This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency pro...This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master side.The communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH architecture.Then the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the predictor.Experimental results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.展开更多
The First UMN-CAS Bilateral Seminar was successfully con- cluded with all the goals met. The meeting in Xi＇an was informative, stimulating and enjoyable, thanks to the local host, Prof. Junji Cao, and his capable sta...The First UMN-CAS Bilateral Seminar was successfully con- cluded with all the goals met. The meeting in Xi＇an was informative, stimulating and enjoyable, thanks to the local host, Prof. Junji Cao, and his capable staff. The Bilateral Seminar was organized by Prof. David Y.H. Pui of the University of Minnesota and Prof. Junji Cao of the Institute of Earth Environment, Chinese Academy of Sci- ences. It was attended by approximately 100 delegates from the University of Minnesota （UMN）, the Center for Filtration Research （CFR）, the Chinese Academy of Sciences （CAS） and other famous Chinese universities. We are grateful for the opening remarks given by UMN President Eric hai Li on behalf of President Kaler and CAS Vice President Jing- Chunli Bai.展开更多
基金Supported by the National High Technology Research and Development Programme of China(No.2006AA04Z245)the Basic Research Universities Special Fund Operations(No.JUSRP11127)
文摘This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master side.The communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH architecture.Then the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the predictor.Experimental results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.
文摘The First UMN-CAS Bilateral Seminar was successfully con- cluded with all the goals met. The meeting in Xi＇an was informative, stimulating and enjoyable, thanks to the local host, Prof. Junji Cao, and his capable staff. The Bilateral Seminar was organized by Prof. David Y.H. Pui of the University of Minnesota and Prof. Junji Cao of the Institute of Earth Environment, Chinese Academy of Sci- ences. It was attended by approximately 100 delegates from the University of Minnesota （UMN）, the Center for Filtration Research （CFR）, the Chinese Academy of Sciences （CAS） and other famous Chinese universities. We are grateful for the opening remarks given by UMN President Eric hai Li on behalf of President Kaler and CAS Vice President Jing- Chunli Bai.
