Improvement of operationality under time varying delay for bilateral teleoperation systems by differential signal based data modulation
Improvement of operationality under time varying delay for bilateral teleoperation systems by differential signal based data modulation
复制标题
通过基于差分信号的数据调制改进双边远程操作系统时变延迟下的可操作性
DOI：
10.1541/ieejjia.6.245
复制
发表时间：
2017
影响因子：
1.7
通讯作者：
S. Katsura
中科院分区：
文献类型：
--
作者：
Hiroki Murata;S. Katsura
提出了一种在时变时延条件下提高双边遥操作系统可操作性的方法。可操作性是操作平稳性的指标，是双向遥操作系统的性能指标。在时变时延通信条件下，系统的可操作性恶化是一个突出的问题，因为它会引起系统的振动。因此，本文提出了一种新的方法来提高双边遥操作系统的可操作性，通过引入差分信号的数据调制。数据调制方法通过网络传输原始信号及其导数，以最大限度地消除时延中变化分量对接收信息的影响。与传统方法相比，该方法在保持系统对称结构的同时，不增加系统的时延，提高了系统的可操作性。通过两个实验验证了该方法的有效性。
This paper proposes a method to improve the operationality of bilateral teleoperation systems under time varying delay. Operationality is an index of the smoothness of an operation and is a performance index of bilateral teleoperation systems. Deterioration of operationality is salient under time varying delay communication because it causes system vibration. Therefore, this paper presents a novel method to improve the operationality in bilateral teleoperation systems by introducing differential signal based data modulation. The data modulation method transmits the original signal and its derivative via the network to mostly eliminate the effect of varying components in the time delay on the received information. Compared with conventional methods, the proposed method improves the operationality of a system while maintaining its symmetric structure but not increasing the time delay. Two experiments were conducted to show the validity of the proposed method.
影响因子：
7.7
作者：
K. Natori;K. Ohnishi
通讯作者：
K. Natori;K. Ohnishi
时滞双边遥控三通道控制架构的性能分析
DOI：
--
发表时间：
2007
期刊：
電気学会産業応用部門誌 127巻12号
影响因子：
--
作者：
Kuratsu;M.;倉津将人;江崎俊朗;竹田拓馬;藍孝征;藍孝征;藍孝征;藍孝征;岡田恵次;倉津将人;熊谷祐;江崎俊朗;竹田拓馬;Keiji Okada;Masato Kuratsu;Masato Kuratsu;Keiji Okada;鈴木 修一;Masato Kuratsu;増田 有希;倉津 将人;藍 孝征;Masato Kuratsu;Masato Kuratsu;Kouhei Ohnishi;須佐繁;K. Fukaya;矢代大祐;矢代大祐;Kenji Natori;T. Kimura;名取賢二;Kenji Natori;名取賢二;K. Kajino;名取賢二;T. Kimura;Kenji Natori;Ryogo Kubo
通讯作者：
Ryogo Kubo