NDLI: Transparency of haptic telepresence systems with constant time delay

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2015 IEEE Conference on Control Applications (CCA)

2014 IEEE Conference on Control Applications (CCA)

2013 IEEE International Conference on Control Applications (CCA)

2012 IEEE International Conference on Control Applications

2011 IEEE International Conference on Control Applications (CCA)

2010 IEEE International Conference on Control Applications

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2008 IEEE International Conference on Control Applications

2007 IEEE International Conference on Control Applications

2006 IEEE International Conference on Control Applications

Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.

Forward and Welcome

Technical program overview

Program at a glance

Conference Committees

Plenary speakers

Table of contents

Robotic suturing forces in the presence of haptic feedback and sensory substitution

Design and implementation of a mechatronic device for robot-assisted neurosurgery

Software design of transperineal prostate needle biopsy robot

A haptic system for robotic assisted spine surgery

Control and user interface design for compact manipulators in minimally-invasive surgery

Suturing for surface meshes

Parameter selection method for sliding mode controllers and its application to a nonlinear physical system

Smooth sliding mode tracking control of the Stewart platform

Sliding mode control applied to an ultrafiltration process

Decentralized sliding mode control technique based power system stabilizer (PSS) for multimachine power system

High order sliding mode control applied to a heavyweight torpedo

A generalizing fuzzy model for shallow cavity flows under different mach regimes

Fuzzy boundary control of 2D burgers equation with an observer

Motion planning for mobile robots using a fuzzy layered goal-oriented approach

A systematic method of adaptive fuzzy logic modeling, using an improved fuzzy c-means clustering algorithm for rule generation

Fuzzy filtering and fuzzy K-means clustering on biomedical sample characterization

Nonlinear backstepping control design of the furuta pendulum

An optimized regularization method using volterra model application to atrazine oxidation process

A nonlinear control design technique for formation flight of a constellation of satellites

Nonlinear control of variable speed wind turbines for power regulation

Backstepping design for controlling rotary drilling system

Conformal radiotherapy cancer treatment with multileaf collimators: improving performance with real-time feedback

Tumor-tracking in radiotherapy: parameterization of sensor time-delay compensators and associated performance limitations

Nonlinear identification of an anaerobic digestion process

Biomass concentration estimation using the extended Jordan observable form

Genetic network inference via gene set stochastic sampling and sensitivity analysis

A hypnosis control system using a model predictive controller with online identification of individual parameters

Development of an Experimental Testbed for Multiple Vehicles Formation Flight Control

Bifurcation-induced limits of a controller-reconfigured F-16 subject to actuator failures

Weighted time-optimal control for air traffic management applications

Discretization of collision avoidance constraints by expanding in cubic splines

Receding horizon control of a 6-DOF model of the raptor 50 helicopter: robustness to changing flight conditions

Trajectory tracking of the main rotor speed in an electrically powered helicopter prototype

A fuzzy logic-based reactive navigation algorithm for mobile robots

Data association in temporal integration of stereo depth

A fast algorithm for moving obstacle avoidance for vision-based mobile robots

Posture control of mobile robot by hand-eye system considering nonholonomic constraints

Solid mechanics-inspired sensor-based motion planner

An H//sub/spl infin// control system design of a magnetic bearing considering periodic disturbance

Reduced order gain scheduled h-infinity control design for lateral driving assistance

Efficient approximate robust MPC based on quad-tree partitioning

Model reduction based on the frequency weighted hankel-norm using genetic algorithm and its application to the power systems

Reliable H//sub/spl infin// control systems with uncertainties in all system matrices: an LMI approach

A method of neuro-fuzzy computing for effective fault diagnosis

Fuzzy rule-adaptive model predictive control for a multivariable heating system

The hydraulic test system of steel pipe controlled by neural fuzzy PID controller

A neuro-fuzzy based approach for output tracking of transverse flux machines

Constrained H//sub/spl infin// control for T-S fuzzy systems and its application to inverted pendulum

Finite horizon nonlinear predictive control with integral action of rigid link manipulators

L/sub 2/ nonlinear control of EDFA system with amplified spontaneous emission

Graphical based predictive control design

Application of digital control theory to exact discretization of a logistic equation with a constant term

