Generalized scattering-based design and cooperative control in teleoperator systems

本申请中提出的研究计划旨在开发新的方法来分析和设计力反映遥操作臂系统，特别是包括遥操作臂系统不同部分之间的合作。该研究计划将解决与复杂遥操作系统的分析和设计相关的重要理论和实践问题。这一新的研究计划的主要方向是为复杂的遥操作系统开发新的强大的设计框架，该框架将基于行为方法建模和广泛使用广义散射变换，以及详细研究遥操作系统各部分之间的运动/力同步、共识和协作的方法和算法。作为拟议的研究计划的结果，将开发出分析和设计复杂遥操作系统的新方法，这些方法比目前现有的方法要强大得多。特别是，基于遥操作系统行为建模和非线性二次曲线系统形式化的方法以及广义散射变换的广泛使用将扩展现有的基于有限无源性和基于小增益的设计方法，并将导致更通用和更不保守的设计方法和过程，特别是在存在通信延迟的情况下。这些新方法还将允许将许多现有的线性频域方法扩展到实际重要的非线性遥操作系统的情况。在协作式遥操作机器人系统中，新的协商和同步算法将提高协作式遥操作的灵活性和精确度，并允许执行复杂和困难的任务，这些任务要求从动件之间精确地同步运动和力。这些结果将导致设计新的高性能触觉遥操作系统，用于广泛的实际应用，包括微创手术系统、协作灵巧的材料处理，以及协作执行诸如处理共同负载的任务的多组无人机的触觉遥操作。培训高素质人员是拟议研究方案的重要组成部分。在拟议的研究计划过程中接受的培训将为学员未来的职业成功提供坚实的背景，并将使他们在当今高科技就业市场上获得竞争优势。在拟议的研究计划过程中取得的成果预计将对先进的遥操作系统的理论和实践产生重大影响。

The research program proposed in this application aims at development of new methods for analysis and design of force reflecting teleoperator systems that, in particular, include cooperation between different parts of a teleoperator system. The research program will address important theoretical and practical issues related to the analysis and design of complex teleoperator systems. The major directions of this new research program are related to the development of new powerful design framework for complex teleoperator systems that will be based on behavioural approach to modeling and extensive use of generalized scattering transformations, as well as detailed investigation of methods and algorithms for motions/forces synchronization, consensus, and cooperation between parts of a teleoperator system. As an outcome of the proposed research program, new methods for analysis and design of complex teleoperator systems will be developed that are substantially more powerful in comparison with the currently existing methods. In particular, the approach based on behavioral modeling of teleoperator systems and nonlinear conic systems formalism as well as extensive use of generalized scattering transformations will extend the existing limited passivity-based and small-gain-based design approaches and will result in more general and less conservative design methods and procedures, particularly in the presence of communication delays. These new methods will also allow for an extension of many existing linear frequency-domain methods to the practically important case of nonlinear teleoperator systems. The new algorithms for consensus and synchronization in cooperative teleoperator systems will result in improved dexterity and precision of cooperative telemanipulation and allow for execution of complex and difficult tasks which require precise synchronization of motion and forces between slaves. These results will lead to design of new high-performance haptic teleoperation systems for wide range of practical applications, including minimally-invasive surgical systems, cooperative dextrous handling of materials, as well as haptic teleoperation of groups of unmanned aerial vehicles cooperatively executing a task such as handling a common load. The training of highly qualified personnel constitutes an important part of the proposed research program. The training received over the course of the proposed research program will provide a solid background for the trainees' future professional success and will give them competitive advantage in today's high-tech job market. The results achieved during the course of the proposed research program are expected to make substantial impact on the theory and practice of advanced teleoperator systems.