Study on Networked Teleoperation Applied in Mobile Teaching

Abstract

In the last few decades, an increasing number of people began realizing that bilateral teleoperation plays an important role in the extension of human manipulation in fields such as space, underwater exploration, medical surgery, and hazardous environments. There is an untapped potential in applying bilateral teleoperation in mobile teaching especially networked scenarios. With the development of mobile technologies, education now focuses on the passing on of knowledge and the interaction between teacher and student. Increasing numbers of people are beneficial from mobile/distance education. But some remote students are in a disadvantage with some practicing subjects. Thus, with the better than better smartphones emerging, bilateral teleoperation-based mobile teaching will become a revelation to the existing education structure to help student learn and practice from a remote site.

This chapter focuses on the control of bilateral teleoperation systems across the Internet which can be potentially applied in many mobile teaching applications. The authors designed a controller that focuses on the adaptability to time-varying asymmetric delays and stability with good transparency performance, appropriate Lyapunov–Krasovskii functionality, tighter bounding technology in cross terms and weighting matrix approach, and matrix inequalities solved by existing methods. We applied the controller to a linear system model with increasing forward and backward delays. An experimental validation of the developed theoretical methods was used to demonstrate the effectiveness of the proposed method, demonstrating that a criteria to improve the force tracking with less response time, less overshoot, and acceptable position error.