This paper addresses the problem of time-varying communication delay in force reflecting bilateral teleoperation. The problem is motivated by the increasing use of the Internet as a communication medium where the time delay varies depending on factors such as congestion, bandwidth, or distance. The well-known scattering formalism introduced in (Anderson and Spong, 1989) preserves passivity of t...

In this study, a scheduling algorithm based on communication delay is proposed. This scheduling algorithm can tolerate delay of periodic communication tasks in wireless network control system. It resolves real-time problem of periodic communication tasks in wireless network control system and partly reduces overtime phenomenon of periodic communication tasks caused by delay in wireless network....

This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dyna...

In this article, bilateral teleoperation systems under communication time-delay are analyzed. Necessary and sufficient conditions guarantee the stability of the global system for any communication time-delay are firstly derived. Then, based on these conditions, weighting function on the slave system is obtained. Therefore, the problem of finding a position controller for the slave system which ...

We introduce a scheme that integrates a digital key in a phase-chaos electro-optical delay system for optical chaos communications. A pseudorandom binary sequence (PRBS) is mixed within the chaotic dynamics in a way that a mutual concealment is performed; e.g., the time delay is hidden by the binary sequence, and the PRBS is also masked by the chaos. In addition to bridging the gap between algo...

Overview Overview motivation motivation related work related work introduce models introduce models – – an adaptive intra an adaptive intra-frame insertion algorithm frame insertion algorithm – – binominal bandwidth adaptation binominal bandwidth adaptation – – security security implementation implementation evaluation evaluation Motivation Motivation internet broadcasting techniques are wide s...

A new framework is proposed to mitigate the adverse effect of time-varying time delays on the passivity of a teleoperation system. To this end, the communication channel with time-varying delays is modeled as a constant-delay channel along with additive output disturbances. Then, disturbance estimator blocks are added in each of the feedforward and feedback paths to estimate these disturbances ...