Experiments on stabilization of the hanging equilibrium of a 3D asymmetric rigid pendulum

Alternative predictive display method of motion and force information without using environment model - design of real-image-based network teleoperation system -

The Problem of Packets Loss in Scaled Digital Port-Hamiltonian Based Bilateral Telemanipulation

Transparency of haptic telepresence systems with constant time delay

Adaptive teleoperation systems design

Prediction of delay time in internet by neural network

Internet-based teleoperation of a mobile robot using shared impedance control scheme: a pilot study

Optimal formation control for imaging and fuel usage with terminal imaging constraints

Preliminary results on UAV path following using piecewise-affine control

Dynamics and control properties for an asymmetric dumbbell spacecraft

Decentralized PI control of a rolls-royce jet engine

Design of robust compensator for jet engine: an interval analysis approach

Disturbance estimation by reduced order observer-based stabilizing controller and its application to teleoperation

Linear functional observer design for unknown input system and its application to disturbance attenuation problems

A practical loop-shaping approach for pole-placement in mechatronic systems

Robust pole placement by output feedback using a genetic algorithm

Null-controllable region of linear systems with input amplitude and rate constraints

Tracking problems with H//sub/spl infin// disturbance attenuation for sampled-data systems via jump system approach

Robust iterative learning control design via /spl mu/-synthesis

Robust tracking control for a hydraulic actuation system

Parameterized polyhedra approach for robust constrained generalized predictive control

Robust Stability and Control of Uncertain Discrete-Time Markov Jump Linear Systems

Robust STATCOM controller design using PSO based automatic loop-shaping procedure

A fuzzy logic based coordinated control strategy for a cabledriven clamming device

Control of a pneumatic gantry robot for grinding: a neuro-fuzzy approach to PID tuning

Dynamic fuzzy Q-learning control of uncertain systems with applications to humanoids

On applying interval fuzzy model to fault detection and isolation for nonlinear input-output systems with uncertain parameters

Robust diagnosis of nonlinear systems with structured uncertainties via the T-S fuzzy UIFDO

Automatic generating numerical control rule using genetic-based with 'king strategy' approches

Nonlinear control design for a high-precision contactless positioning system using magnetic levitation

Sensorless speed tracking control with backstepping design scheme for permanent magnet synchronous motors

Sensorless control of induction motor using fast output sampling technique

Adaptive robust attitude tracking control of spacecraft

Disturbance-accommodating gain-scheduled control taking account of actuator saturation

Gain scheduling control design of an erbium-doped fibre amplifier by pump compensation

Stability analysis of PD regulation for ball and beam system

Leverarm compensation for integrated navigation system of land vehicles

Data-based control of motion systems

Algorithmic control for real-time optimization of constrained nonlinear systems: swing-up problems of inverted pendulums

Energy efficiency analysis and optimal control of servo pneumatic cylinders

Application of active disturbance rejection to tracking control of a fast tool servo system

Control strategies for stable orbits around phobos

Modeling of a free-flying space robot manipulator in contact with a target satellite

Formation flying control for the MMS mission using GVE-based MPC

Piecewise-affine controller synthesis for a model of 2D orbital path following

Development of GA-based control system for active shape control of inflatable space structures

Composite QFT controller design for flexible joint robots

Distributed port hamiltonian formulation of flexible beams under large deformations

A novel dynamic control design scheme for flexible-link manipulators

Motion control of two-link flexible-joint robot, using backstepping, neural networks, and indirect method

Fuzzy lyapunov synthesis-based controller for a flexible manipulator: experimental results

Decentralized optimal control of generator excitation and STATCOM based on DFP method

Nonlinear control of FACTS and HVDC belonging to the voltage-source converter family

A technique for extracting time-varying harmonics based on an adaptive notch filter

Power oscillation damping improvement by means of a feedback linearized solid state series controller

Digital control of switching power converters

Model predictive control of MLD models with integrators

A hybrid control system design and implementation for a three tank testbed

Adaptive backstepping for nonlinear switching control AMB system with base excitation

Artificial intelligence and graph theory tools for synthesizing switched discrete adaptive controllers for linear time invariant plants

