This paper describes a distributed software control structure developed for the CMU Rover, an advanced mobile robot equipped with a variety of sensors. Expert modules are used to control the operation of the sensors and actuators, interpret sensory and feedback data, build an internal model of the robot's environment, devise strategies to accomplish proposed tasks and execute these strategies. ...

A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous co...

This paper presents the design of master-slave genetic algorithms (GA) in solving signal coordination problems. When a serial GA is applied, its performance in terms of computation time diminishes as more accurate results (smaller time slices to evaluate flows and queues) of network performances are needed, or the size of signal networks increases. Because GA works with a population of independ...

Bluetooth technology is a radio system that is used for wireless networking. It uses a master/slave design, where any of the units can function as either a master or a slave allowing greater functionality. This paper will provide some general information on Bluetooth technology as well as the architecture and protocols used within a Bluetooth system. The layers that some of these protocols resi...

A novel nonlinear teleoperation algorithm for simultaneous inertial parameters and force estimation at the master and slave sides of the teleoperation system is proposed. The scheme, called Extended Active Observer (EAOB), is an extension of the existing active observer. It provides effective force tracking at the master side with accurate position tracking at the slave side in the presence of ...

I. INTRODUCTION Telerobotic surgical systems involve a slave robot, which interacts with the patient, and a master console, operated by the human surgeon. The slave robot reproduces the hand movements of the surgeon, who in turn needs to observe the operative environment with which the robot is interacting. The latter can be achieved by a combination of visual and haptic cues that flow from the...

A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with the goal of achieving superior performance by providing enhanced feedback to the human operator. Assembly of a micro-harmonic drive is used as a benchmark to fully evaluate the proposed telehaptic system by investigating the control strategies and the individual subsystem...

In this paper, we present a nonlinear H∞ control technique for the bilateral teleoperation of a nonlinear master-slave system. The proposed controller guarantees robust stability in the presence of uncertainty in operator and environment impedances. The guidelines to include nonlinear intervening tool between master and slave robot are suggested. The proposed technique enables adjusting weighti...

A telerobotic platform developed in a collaboration between NASA-JPL and MicroDexterity Systems, Inc (MDS) is described in this paper. The lightweight, compact 6 dof master-slave system is precise to better than 10 microns and can cover a workspace greater than 400 cubic centimeters. Current capabilities of the system include manual position control with augmented shared control modes and autom...

This paper presents a comparison among different teleoperation architectures, with respect to their performance with different control schemes. Two different control strategies are considered, a method to compensate for time-varying delays and a standard architecture without compensation. These control strategies are compared within our current operating systems and software architectures. The ...