Modeling and control of teleoperated manipulator system based on hybrid control method

A method based on hybrid control theory for modeling and control of teleoperated manipulator system is presented in this paper. In telerobotic systems, human operator plays the role of a command generator which produces commands in real time according to information fed back. However, telerobotic system is a heterogeneous system and the heterogeneity can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. Human operator is different from autonomous planner in robotic systems in that he can not generate continuous control inputs to the remote robot. As a result, telerobotic system is a typical hybrid system which contains both continuous-time and discrete event dynamics. Specifically, the robot can be considered as a continuous-time system described customarily by differential equations or difference equations, and the human operator can be modeled by an automaton. A hybrid framework is of key importance for the study of such a system. The problems to be discussed in this paper include developing a framework in which both the robotic system and the human operator can be modeled simultaneously, and introducing how to implement this framework in a real teleoperated manipulator system. © 2006 IEEE.Link_to_subscribed_fulltex

Real-time supermedia transmission in internet

A lot of new Internet based applications have been introduced in the past yeas with the quickly development of the Internet. One of the most interesting applications is Internet-based teleoperation, where the Internet is used as a bridge between the operators and machines. The operators send commands and receive visual and haptic information via the Internet. In this paper the term supermedia is introduced to capture the notion of all this information streams. The supermedia transmission in the Internet comes with several problems: delay, lost packets and disconnection. These limitations may cause many problems such as instability and desynchronization. This paper presents a system using an event-based method to avoid these problems and realize real-time supermedia transmission in the Internet.Link_to_subscribed_fulltex

Interactive telecooperation via internet

The architecture of an Internet-based teleoperation system with force feedback control has been presented. The notion of supermedia in the teleoperation was introduced firstly. And then the artificial potential field method was used to produce virtual force which was displayed by force feedback device. A kind of general task distribution algorithm had been proposed, in which tasks were distributed by the operator. Cooperating grabbing work experiment of the omni-directional mobile robot and MOTOMAN manipulator in Shenyang Institute of Automation's had demonstrated that this method was available and effective. © 2004 IEEE.Link_to_subscribed_fulltex

The everchanging pulsating white dwarf GD358

We report 323 hours of nearly uninterrupted time series photometric observations of the DBV star GD 358 acquired with the Whole Earth Telescope (WET) during May 23rd to June 8th, 2000. We acquired more than 232 000 independent measurements. We also report on 48 hours of time-series photometric observations in Aug 1996. We detected the non-radial g-modes consistent with degree l = 1 and radial order 8 to 20 and their linear combinations up to 6th order. We also detect, for the first time, a high amplitude l = 2 mode, with a period of 796 s. In the 2000 WET data, the largest amplitude modes are similar to those detected with the WET observations of 1990 and 1994, but the highest combination order previously detected was 4th order. At one point during the 1996 observations, most of the pulsation energy was transferred into the radial order k = 8 mode, which displayed a sinusoidal pulse shape in spite of the large amplitude. The multiplet structure of the individual modes changes from year to year, and during the 2000 observations only the k = 9 mode displays clear normal triplet structure. Even though the pulsation amplitudes change on timescales of days and years, the eigenfrequencies remain essentially the same, showing the stellar structure is not changing on any dynamical timescale

Constraining the evolution of ZZ Ceti

We report our analysis of the stability of pulsation periods in the DAV star (pulsating hydrogen atmosphere white dwarf ) ZZ Ceti, also called R548. On the basis of observations that span 31 years, we conclude that the period 213.13 s observed in ZZ Ceti drifts at a rate dP/dt ≤ (5:5 ± 1:9) x 10 15 s s-ˡ, after correcting for proper motion. Our results are consistent with previous _PP values for this mode and an improvement over them because of the larger time base. The characteristic stability timescale implied for the pulsation period is |P/PP| ≥ 1.2 Gyr, comparable to the theoretical cooling timescale for the star. Our current stability limit for the period 213.13 s is only slightly less than the present measurement for another DAV, G117-B15A, for the period 215.2 s, establishing this mode in ZZ Ceti as the second most stable optical clock known, comparable to atomic clocks and more stable than most pulsars. Constraining the cooling rate of ZZ Ceti aids theoretical evolutionary models and white dwarf cosmochronology. The drift rate of this clock is small enough that we can set interesting limits on reflex motion due to planetary companions

