The level of force that can be stably reflected to the human operator in a force-reflecting teleoperator is constrained by the dynamics of impact between the slave arm and its environment. This paper models the underlying dynamics of impact and describes how the impact effects can be minimized using estimates of the distance between the slave and objects in its workspace. Our approach is based ...

Inspired by the phenomenon of symbiosis in natural ecosystems a multi-swarm cooperative particle swarm optimizer (MCPSO) is proposed as a new fuzzy modeling strategy for identification and control of non-linear dynamical systems. In MCPSO, the population consists of one master swarm and several slave swarms. The slave swarms execute particle swarm optimization (PSO) or its variants independentl...

The paper proposes a construction method of bilateral system using redundant manipulator. In bilateral system, it is important that operation can be realized in narrow space and at remote plate. Then the master-slave robots with redundancy are convenient and needed to achieve the bilateral motion effectively. However, human operation will become difficult because of the multifunctional mechanis...

This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky object by two hexacopters. The goal is to develop a robust approach which does not rely on: (a) communication links between the MAVs, (b) the knowledge of the payload shape and (c) the position of grasping point. The pro...

amping and stiffness control in a telerobotic system allows the programmer to define the master and slave dynamics to suit a given task. Unfortunately, many requirements for good teleoperation produce conflicting choices of desired dynamic parameters for different tasks. It is proposed here that the master and slave damping and stiffness matrices be functionally dependent on b e n d and command...

Recently proposed stable teleoperation control scheme, base on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on...

This talk addresses the problem of establishing a bilateral teleoperation system for remotely controlling the motion of groups of (possibly heterogeneous) mobile robots in a decentralized way. Instead of being focused on a particular class of robot, an approach general enough to allow for a straightforward application to any kind of mobile robot, such as aerial, ground, space, naval, or underwa...

This article proposes a disturbance observer-based Sliding Mode Control (SMC) approach for the robust synchronization of uncertain delayed chaotic systems. is done by, first, examining and analyzing electronic behavior master slave Sprott Then, synthesizing sliding mode control technique using newly proposed surface that encompasses error between slave. The external disturbances affecting syste...

In this paper, a new fractional order chaotic system without equilibrium is proposed, analytically and numerically investigated, experimentally tested. The analytical numerical investigations were used to describe the system’s dynamical behaviors including equilibria, attractors, bifurcation diagrams, Lyapunov exponents. Based on obtained behaviors, can excite hidden attractors since it has no ...

In this paper, we propose an overlapping communication protocol using improved time-slot leasing in the Bluetooth WPANS. One or many slave–master–slave communications usually exist in a piconet of the Bluetooth network. A fatal communication bottleneck is incurred in the master node if many slave–master–slave communications are required at the same time. To alleviate the problem, an overlapping...