The Shape of Damping: Optimizing Damping Coefficients to Improve Transparency on Bilateral Telemanipulation

This thesis presents a novel optimization-based passivity control algorithm for hapticenabled bilateral teleoperation systems involving multiple degrees of freedom. In particular, in the context of energy-bounding control, the contribution focuses on the implementation of a passivity layer for an existing time-domain scheme, ensuring optimal transparency of the interaction along subsets of the environment space which are preponderant for the given task, while preserving the energy bounds required for passivity. The involved optimization problem is convex and amenable to real-time implementation. The effectiveness of the proposed design is validated via an experiment performed on a virtual teleoperated environment. The interplay between transparency and stability is a critical aspect in haptic-enabled bilateral teleoperation control. While it is important to present the user with the true impedance of the environment, destabilizing factors such as time delays, stiff environments, and a relaxed grasp on the master device may compromise the stability and safety of the system. Passivity has been exploited as one of the the main tools for providing sufficient conditions for stable teleoperation in several controller design approaches, such as the scattering algorithm, timedomain passivity control, energy bounding algorithm, and passive set position modulation. In this work it is presented an innovative energy-based approach, which builds upon existing time-domain passivity controllers, improving and extending their effectiveness and functionality. The set of damping coefficients are prioritized in each degree of freedom, the resulting transparency presents a realistic force feedback in comparison to the other directions. Thus, the prioritization takes effect using a quadratic programming algorithm to find the optimal values for the damping. Finally, the energy tanks approach on passivity control is a solution used to ensure stability in a system for robotics bilateral manipulation. The bilateral telemanipulation must maintain the principle of passivity in all moments to preserve the system\u2019s stability. This work presents a brief introduction to haptic devices as a master component on the telemanipulation chain; the end effector in the slave side is a representation of an interactive object within an environment having a force sensor as feedback signal. The whole interface is designed into a cross-platform framework named ROS, where the user interacts with the system. Experimental results are presented

Air Force Institute of Technology Research Report 1997

This report summarizes the research activities of the Air Force Institute of Technology\u27s Graduate School of Engineering and the Graduate School of Logistics and Acquisition Management. It describes research interests and faculty expertise; list student theses/dissertations; identifies research sponsors and contributions; and outlines the procedure for contacting either school

Game Theory for Multi-Access Edge Computing:Survey, Use Cases, and Future Trends

Game theory (GT) has been used with significant success to formulate, and either design or optimize, the operation of many representative communications and networking scenarios. The games in these scenarios involve, as usual, diverse players with conflicting goals. This paper primarily surveys the literature that has applied theoretical games to wireless networks, emphasizing use cases of upcoming multiaccess edge computing (MEC). MEC is relatively new and offers cloud services at the network periphery, aiming to reduce service latency backhaul load, and enhance relevant operational aspects such as quality of experience or security. Our presentation of GT is focused on the major challenges imposed by MEC services over the wireless resources. The survey is divided into classical and evolutionary games. Then, our discussion proceeds to more specific aspects which have a considerable impact on the game's usefulness, namely, rational versus evolving strategies, cooperation among players, available game information, the way the game is played (single turn, repeated), the game's model evaluation, and how the model results can be applied for both optimizing resource-constrained resources and balancing diverse tradeoffs in real edge networking scenarios. Finally, we reflect on lessons learned, highlighting future trends and research directions for applying theoretical model games in upcoming MEC services, considering both network design issues and usage scenarios

Daftar Ebook Engineering Science Terbitan Springer Tahun 2018

Artikel ini memuat daftar judul ebook bidang ilmu teknik yang diterbitkan oleh Springer pada tahun 2018 yang dimiliki oleh Unand