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Event Based Tele-Operation with Variable Holding Time  

박준영 (한양대학교 대학원 기계설계학과)
박장현 (한양대학교 기계설계학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.19, no.12, 2002 , pp. 70-77 More about this Journal
Abstract
Necessity of the tole-operation has been increased in many fields. Since the Internet is inexpensive and available all over the world, it is a strong candidate for the transmission media of the tole-operation. However, the Internet has random time delays that may cause instability in the system especially if the tole -operation is bilateral. In the past few years many attempts have been made to overcome the random time delay, So far, they are still insufficient in terms of performance. The ‘Variable holding time’ is introduced to improve the performance of the ‘Event based tole-operation’ which controls a system with a non-time action reference. By holding each event for proper time, the system can quickly respond and be stabilized. The proper holding time should be selected based on the characteristics of the task that the system performs. The factors that reflect those characteristics are investigated. The fuzzy logic is employed to obtain the proper holding time for each event while the tole-operation system is in operation. The experimental results presented in this paper verify effectiveness of the proposed method.
Keywords
Tele-Operation; Event Based Control; Bilateral Control; Bilateral Control; Internet; Time Delay; Robot; Fuzzy Logic;
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