A robust teleoperation controller design method for an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and stability for a teleoperation of an underwater manipulator in unknown environments with time-varying uncertainties such as added mass, buoyancy, hydraulic drag and friction effect, an adaptive sliding mode control schem...

In this paper, a visual and haptic human-machine interface is proposed for teleoperated nano scale object interaction and manipulation. Design specifications for a bilateral scaled teleoperation system with slave and master robots, sensors, actuators, and control are discussed. Phantom haptic device is utilized as the master manipulator, and a piezoresistive Atomic Force Microscope probe is sel...

EXOSTATION is an ESA-funded project aiming at developing a complete haptic control chain. The demonstrator is composed of a 7-DOF portable arm exoskeleton master, controlling an anthropomorphic slave robot interacting with its working environment. This system is meant to be used in telemanipulation and telepresence modes (master/slave control), making it usable in many applications including sp...

Design of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain desired system configuration....

This paper describes a fuzzy rule learning system called SLAVE (Structural Learning Algorithm in Vague Environment) which learns a set of fuzzy rules from a set of examples. SLAVE has been developed for working with noise-aaected systems where the application of some conditions of classical learning theory do not produce good descriptions. This learning system allows the structure of the rule t...

This paper describes a boss-slave relationship between processes, different from the normal relationships between processes, which is useful for a number of purposes. These purposes include debugging of programs, analysis of process behavior, control of a process for security purposes, and simulation of a different operating system for a slave process. This mechanism was easily added to one ope...

We implement a reliable robot control system for performing maintenance/repairing in nuclear power plant. Systems entered in extreme environments should have high reliability, since their failures cause much longer maintenance time. Our system is designed to have a threelevel hierarchical structure – slave/master/supervisory controllers – by considering the degree of radiation hazard. The slave...

Bilateral control is a remote-control technique that can transmit the reaction force received by slave as feedback to its master. However, it poses several problems; hence, bilateral using functional electrical stimulation (FES) has been proposed solution. Generally, in control, position synchronization and establishing action-reaction are considered targets for an acceptable sense transmission...

Trajectory tracking control problem for internet-based tele-operation system is researched in this paper. The control structure of master and slave tele-operation manipulators adapts bilateral servo control architecture with force deviation feedback. The simulation model of three degrees of freedom (3-DOF) manipulator is presented. In order to ensure the synchronization of positions of the mast...