Force Reflection in Internet Based Teleoperation

        Abstract: The use of the Internet is no longer limited to the transmission of data.In the past few years many successful attempts have been made to use the Internet as a command transmission media; through which control can be sent to remote systems and feedback can be obtained. But with this media come several limitations: delay, lost packets and disconnection. All of these limitations may cause instability in the system especially if the system loop is closed.

All the previous work addressing 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 control approach 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 commands sent to the robot are velocity and the feedback is force based on the environment. It was shown that this approach results in a stable system. In addition, a new force feedback generation method was used.

        Researchers: Imad Hanna Elhajj

        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.

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