Department Publications

This paper describes the design and implementation techniques of a generic Internet based telerobotic system. The purpose is to make precious technical information and hands-on experience of the authors widely available for the research community. The paper is based on the telerobotics system that the authors recently implemented between KAIST and Saga University, Japan. In its current functionality, two control modes can be exercised; high-level supervisory control, and low-level supervisory control.

This research proposes a supervisory control scheme for industrial telemanipulators. The final goal is to devise a control methodology for the effective teleoperation of industrial robot manipulators. Supervisory control is utilized as the base of the control methodology, in that the remote supervisor (human operator) communicates only the important task parameters to the local controller, over the Internet. Local controller plans the optimum trajectory considering supervisor instructions and local constraints, and finally controls the telemanipulator. Reference positions of the desired end-effector trajectory, assigned end-effector speed, working precision, and joint acceleration limits are the important task parameters communicated by the remote supervisor. Local controller considers such specifications in its trajectory planning algorithm. The proposed supervisory control scheme was successfully devised and experimented between the Department of Advanced Systems Control Engineering, Saga University (ASCESU) and Kurume National College of Technology (KNCT).

Pole selection for modified taught data method for mechatronic servo systems by considering bounded control | CiNii Research CiNii 国立情報学研究所 学術情報ナビゲータ[サイニィ] 詳細へ 移動 検索フォームへ移動 論文・データをさがす 大学図書館の本をさがす English 検索 タイトル 人物 /団体名 著者ID/研究者番号 所属機関 ISSN DOI 期間 ~ 本文リンク 本文リンクあり データソース JaLC IRDB Crossref DataCite NDLサーチ NDLデジコレ(旧NII-ELS) RUDA JDCat NINJAL CiNii Articles CiNii Books NACSIS-CAT/ILL DBpedia KAKEN Integbio PubMed LSDB Archive 極地研ADS 極地研学術DB OpenAIRE 公共データカタログ すべて 研究データ 論文 本 博士論文 プロジェクト 人物 > 人物検索機能について Pole selection for modified taught data method for mechatronic servo systems by considering bounded control 被引用文献1件 MUNASINGHE SR 収録刊行物 Proc. SICE Kyushu Branch Annual Conf, Kagoshima, Japan, 2001 Proc. SICE …

LiDAR Subsystems easily absorbed by the eye, thus maximum power is limited to make them'eye-safe'.▪ 1550nm is not focused by the eye, thus usable at higher power levels for longer range (lower accuracy). It does not show under night-vision goggles→ well suited to military applications.

Telerobotics is the teleoperation of robotic devices from a distance and deployment of telerobots in such environments, where it is not economical or safe to have human workers. The challenges for teleoperation of robots are many; time delay, limited perception of the work-site, lack of robot’s intelligence, to name a few. This paper describes how telerobotic systems are designed, their problems, and techniques to overcome them. This paper also describes the Internet-based mini-golf telerobotic system between Korea and Japan.

Results: ANFIS training takes about 30 minutes/epoch on a Pentium IV, 1.5 GHz, 256MB RAM system. And, it could be sufficiently trained in very few epochs (less than 10) provided good data-driven initialization. The trained neuro-fuzzy controller was tested by 10hr simulation under random disturbances and random reference changes at all power levels. The first 1hr simulation results are shown in Fig. 3 for each power

In order to increase the scientific return and reduce the operational costs of long-duration robotic missions to Mars, more autonomous systems are being considered that employ several rovers working on cooperative and coordinated tasks.

Flying and handling qualities are substantially dependent on, and this paper is described it, in terms of the stability and control characteristics of UAV. It is essential to be able to describe and quantify the stability and control parameters completely. It is absolutely essential to understand the relationship between the aerodynamics of the airframe and its stability characteristics to prolong the flight endurance and effective deployment. And this paper is described the stability analysis based on the dynamic model of the twin boom double vertical stabilizer UAV.

An strategic design for Internet-based telerobotic systems is presented. Aspects of safety, stability, capability, accuracy, as well as operator interactivity are considered. A comprehensive set of safety features are built-in to the remote operator interface in order to accept only the safe commands. A laser-guided end-effector helps remote operator accurately judge the geometry of the telerobot’s worksite. Task resolved motion control is used to automatically control as many number of degrees-of-freedoms as possible so that the workload on the remote operator is reduced while improving system capability. Stability has been guaranteed by introducing supervisory control. Length of operator position commands is adjusted as update rate of the visual display changes due to uncertain traffic on the Internet, which helps the remote operator to maintain a frequent interaction with the telerobot, and perform predictive control …