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Robust teleoperation in a non-visible environment with a new prediction scheme

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Abstract

We propose a new prediction scheme for robust teleoperation in a non-visible environment. The positioning error caused by the time delay in a non-visible environment was compensated for by the Smith predictor, and the sensory data was estimated by the grey model. The Smith predictor was effective in compensating for the positioning error caused by the time delay with a precise system model. Therefore, a dynamic model of a mobile robot was derived in this research. To minimize the unstable and erroneous states caused by the time delay, the estimated sensor data were sent to the operator. Through simulations, the possibility of compensating the errors caused by the time delay was verified using the Smith predictor. In addition, the estimation reliability of the measurement data has been demonstrated. Robust teleoperations in a non-visible environment have been performed with a mobile robot to avoid obstacles and move to the target position by the proposed prediction scheme, which combines the Smith predictor with the grey model. Although a human operator is involved in the teleoperation loop, the compensation effects have been demonstrated.

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Authors and Affiliations

  1. Department of Electronics Engineering, Pusan National University, Busan, Korea

    Dong-Hyuk Lee, Jae-Hun Jung & Jangmyung Lee

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  1. Dong-Hyuk Lee
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  2. Jae-Hun Jung
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  3. Jangmyung Lee
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Corresponding author

Correspondence to Jangmyung Lee.

Additional information

Recommended by Associate Editor Yang Shi

Dong H. Lee received his M.S. in Electronic Engineering from the Pusan National University, Republic of Korea in 2013. He is currently doing a Ph.D. course in Electronic Engineering from the Pusan National University, Republic of Korea. His research interests include intelligent control, teleoperation, navigation & localization, haptics and predict control.

Jae H. Jung received his M.S. in Electronic Engineering from the Pusan National University, Republic of Korea in 2016. He is currently doing a research work from the BMT, Republic of Korea. His research interests include haptics, teleoperation, predict control and micro processor.

Jang M. Lee received the B.S. and M.S. in Electronics Engineering from Seoul National University in 1980 and 1982, respectively, and the Ph.D. in Computer Engineering from the University of Southern California in 1990. Since 1992, he has been a Professor with Pusan National University. His research interests include intelligent robotics, advanced control algorithms, and specialized environment navigation/localization.

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Lee, DH., Jung, JH. & Lee, J. Robust teleoperation in a non-visible environment with a new prediction scheme. J Mech Sci Technol 32, 835–843 (2018). https://doi.org/10.1007/s12206-018-0134-0

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  • DOI: https://doi.org/10.1007/s12206-018-0134-0

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