A feasible lookahead control for systems with finite control set

A self-validating algorithm for hot thermistor constant differential temperature air flow sensor

Modelling two-phase flow for control design in oil well drilling

Dynamic modeling of a single-stage MSF plant for advanced control purposes

Maintenance policy designs for PC manufacturers

The limitation of the closed-loop combination method

Modelling of chromatographic processes and its application in therapeutic protein

The scattering transformation for networked control systems

Security of RCL wireless railway communications

Design of a robust AQM strategy for dynamic TCP/AQM networks based on CDM

The event-time triggered network control structure for CAN-based motion systems

Active queue management (AQM) for TCP/IP networks using discrete time sliding mode control (DSMC)

Protein-based photocell for high-speed motion detection

Neural network control of a MEMS torsion micro mirror

Control system design issues for retinal imaging adaptive optics systems

Decoupled EKF for simultaneous target model and relative pose estimation using feature points

Sensitivity analysis of EKF and iterated EKF pose estimation for position-based visual servoing

Color histogram footprint technique for visual object tracking

Modelling and gain scheduled control of shape memory alloy actuators

Backstepping control for nonlinear dual smart drive

Output feedback seek control for disc drives with Lipschitz nonlinearities

Multivariable gyroscope control by individual channel design

Enabling higher jet frequencies for an inkjet printhead using iterative learning control

Nodal voltage regulation employing an indirect self-tuning approach

Dynamic safety margin in fault-tolerant predictive controller

Application of FF FFB in hybrid/batch control

Real-time control of a binary distillation column using HGA fuzzy supervisory PI controllers

Thermal comfort control based on neural network for HVAC application

Rowing stroke force estimation with EMG signals using artificial neural networks

A methodology of computer aided diagnostic system on breast cancer

An approach for fault localization based upon unsupervised neural networks

Evaluation of heart condition based on ballistocardiogram classification using compactly supported wavelet transforms and neural networks

Oil-pumping system control using nonlinear homotopy BP neural network and genetic algorithm

A study of travel time modeling via time series analysis

Studies in the dynamics of economic systems

Modeling and optimization of a semi-regenerative catalytic naphtha reformer

A feedback scheduling algorithm for real time control systems

Propulsion control of a solid fuel ramjet using a robust adaptive neural controller

Assuring QoS differentiation and load balancing on web servers clusters

On dynamic resource management mechanism using control theoretic approach for wide-area grid computing

A computationally efficient algorithm for order-reduction of IIR filters using control techniques

Active queue management in TCP networks based on self tuning control approach

On tuning a state space self-tuning model predictive control scheduler

Universal scheduler design on uniprocessors in supervisory control of discrete-event systems framework

Robust state-based supervisory control of discrete event systems

Modular fault recovery in timed discrete-event systems: application to a manufacturing cell

Designing transitory routing controllers for hybrid plants

Decentralized control of web processing lines

An evolutionary multi-agent system for production scheduling

Multivariable output feedback control: application to reference tracking for industrial sensor

High precision feedback control design for dual-actuator systems

A lie group variational integrator for the attitude dynamics of a rigid body with applications to the 3D pendulum

Evolutionary design of robust PD sway control of a lifted load for a crane

The influence of disturbances in iterative learning control

Frequency response based multivariable control design for motion systems

A linearized model for control of automated polishing process

Coiling temperature control of hot steel strip using combined feedforward, feedback and adaptive algorithms

Output-feedback model predictive control with constraints - improve robustness using past information

Bleed air temperature regulation system: modeling, control, and simulation

Fully automated PID and lead/lag compensator design tool for industrial use

Robust PI Controller for Load Disturbance Rejection and Setpoint Regulation

Application of neural networks in inverse dynamics based contact force estimation

An ANN based X-PC target controller for speed control of permanent magnet brushless DC motor

A pseudospectral method for the optimal control of constrained feedback linearizable systems

Robust adaptive tracking control of delta wing vortex-coupled roll dynamics using RBF neural networks

Decentralized probabilistic scheduling: application to computational grids

Experimental investigations of a direct adaptive neurofuzzy controller

Nonlinear model identification and control of wind turbine using wavenets

Optimal control using state dependent riccati equation (SDRE) for a flexible cable transporter system with arbitrarily varying lengths

