NDLI: Coordinated controller of Internet-based multi telerobot cooperation

Content Provider	IEEE Xplore Digital Library
Author	Yan Jihong Zhao Jie Cai Hegao
Copyright Year	2004
Description	Author affiliation: Robotics Inst., Harbin Inst. of Technol., China (Yan Jihong; Zhao Jie; Cai Hegao)
Abstract	Time delay over the Internet deteriorates the performance of multi-operator-multi-robot teleoperation system (MOMR). At present, several methods aiming at the problems of the Internet-based multi-telerobot collaboration only depend on the master side. In this paper, a coordinated controller was presented based on the idea of shared control that combined the intelligence of the master side with the slave side. It is composed of three modules, task coordination, motion planning and communication, which can not only increase the efficiency and safety of the system but also relieve the burden and the requirements to the operators. The controller also can cope with the collision between two telerobots in the common environment arising from the time delay. A simulation experiment via an Ethernet local area network (LAN) subject to simulated time delay was carried out to protect the medical staff from highly dangerous virus such as SARS, bird flu etc. And the validity of the coordinated controller was evaluated in the system.
Starting Page	1469
Ending Page	1474
File Size	457644
Page Count	6
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389603
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Internet Delay effects Communication system control Medical control systems Medical simulation Local area networks Collaboration Master-slave Safety Ethernet networks
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Audio-visual guided predictive simulator in multi-telerobot coordination

Finite spectrum assignment controller for teleoperation systems with time delay

Study on master-slave control of telerobot based on load impedance identifier

Virtual impedance based remote tele-collaboration with time delay

Sliding-mode controller for bilateral teleoperation with varying time delay

Speed Control of a DC Motor System through Delay Time Variant Network

Neural network-based teleoperation using Smith predictors

The local force control loop approach in bilateral control of master-slave systems

Passive Bilateral Teleoperation via the Internet

Coordinated controller of Internet-based multi telerobot cooperation

Similar Documents

Audio-visual guided predictive simulator in multi-telerobot coordination

Finite spectrum assignment controller for teleoperation systems with time delay

Study on master-slave control of telerobot based on load impedance identifier

Virtual impedance based remote tele-collaboration with time delay

Sliding-mode controller for bilateral teleoperation with varying time delay

Speed Control of a DC Motor System through Delay Time Variant Network

Neural network-based teleoperation using Smith predictors

The local force control loop approach in bilateral control of master-slave systems

Passive Bilateral Teleoperation via the Internet

Coordinated controller of Internet-based multi telerobot cooperation