Generalized scattering-based design and cooperative control in teleoperator systems

远程操作系统中基于广义散射的设计和协作控制

• 批准号: RGPIN-2015-05753
• 负责人: Polouchine, Ilia
• 金额: $ 1.6万
• 依托单位: University of Western Ontario
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=662398
• 关键词: Generalized; scattering; based; design; cooperative

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.

本申请中提出的研究计划旨在开发新的方法，用于分析和设计力反射遥控操作系统，特别是包括遥控操作系统的不同部分之间的合作。 该研究计划将解决与复杂遥控操作系统的分析和设计相关的重要理论和实践问题。这个新的研究计划的主要方向是与复杂的遥控系统，将基于行为方法建模和广泛使用的广义散射变换，以及详细调查的方法和算法的运动/力同步，共识和合作之间的遥控系统的新的强大的设计框架的发展。作为拟议的研究计划的结果，复杂的遥控操作系统的分析和设计的新方法将被开发，与目前现有的方法相比，大大更强大。特别是，基于行为建模的遥操作系统和非线性圆锥系统的形式主义，以及广泛使用的广义散射变换的方法将扩展现有的有限的被动为基础的和小增益为基础的设计方法，并会导致更一般和更保守的设计方法和程序，特别是在存在通信延迟。这些新的方法也将允许许多现有的线性频域方法的扩展到非线性遥操作系统的实际重要情况。新的算法的共识和同步在合作的遥操作系统将导致改进的灵活性和精度的合作telemanipulation，并允许执行复杂和困难的任务，需要精确同步的运动和奴隶之间的力量。这些结果将导致设计新的高性能触觉遥控操作系统的广泛的实际应用，包括微创手术系统，合作的材料处理，以及触觉遥控操作的无人驾驶飞行器组合作执行的任务，如处理一个共同的负载。 高素质人才的培养构成了拟议的研究计划的重要组成部分。 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，并将使他们在当今的高科技就业市场上具有竞争优势。在拟议的研究计划的过程中所取得的成果，预计先进的遥操作系统的理论和实践产生重大影响。