Calculating setpoint range under actuator saturation and stochastic disturbance

Evaluation of suboptimal real-time control results for model predictive control using improved initial conditions

Switching control using generalized sampled-data hold functions

Disturbance Attenuation Control of Mobile Antenna Using Parameter Varying Notch Filter

Effects of gravity and friction constraints on bipedal balance control

A stochastic learning based approach for automatic medical diagnosis using HMM toolbox in scilab environment

Design and numerical implementation of unknown input observers

New features and new challenges in modeling and simulation in scicos

Aircraft flutter test design using identification and simulation: a SCILAB toolbox

Scilab/Scicos and Linux RTAI - a unified approach

Modeling of a communication chain components & principles of simulation in the scilab/scicos environment

Wombat: a toolbox to build and optimize a fuzzy regression tree

Adaptively enhanced phase locked loops

Adaptive regulation of the flying height in hard disk drives

Derivative derived generalised predictive control (DDGPC): a technique for improving performance

Adaptive //sup/spl infin// control of systems with unknown dead zone

Novel adaptive control system for stable teleoperation via internet

Friction identification in robotic manipulators: case studies

Control of a pneumatic gantry robot for grinding: performance with conventional techniques

On perfectly plastic impact dynamics of planar multi-link robotic systems contact with the environment

Robust controller with a supervisor implemented on a flexible joint robot

Position accommodation and compliance control for robotic excavation

Passivity-based dynamic visual feedback control of manipulators with kinematic redundancy

Embedded model-based fault diagnosis for on-board diagnosis of engine control systems

Implementation of a slip controlled CVT in a production vehicle

Misfire detection method robust against crankshaft vibration and acceleration

Analysis and control of delay-dependent behavior of engine air-to-fuel ratio

Transient control of variable geometry turbine on heavy duty diesel engines

Modeling and controller design for a voice coil actuated engine valve

A system identification technique for haptic devices

A new design paradigm for the rapid development of haptic and telehaptic applications

Dynamic parameter identification and analysis of a PHANToM haptic device

Bilateral teleoperation under communication time delay using an LQG controller

Adaptive nonlinear teleoperation control in multi-master/multi-slave environments

Adaptive teleoperation using neural network-based predictive control

Fault detection observer design with unknown inputs

Fault detection and diagnosis of valve actuators in HVAC systems

Fault detection and diagnosis for satellite's attitude control system (ACS) using an interactive multiple model (IMM) approach

A neural network-based fault detection scheme for satellite attitude control systems

Integration of fdi functional units into embedded tracking control loops and its application to FDI in engine control systems

Incremental fuzzy PI control of a HVDC plant

Study of advanced current control strategies for three-phase grid-connected pwm inverters for distributed generation

Issues on nonlinear control of voltage source FACTS devices

An efficient photovoltaic DC village electricity scheme using a sliding mode controller

Control and automation of power system substation using IEC61850 communication

A multi-objective sampled-data design approach for robust digital guidance

A robust output-feedback guidance law for homing missiles using l/sub 1/-norm optimization theory

Optimal waypoint guidance synthesis

Polynomial eigenstructure assignment, application to missile autopilot

Fusion of estimation and guidance using sequential monte carlo methods

Transpose jacobian based hybrid impedance control of redundant manipulators

Controller design method for a nonlinear system with an input constraint and its application to a robot arm

Development and analysis of a PC-based object-oriented real-time robotics controller

Control of a high precision linear robot workcell using state steering

Nonlinear H//sub/spl infin// controller design for flexible joint robots

Reduction of structure-borne noise in automobiles by multivariable feedback

Optimal control of electric power-assisted steering system

Parity space based FDI-scheme for vehicle lateral dynamics

On powertrain oscillation damping using feedforward and LQ feedback control

Motorcycle modelling and roll motion stabilization by rider leaning and steering torque

An integrated model for signalized traffic intersection control

Periodic communication logics for the decentralized control of multi-agent systems

Optimal linear fusion of local estimates

Modeling and identification of centrifugal compressor dynamics with approximate realizations

