Remote Variable Access Protocol for Data-Centric TeleRobotics

Jeong Seok Kang,Jong Whan Kim,Hong Seong Park 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

A telerobot is a robot that accepts instructions from a distance, generally from a trained human operator, chiefly using TCP/IP network. The human operator thus performs live actions in a distant environment and through sensors can gauge the consequences. This paper proposes remote variable access protocol for data-centric telerobots (RVAP). The protocol provides three main functionalities for telerobotic system. First, it easily transmits a remote variable in a distant environment. It provides two types of transmission mechanism, based on request/response model and publish/subscribe model. Second, it marshals/unmarshals primitive and complex types of a remote data. Third, it automatically manages TCP and UDP network connections. We have implemented RVAP and evaluated it on a data centric haptic-mobile telerobot control system.

Comparison of Routh-Hurwitz and Absolute Stability Criteria in Application to Scaled Telerobotics Systems

Igor Gaponov(이고르 가포노프),Hyun Chan Cho(조현찬),Hong-Tae Jeon(전홍태) 대한전자공학회 2013 전자공학회논문지 Vol.50 No.11

Comparison of Routh-Hurwitz and Absolute Stability Criteria in Application to Scaled Telerobotics Systems

GAPONOVIGOR,조현찬,전홍태 대한전자공학회 2013 전자공학회논문지 Vol.50 No.11

This paper presents a comparative study on application of Routh-Hurwitz and Llewellyn absolute stability criteria to a scaled telerobotic system. The dynamic equations of the telerobotic system are given, and the transfer function of the system is obtained for further stability analysis. The stable margins of controller gains are obtained using both stability analysis methods, and the differences in the results are described and explained. The paper is concluded by a numerical example verifying performed stability analysis.

Design of Intelligent Filter for Telerobotic System

GAPONOVIGOR,최성주,조현찬 한국지능시스템학회 2008 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.8 No.2

In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of humans hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter based on fuzzy logic, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.

미세수술 동작분석을 통한 원격제어 수술로봇 설계

송세경,권동수 대한의용생체공학회 1999 의공학회지 Vol.20 No.4

미세수술용 원격로봇 시스템은 육체적 피로, 눈의 피로, 손떨림, 전염성이 있거나 방사능이 있는 위험성으로부터 의사를 보호하고 돕기 위해 발달되어 왔다. 본 논문은 진보된 미세수술영역중에서 4개를 선정하여 미세수술작업을 대상으로 동작과 수술도구, 정밀도와 분석하여, 미세수술로봇의 개발을 위한 요구사항을 제안하였다. 미세수술의 작업분석은 수술로봇의 기본적인 개념디자인을 분류하고 체계화하는데 도움을 줄 수 있다. 분석된 결과로서 미세수술에 적합하도록 특수하게 디자인된 병렬 미니퓰레이터를 개발하였다. A microsurgery telerobotic system has been developed to aid surgeons from physiological tremor, eye stram, hand tremor, contagious and radioactive hazard. This paper identifies four general areas of advanced microsurgery and analyzes the motion, tools, accuracy and applying forces with respect to microsurgery tasks, and proposes the criteria to design the microsurgical robot. The analysis of microsurgery can be helpful to clarify some basic concept and design of surgical robots. Based on this analysis results, we propose an efficient in-parallel-platform manipulator having a special kinematic structure suitable for microsurgery.

ROS-based Telerobotic Application for Transmitting High-bandwidth Kinematic Data Over a Limited Network

Meriem L. Aarizou,Nasr-Eddine Berrached 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.2

The Robotic Operating System (ROS) has provided a set of packages for Networked Telerobotic Systems(NTS) to transport high-bandwidth ROS topics over a websocket communication. The main concern was totransport high-bandwidth sensory and kinematic information over the web with a smaller bandwidth usage and alower time-delay. Yet their solution for transporting kinematic data over the web is not a low-bandwidth-friendlysolution. It sends kinematic transforms only on demand which is certainly a better solution than sending a constantstream of data, but not optimal since some of this data is secondary and can be discarded. In this paper we present a new strategy to reduce the amount of bandwidth devoted to ROS kinematic transformsduring a web-based manipulation. We proceed by selecting the primary transforms from the amount of information. Only those transforms will be sent to clients. We propose an improved method to choose whether or not a transformis primary and will able to reduce more than 80% of bandwidth consumption. Experimental results are shown tovalidate the efficiency of the suggest method in a real time environment.

A Neurofuzzy Algorithm-Based Advanced Bilateral Controller for Telerobot Systems

Cha, Dong-hyuk,Cho, Hyung-Suck Institute of Control 2002 Transaction on control, automation and systems eng Vol.4 No.1

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

A Neurofuzzy Alogirthm-Based Advanced Bilateral Controller for Telerobot Systems

Dong-Hyuk Cha,조형석 제어·로봇·시스템학회 2002 International Journal of Control, Automation, and Vol.4 No.1

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compli-ance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automati-cally determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the pro-posed algorithm has been verified.

Cooperation of Time-delay for Internet-based Mobile Robot Using Fuzzy Logic

Yoo, Bong-Soo,Lee, Sang-Min,Joh, Joong-Seon Korean Institute of Intelligent Systems 2002 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.2 No.3

Recently, internet-based applications can be found easily in various felds. Internet-based telerobot system becomes one of important applications of internet. Among many important technological issues on the internet-based telerobot, time-delay is inherently critical problem to be solved. Time-delay is classified as micro time-delay and macro time-delay in this paper. Algorithms for compensation of path-error and time-error are proposed for the both types of time-delays using fuzzy logic since fuzzy logic is one of the best tools to represent expert's knowledge. Simulation results show the validity of the proposed algorithms.

우주탐사용 원격로봇 시스템 기술동향

이창환,이순요,신효순 한국기계기술학회 2013 한국기계기술학회지 Vol.15 No.4