Virtual master-slave concept is proposed to realize a human-machine interface for nonholonomic systems. In this concept, the virtual master system acts as an interface to control the slave system. The control architecture using this concept is based on a two degrees-of-freedom (DOF) design, where the neural network (NN) constructs a feedforward controller, whereas a compensator acts as a feedba...

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots with time varying delay. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics by using the passive-decomposition: the shape-system describing dynamics of the cooperative works, and the locked-system represe...

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the m...

Can part of Africa’s current underdevelopment be explained by its slave trades? To explore this question empirically, I combined data from ship records with data from various historical documents reporting slave ethnicities, and construct estimates of the number of slaves exported from each country during Africa’s slave trades between 1400 and 1900. I find a strong robust negative correlation b...

In the fine chemical industry the batch or fed-batch reactor functions as the heart of the transformation process. Due to the complexity of chemical synthesis, the control of these reactors remains a problem of temperature control commonly performed indirectly via the jacket of the reactor. This results in a cascade control scheme based on the control a secondary, more responsive process that i...

The literature has not sufficiently engaged the emergence and expansion of the phenomenon of Slave export. This article contributes to the existing stream by examining the role of human capital or intelligence on slave exports. We postulate and justify a reasonable hypothesis that countries which were endowed with higher human capital levels were more likely to experience lower levels of slave ...

Network delays in the feedback and control loop can give rise to loss of transparency and instability in teleoperation and bilateral control systems, especially with the use of the internet as the medium of communication. This is a current problem of bilateral control, with numerous approaches taken to improve the performance in the face of network delay. This study is based on the more recent ...

This research focuses on stability analysis of a bilateral control system using a nonlinear single-link flexible slave arm with constant communication network delay. In our study, a rigid master arm and a single-link flexible slave arm comprise a bilateral control system where control is performed over a communication network with constant delay. A flexible arm was modeled by a linearized syste...

In a CANopen-compliant industrial control system, the master node controls slave nodes (devices) through the corresponding Node-IDs. Though there are some protocols (such as LSS, LMT etc) established for Node-ID assignment, it is not competent for configuring Node-ID for all slaves automatically. In this paper, a new Node_ID binding protocol is proposed. The protocol can be used to assign Node-...

This paper presents an approach of teleoperation using impedance control for both master and slave manipulators. The 4-channel architecture with impedance control ensures enhanced transparency by appropriately controlling the dynamic behavior between motion and applied forces in the task space of the manipulators on both sides. Performance of the system is improved by using on-line estimation o...