Frequency domain system identification: a full estimation approach

Hybrid speed estimation scheme for AC induction machine sensorless control

Commissioning-stage poor performance of control loops in process plants

A novel fault-tree approach for identifying potential causes of satellite reaction wheel failure

A comparison of optimal and suboptimal auxiliary signal design approaches for robust failure detection

Application of sliding mode observers for actuator fault detection and isolation in linear systems

Fault detection and isolation for unknown nonlinear systems using expert methods

Nonlinear identification of a solar heating system

Adaptive phase adjustment synchronization method for source voltage distortion in electric ship application

Energy management for vehicle power net with flexible electric load demand

Robust load frequency controller design for hydro power systems

Modeling of an electrical power transmission system using hybrid systems

Nonlinear adaptive control of teleoperation systems with large time delay

Modeling internet delay dynamics for teleoperation

Approximate realization with time delay

H//sub/spl infin// control of linear parameter-dependent state-delayed systems

On tip-over situation of mobile platforms via impact effects

Motion control of two-link flexible-joint robot with actuator nonlinearities, using neural networks and direct method

A BFGS-based method for designing a decentralized LQ controller for industrial robot manipulators

Control of an inspection robot for 110KV power transmission lines based on expert system design methods

Grobal position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control

Nonlinear control experiment of RC car using internet

Drive by wire control of an electro-hydraulic active suspension a backstepping approach

Estimation of road grade and vehicle mass via model predictive control

Modeling for control of traffic signal systems

Vision-based hybrid control strategy for autonomous docking of a mobile robot

A novel nonlinear state estimation technique based on sequential importance sampling and parallel filter banks

Kalman filtering application in automatic music transcription

Linear and hammerstein subspace identification of a human controlling a ball and beam using the quanser engineering trainer haptic interface

Iterative tuning algorithm for feedforward and feedback control of two-mass motor system with physical parameter identification

Data-based model refinement for linear and hammerstein systems using subspace identification and adaptive disturbance rejection

Continuous-time recurrent multilayer perceptrons for nonlinear system identification

Control and Fault Diagnosis of a Winding Machine Based on a LTV Model

Diagnostic decision algorithm based on spectral analysis and model validity

A non-circular arc roll gap model for control applications in steel rolling mills

Detection and compensation of cutting tool wear based on Lipschitz exponent

An adaptive internal model control for reactive power compensation

Adaptive saturation scheme to limit the capacity of a shunt active power filter

A new control strategy for coal fired thermal power plants

Bifurcation of frequency perturbations analysis due to faults and power swings

Vibration control of smart structure using second order sliding mode control

Experimental validation of a vibration absorber using a simplified fuzzy controller of a laminated beam

Design of input shapers for suppressing vibrations in the Z-plane

Index of Authors, Chairs, and Organizers

Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.

Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.

Proceedings of the International Conference on Control Applications

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)

Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)

Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104)

Proceedings of the 1997 IEEE International Conference on Control Applications

Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro

Proceedings of International Conference on Control Applications

1994 Proceedings of IEEE International Conference on Control and Applications

Proceedings of IEEE International Conference on Control and Applications

[Proceedings 1992] The First IEEE Conference on Control Applications

Transparency of haptic telepresence systems with constant time delay

Content Provider	IEEE Xplore Digital Library
Author	Hirche, S. Bauer, A. Buss, M.
Copyright Year	2005
Description	Author affiliation: Inst. of Autom. Control Eng., Technische Univ. Munchen (Hirche, S.; Bauer, A.; Buss, M.)
Abstract	This paper investigates how the network induced delay together with stabilizing strategies affect the performance of haptic telepresence systems in terms of transparency (human operators should feel as if they were directly acting in the remote environment). Therefore, the mechanical impedance (force over velocity) perceived by the human operator is compared with the real environment impedance in terms of their physical parameters stiffness, damping and mass dependent on the delay. The results are discussed from the human haptic perception point of view and validated in a one-degree-of-freedom telepresence experiment
Starting Page	328
Ending Page	333
File Size	556712
Page Count	6
File Format	PDF
ISBN	0780393546
DOI	10.1109/CCA.2005.1507146
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-28
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Delay effects Humans Teleoperators Impedance Communication system control Communication networks Force feedback Automatic control Force control
Content Type	Text
Resource Type	Article

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