This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...

The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, new method related to the master-slave approach introduced, master replaced by digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables rendering any programmed robot with serial manipulator on general-purpose interface. results s...

This paper proposes a strategy for handling a heavy object by cooperation of a positioncontrolled robot and a crane with multiple wires . Installation of compliant mechanism is essential to avoid excessive inner forces caused by positioning errors of the robot and the crane. First, the necessary mechanical conditions to achieve the cooperation between position-controlled robots are reviewed . S...

A master-slave type remote ultrasound diagnostic system was developed. The controller has impedance control capability for the master and slave manipulators' positions. And it has a Continuous Path(CP) control capability for the slave manipula-tor's orientation. This paper presents the controller of the slave manipulator's orientation. The remote ul-trasound diagnostic system is one of remote m...

We analyze theoretically the polarization dynamics in unidirectionally coupled vertical-cavity surface-emitting lasers (VCSELs). The master VCSEL is subject to an isotropic optical feedback. The slave VCSEL is subject to an orthogonal optical injection from the master VCSEL, i.e., only the linearly polarized mode orthogonal to the dominant linearly polarized mode of the free-running slave VCSEL...

This paper presents a bilateral control scheme designed to achieve the two main goals of a teleoperation system: stability and transparency. The control scheme allows that the slave follows the master, ant that the force displayed to the operator was exactly the reaction force from the environment. In addition, the interaction force of the slave with the environment is adapted to the master/sla...

Time delayed teleoperation has been one of the first and most challenging topics in robotic control. Although numerous methods have been developed by researchers all over the world during the last two decades, those methods have limitations or need special assumptions to be applied. With the development of the world-wide-web, teleoperation through the Internet sees a bright future. However, the...

A Bluetooth ad-hoc network consists of Bluetooth devices interconnected into piconets and piconets interconnected into scatternets. The specification has not yet addressed the issue of algorithms for scatternet formation. Some algorithms have been proposed, but they are either synchronous, they work only with strongly connected topologies, or they are master-slave based and hierarchical of natu...

We consider a two-way updating system with a master node and a slave node. In each block, the master node transfers energy and updates to the slave node alternatively. The slave node performs transmission to the master node if it has sufficient energy for current block, i.e., using best-effort policy . Moreover, the slave node generates a new update immediately after the completion of previous ...