Internet-based teleoperation

        Abstract: The growth of the Internet is accompanied by the increase of its applications. Many new Internet based applications have been introduced during the past decade. One of the most interesting of these is teleoperation, where the Internet is used as a bridge between operators and machines. But this also comes with several problems: delay, lost packets and disconnection. All of these limitations may cause instability in teleoperation systems especially if those systems include haptic feedback.

Most of the previous work done that addresses these problems assumed several conditions; for example, time delay is constant or has an upper bound, control is not in real-time. A new real-time haptic feedback system was presented that deals with these limitations and difficulties without any assumptions made regarding the time delay. The approach was based on Event Based Control, which was implemented on a mobile robot over the Internet. The haptic information included real-time feedback of force and video.

        Researchers: Imad Hanna Elhajj, Jindong Tan, Wai Keung Fung

        Publication:

Imad Elhajj, Ning Xi, Yun-hui Liu, "Real-Time Control of Internet Based Teleoperation with Force Reflection", IEEE International Conference on Robotics and Automation, San Francisco, May 2000.

Imad Elhajj, Jindong Tan, Ning Xi, Wai Keung Fung, Yun Hui Liu, Tomoyuki Kaga, Toshio Fukuda, "Multi-Site Internet-Based Cooperative Control of Robotic Operations", IEEE/RSJ International Conference on Intelligent Robots and Systems, Japan, 2000.

Imad Elhajj, Henning Hummert, Ning Xi, Yun-hui Liu, "Real-Time Haptic Feedback in Internet-Based Telerobotic Operation", Electro/Information Technology Conference, Chicago, June 2000.

I. Elhajj, J. Tan, N. Xi, W. K. Fung, Y. H. Liu, T. Kaga, Y. Hasegawa, T. Fukuda, "Cooperative Control of Multiple Internet-Based Robots", Sixth International Conference on Control, Automation, Robotics and Vision, ICARCV 2000, Singapore, December 2000.

Imad Elhajj, Henning Hummert, Ning Xi, Wai Keung Fung, Yun-hui Liu, "Real-Time Haptic Information Feedback via the Internet", ITCDNM, Bangkok, August 2000.

Imad Elhajj, Ning Xi, Yun-hui Liu, "Real-Time Bilateral Control of Internet-Based Teleoperation", The Third World Congress on Intelligent Control and Automation, 2000

King W. C. Lai, Carmen K. M. Fung, Wen J. Li, Imad Elhajj, Ning Xi, "Transmission of Multimedia Information on Micro Environment via Internet", International Conference of the IEEE Industrial Electronics Society, IECON 2000, Nagoya Japan, 2000.

King W. C. Lai, Carmen K. M. Fung, Wen J. Li, Imad Elhajj, Ning Xi, "Internet Force-Feedback Control of Micro Actuators", ITCDNM, Bangkok, August 2000.

Antony W. T. Ho, Wen J. Li, Imad Elhajj, Ning Xi, "Development of a Bone Reaming System Using Micro Sensors for Internet Force-Feedback Control", Workshop on Service Automation and Robotics, Hong Kong, June 2000.

    Return to Current Projects