Differences

This shows you the differences between two versions of the page.

--- comms_teleop_dw_ab [2017/06/12 00:52] – dwallace
+++ comms_teleop_dw_ab [2017/06/19 05:11] (current) – dwallace
@@ Line 62: / Line 62: @@
 Brady, K., & Tarn, T. (1998). Internet-based remote teleoperation. Belgium: IEEE. doi:10.1109/ROBOT.1998.676261
+This paper describes utilizing the Internet to teleoperate robots over long-distance connections, by utilizing a predictive model of the robot and a state-space model for the delay. The authors present theory and experimental results. From this presentation, the paper concludes
+that the model of the robot is sufficient to deal with the delay in high-latency teleoperation.
+From the state-of-the-art, the paper identifies challenges in in setting up network for communication, as they are specialized. The paper addresses these challenges by utilizing the Internet as the network for communication.  The results of this approach are valid and novel.
+The paper presents the following theoretical principles: (1) State space formulation of the delay; and (2) Time delay estimation.
+The principles are explained well, and in detail. For example the equations for the state space formulation show the correct application of the principles.
+From the principles and results, the paper concludes: (1) The predictive model is useful for unexpected circumstances during control; (2) the state space formulation works well under high-latency; and (3) .
+I liked this paper because: (1) It utilized the Internet, a readily available resource, to control the robot; (2) It dealt with high-latency communications by switching from time delay to a state space model; and (3) It utilized a predictive model that accurately guided the operator throughout the heavily delayed control. However, I would have liked to see picture of their predictive model, and how it compared to the delayed image displayed on screen.
+Three things I learned from this paper were: (1) How to estimate the time delay in a system; (2) How to utilize a state space model for high-latency control; and (3) How to keep effectively the human-in-the-loop, even with an autonomous and delayed system.
+**4.** [[http://ieeexplore.ieee.org/document/258052/|Space Teleoperation Through Time Delay:  Review and Prognosis]]\\
+Publisher: IEEE Transactions on Robotics and Automation (Volume 9, Issue 5, Oct 1993)\\
+Keywords: Time delay, high-latency, space robotics, teleoperation
+Sheridan, T. (1993). Space teleoperation through time delay: review and prognosis. IEEE Transactions on Robotics and Automation, 9(5), 592-606. doi:10.1109/70.258052
 This paper describes (fill in the blank).  The authors present (fill in the blank e.g.
@@ Line 85: / Line 106: @@
 and (3) (fill-in-the-blank).
-**4.** [[insert_ieee_explore_link_here|Title of Paper]]\\
+**5.** [[http://ieeexplore.ieee.org/document/345941/|Bilateral controller for teleoperators with time delay via µ-synthesis]]\\
-Publisher: name of conference or journal and year (ex: IROS 2011, IEEE conference or Robotics 2013, IEEE transaction)\\
+Publisher: IEEE Transactions on Robotics and Automation (Volume 11, Issue 1, Feb 1995)\\
-Keywords (platform, field of research, algorithm or approach/methodologies, more details ): ex1) Humanoids, biped walking, ZMP balance control, MPC.. ex2) UGV, Real-time navigation, SLAM with RGB-D, Line-based..
+Keywords: bilateral control, teleoperation, time delay
-Proper Citation
+Leung, G., Francis, B., & Apkarian, J. (1995). Bilateral controller for teleoperators with time delay via μ-synthesis. IEEE Transactions on Robotics and Automation, 11(1), 105-116. doi:10.1109/70.345941
 This paper describes (fill in the blank).  The authors present (fill in the blank e.g.