled through Internet

2004 ◽  
Vol 5 (3) ◽  
pp. 296-302 ◽  
Author(s):  
Xiao-ming Li ◽  
Can-jun Yang ◽  
Ying Chen ◽  
Xu-dong Hu
Keyword(s):  
Robotic Systems ◽  
Control Architecture ◽  
Event Based ◽  
Hybrid Event

A novel multi-event-based control for robot bilateral tele-operation with an exoskeleton arm under time delay

2009 ◽  
Vol 223 (6) ◽  
pp. 1481-1491 ◽  
Author(s):  
J-F Zhang ◽  
C-J Yang ◽  
Y Chen
Keyword(s):  
Time Delay ◽  
Control Structure ◽  
Control Architecture ◽  
The Internet ◽  
Event Generator ◽  
Communication Failure ◽  
Operation System ◽  
Singularity Structure ◽  
Control Scheme ◽  
Event Based

A novel control architecture based on a multi-event for tele-operation with an exoskeleton arm over the internet in case of transmission delay and communication failure is proposed. In this proposed control scheme a non-time event reference s is chosen to coordinate two sites and promises synchronization of the system. In addition, more than one event generator is employed to compose the multi-event-based control structure, in which the state of the slave site and uncertainties on the master site, such as singularity of the master arm and so on, are both evaluated. Through the bilateral tele-operation experiments in case of time delay with a rigid obstacle and master arm singularity structure, this control scheme is well demonstrated. The tele-operation system has solid performance with good stability and synchronization.

An approach towards decentralized control of cooperating non-autonomous multiple robots

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 495-504 ◽  
Author(s):  
Khalid Munawar ◽  
Masayoshi Esashi ◽  
Masaru Uchiyama
Keyword(s):  
Decentralized Control ◽  
Degrees Of Freedom ◽  
Real Life ◽  
Robotic Systems ◽  
Present System ◽  
Multiple Robots ◽  
Experimental Implementation ◽  
Control Scheme ◽  
The Common ◽  
Event Based

This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi-manipulator cooperation, while real-life experimental implementation has proved that the proposed decentralized control scheme is fairly applicable for very simple and even under-actuated systems too. Hence, this work has opened new doors towards further research in this area. The proposed control scheme is expected to be equally applicable for any mobile or immobile multi-robotic system.

A hybrid event-based pixel for low-power image sensing

2021 ◽  
Author(s):  
Mohamed Akrarai ◽  
Nils Margotat ◽  
Gilles Sicard ◽  
Laurent Fesquet
Keyword(s):  
Low Power ◽  
Image Sensing ◽  
Event Based ◽  
Hybrid Event

scholarly journals Towards a More Robust Non-Rigid Robotic Joint

2020 ◽  
Vol 3 (4) ◽  
pp. 45
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Robotic Manipulators ◽  
Robotic Systems ◽  
Control Architecture ◽  
Effective Solution ◽  
Adverse Conditions ◽  
Compliant Control ◽  
Rigid Joints ◽  
Final System

The following paper presents an improved, low cost, non-rigid joint that can be used in both robotic manipulators and leg-based traction robotic systems. This joint is an improvement over the previous one presented by the same authors because it is more robust. The design iterations are presented and the final system has been modeled including some nonlinear blocks. A control architecture is proposed that allows compliant control to be used under adverse conditions or in uncontrolled environments. The presented joint is a cost-effective solution that can be used when normal rigid joints are not suitable.

scholarly journals PROBLEMS OF CONTROL OF MIDWATER TRAWL COMPLEXES USING EQUATIONS OF ELECTRIC AND MECHANICAL DRIVES OF TRAWL WINCHES

2020 ◽  
Vol 2020 (4) ◽  
pp. 93-101
Author(s):  
Aleksandr Nedostup ◽  
Alexey Olegovich Razhev ◽  
Vyacheslav Valerievich Makarov
Keyword(s):  
Artificial Intelligence ◽  
Predictive Modeling ◽  
Information Technologies ◽  
Interdisciplinary Approach ◽  
Robotic Systems ◽  
Control Architecture ◽  
New Materials ◽  
Midwater Trawl ◽  
Modern Information ◽  
Self Learning

The paper touches upon the problems of transition to advanced digital, intelligent man-ufacturing technologies, robotic systems, new materials and design methods, the creation of systems for processing large amounts of data, machine learning and artificial intelligence. Automation of fishing process requires an interdisciplinary approach using modern information technologies. The possibility of using artificial intelligence technologies for solving the problems of predictive modeling of the behavior of a trawl system while fishing on a self-learning neural network has been proved. The equations of electric and mechanical drives of trawl winches for controlling the shape-changing design of a midwater trawl are given. The question of improving the control characteristics of a midwater trawl system by introducing a control architecture adapted for the trawl system taking into account the industrial requirements and by developing a mathematical model of the trawl system, in-cluding an accurate model of hydrodynamic forces on the trawl flaps is considered.

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