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Design of feedforward and feedback position control for passive bilateral teleoperation with delays
Kostyukova, Olga,Vista IV, Felipe P.,Chong IV, Kil To Elsevier 2019 ISA transactions Vol.85 No.-
<P><B>Abstract</B></P> <P>Bilateral teleoperation systems connected to computer networks such as the internet must be able to operate with varying time delays since such systems can easily become unstable. A passivity concept has been used as the framework to solve the stability problem in the bilateral control of teleoperation systems. Passivity and tracking performance are recovered using a control architecture that incorporates time varying gains into the transmission path, feedforward, and feedback position control. The proposed architecture has an inner component that can accommodate any configuration but still remain stable and passive even with varying time delay. The simulation results for a single degree of freedom master/slave system demonstrate the performance of the proposed control architecture.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Passive & stable architecture even with any config in the middle & varying time delay. </LI> <LI> Position and tracking errors are bounded. </LI> <LI> Adapt to varying time delay w/time varying gains using master ff & fb position data. </LI> <LI> Passivity of proposed architecture proven through two Lyapunov like function theorems. </LI> <LI> Explicit position & force tracking simulations under various control models & gains. </LI> </UL> </P>
Marine Tracking System using AIS, GPS, and ENC
Felipe P. Vista IV(비스타네 필립),Beom Seok Park(박범석),Chang Goo Lee(이창구),Yeong Chul Kim(김영철),Kil To Chong(정길도) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
For a marine navigator, keeping track of one's location in a specific area especially while on the way, or under way, is very important. Knowing the details of the immediate surrounding area where one is currently located comes as a very close second. Keeping these two important factors in mind, we propose an IT-based system for the marine industry that would keep track of own-ship and other ships in the area while stationary or in the move while at the same time showing the information about the current area from an Electronic Navigation Chart (ENC).
Fusing Multiple Inexpensive GPS Heading Data via Fuzzified Ad-Hoc Weighing
Vista IV, Felipe P.,Lee, Deok Jin,Chong, Kil To Trans Tech Publications, Ltd. 2015 Applied Mechanics and Materials Vol.776 No.-
<P>Applying the same principle behind the Ad-hoc weighing used in fusing data from two inexpensive GPS and an electronic compass (EC) brought up the problem of numerous conditions when trying to fuse data from three GPS devices. Fusing data from two GPS and one EC required at least thirty-two (32) conditions while using three GPS would require 182 conditions that would have entailed a complex set of programming codes. Fuzzy logic was explored as a possible candidate to replace the hard-coding of if-then-statements but still perform the ad-hoc algorithm as desired. The GPS Fix and HDOP (horizontal dilution of precision) values are utilized to derive the corresponding weight to be assigned to the individual GPS as well as the overall fused GPS data. Experimental tests using actual GPS data showed the effectivity of the proposed method.</P>
Sea Current and Wind as Additional Factors in Computing the Fuzzy Ship Domain Minimum Safe Distance
Felipe P. Vista IV,Chang Goo Lee,Hak Tae Kim,Kil To Chong,Kim Young Chul 대한전자공학회 2010 ICEIC:International Conference on Electronics, Inf Vol.1 No.1
Collision alert system aboard ship usually determines if another vessel is inside its fixed minimum safe distance to alert the navigators. Utilizing the existing method of augmenting this fixed minimum safe distance with a minimum fuzzy safe distance is a great way to improve the safety factor. Incorporating the effects of water current and the wind as additional factors in addition to ship size, ship speed and sea state in computing the minimum fuzzy safe distance is proposed. Simulation results show that the proposed additional factors gave satisfactory results.