Asteroseismology of RXJ 2117+3412, the hottest pulsating PG 1159 star

The pulsating PG 1159 planetary nebula central star RXJ 2117+3412 has been observed over three successive seasons of a multisite photometric campaign. The asteroseismological analysis of the data, based on the 37 identified l = 1 modes among the 48 independent pulsation frequencies detected in the power spectrum, leads to the derivation of the rotational splitting, the period spacing and the mode trapping cycle and amplitude, from which a number of fundamental parameters can be deduced. The average rotation period is 1.16 ± 0.05 days. The trend for the rotational splitting to decrease with increasing periods is incompatible with a solid body rotation. The total mass is 0.56⁺⁰˙⁰²₋₀.₀₄ Mѳ and the He-rich envelope mass fraction is in the range 0.013–0.078 M*. The luminosity derived from asteroseismology is log(L/Lѳ) = 4.05⁺⁰˙²³₋₀.₃₂ and the distance 760⁺²³⁰₋₂₃₅ pc. At such a distance, the linear size of the planetary nebulae is 2.9 ± 0.9 pc. The role of mass loss on the excitation mechanism and its consequence on the amplitude variations is discussed

Asteroseismology of RXJ 2117+3412, the hottest pulsating PG 1159 star

The pulsating PG 1159 planetary nebula central star RXJ 2117+3412 has been observed over three successive seasons of a multisite photometric campaign. The asteroseismological analysis of the data, based on the 37 identified l = 1 modes among the 48 independent pulsation frequencies detected in the power spectrum, leads to the derivation of the rotational splitting, the period spacing and the mode trapping cycle and amplitude, from which a number of fundamental parameters can be deduced. The average rotation period is 1.16 ± 0.05 days. The trend for the rotational splitting to decrease with increasing periods is incompatible with a solid body rotation. The total mass is 0.56⁺⁰˙⁰²₋₀.₀₄ Mѳ and the He-rich envelope mass fraction is in the range 0.013–0.078 M*. The luminosity derived from asteroseismology is log(L/Lѳ) = 4.05⁺⁰˙²³₋₀.₃₂ and the distance 760⁺²³⁰₋₂₃₅ pc. At such a distance, the linear size of the planetary nebulae is 2.9 ± 0.9 pc. The role of mass loss on the excitation mechanism and its consequence on the amplitude variations is discussed

Asteroseismology of RXJ 2117+3412, the hottest pulsating PG 1159 star

The pulsating PG 1159 planetary nebula central star RXJ 2117+3412 has been observed over three successive seasons of a multisite photometric campaign. The asteroseismological analysis of the data, based on the 37 identified l = 1 modes among the 48 independent pulsation frequencies detected in the power spectrum, leads to the derivation of the rotational splitting, the period spacing and the mode trapping cycle and amplitude, from which a number of fundamental parameters can be deduced. The average rotation period is 1.16 ± 0.05 days. The trend for the rotational splitting to decrease with increasing periods is incompatible with a solid body rotation. The total mass is 0.56⁺⁰˙⁰²₋₀.₀₄ Mѳ and the He-rich envelope mass fraction is in the range 0.013–0.078 M*. The luminosity derived from asteroseismology is log(L/Lѳ) = 4.05⁺⁰˙²³₋₀.₃₂ and the distance 760⁺²³⁰₋₂₃₅ pc. At such a distance, the linear size of the planetary nebulae is 2.9 ± 0.9 pc. The role of mass loss on the excitation mechanism and its consequence on the amplitude variations is discussed

Constraining the evolution of ZZ Ceti

We report our analysis of the stability of pulsation periods in the DAV star (pulsating hydrogen atmosphere white dwarf ) ZZ Ceti, also called R548. On the basis of observations that span 31 years, we conclude that the period 213.13 s observed in ZZ Ceti drifts at a rate dP/dt ≤ (5:5 ± 1:9) x 10 15 s s-ˡ, after correcting for proper motion. Our results are consistent with previous _PP values for this mode and an improvement over them because of the larger time base. The characteristic stability timescale implied for the pulsation period is |P/PP| ≥ 1.2 Gyr, comparable to the theoretical cooling timescale for the star. Our current stability limit for the period 213.13 s is only slightly less than the present measurement for another DAV, G117-B15A, for the period 215.2 s, establishing this mode in ZZ Ceti as the second most stable optical clock known, comparable to atomic clocks and more stable than most pulsars. Constraining the cooling rate of ZZ Ceti aids theoretical evolutionary models and white dwarf cosmochronology. The drift rate of this clock is small enough that we can set interesting limits on reflex motion due to planetary companions