In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and...In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators.Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators.Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems.The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites.Finally,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.展开更多
Climbing robots are being developed for various applications.The confined space requires a compact locomotion system with vertical and overhead climbing ability.To achieve surface transition,Steering geometry Interact...Climbing robots are being developed for various applications.The confined space requires a compact locomotion system with vertical and overhead climbing ability.To achieve surface transition,Steering geometry Interaction system and static force are used.WSNs ubiquitous infrastructure and excellent coverage,they can be used for providing location information for various location-based services,especially in indoor environments.This structure is designed for a magnetic wall-climbing robot to gradually decrease the magnetic force when it is transiting between perpendicular magnetic surfaces.This paper describes the design process of a magnetic wall climbing robot,which adopts SgI and has the potential to carry materials in a confined space with an energy efficient system model.To resolve the problem of target tracking,it is essential to deploy a system model.Over the last two decades,several researchers have recommended many remote user authentication schemes.Researchers are continuously trying to enhance the security in material handling automation system by introducing several features into their work.A working prototype has been built based on the optimized dimension.展开更多
基金supported by Natural Sciences and Engineering Research Council of Canada (NSERC) Research Fellowship,Canada Research Chairs Program and University of Ottawa Research Chair Program
文摘In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators.Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators.Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems.The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites.Finally,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.
文摘Climbing robots are being developed for various applications.The confined space requires a compact locomotion system with vertical and overhead climbing ability.To achieve surface transition,Steering geometry Interaction system and static force are used.WSNs ubiquitous infrastructure and excellent coverage,they can be used for providing location information for various location-based services,especially in indoor environments.This structure is designed for a magnetic wall-climbing robot to gradually decrease the magnetic force when it is transiting between perpendicular magnetic surfaces.This paper describes the design process of a magnetic wall climbing robot,which adopts SgI and has the potential to carry materials in a confined space with an energy efficient system model.To resolve the problem of target tracking,it is essential to deploy a system model.Over the last two decades,several researchers have recommended many remote user authentication schemes.Researchers are continuously trying to enhance the security in material handling automation system by introducing several features into their work.A working prototype has been built based on the optimized dimension.
