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High-performance adaptive control of teleoperation systems
\"Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperation, the homogeneous and heterogeneous teleoperation, and the single-master single-slave and multi-master multi-slave teleoperation. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperation, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance control for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful for graduate students in the fields of science, engineering, and computer science\"-- Provided by publisher.
Book
Insect pest monitoring with camera-equipped traps: strengths and limitations
Integrated pest management relies on insect pest monitoring to support the decision of counteracting a given level of infestation and to select the adequate control method. The classic monitoring approach of insect pests is based on placing in single infested areas a series of traps that are checked by human operators on a temporal basis. This strategy requires high labor cost and provides poor spatial and temporal resolution achievable by single operators. The adoption of image sensors to monitor insect pests can result in several practical advantages. The purpose of this review is to summarize the progress made on automatic traps with a particular focus on camera-equipped traps. The use of software and image recognition algorithms can support automatic trap usage to identify and/or count insect species from pictures. Considering the high image resolution achievable and the opportunity to exploit data transfer systems through wireless technology, it is possible to have remote control of insect captures, limiting field visits. The availability of real-time and on-line pest monitoring systems from a distant location opens the opportunity for measuring insect population dynamics constantly and simultaneously in a large number of traps with a limited human labor requirement. The actual limitations are the high cost, the low power autonomy and the low picture quality of some prototypes together with the need for further improvements in fully automated pest detection. Limits and benefits resulting from several case studies are examined with a perspective for the future development of technology-driven insect pest monitoring and management.
Journal Article
Remote controlled planes
\"Introduces the reader to remote control planes.\"-- Provided by publisher.
Book
Research and Experimental Testing of a Remotely Controlled Ankle Rehabilitation Exoskeleton Prototype
Today, there is a high demand for remote rehabilitation using mobile robotic complexes all over the world. They offer a wide range of options for convenient and effective therapy at home to patients and the elderly, especially those bedridden after musculoskeletal injuries. In this case, modern approaches to the development of exoskeletons for the rehabilitation of the lower extremities are especially relevant for the effective restoration of lost motor functions. Taking into account the advantages and features of robotic rehabilitation, this work is devoted to the development of a prototype exoskeleton for the ankle joint and experimental studies of the remote control module. The proposed new exoskeleton prototype design was integrated with a mobile wireless communication platform, allowing remote control of the position of the exoskeleton foot using a remote control device. As a result of functional testing, the root mean square error (RMSE) was 23.9° for dorsiflexion/plantarflexion movements and 12.8° for inversion and eversion movements, as well as an average signal transmission delay of about 100 ms and packet loss of 0.6%. These results reflect the technical feasibility of remote control at a distance of up to 10 m. The developed system is mobile, autonomous, and easy to use, which confirms its suitability as a laboratory platform for functional verification and testing of module consistency.
Journal Article
This book is out of control!
Ben wants to show Bella how his remote-controlled fire engine works, but the buttons aren't working properly and strange things are happening to Bella's dog.
Book
Endpoint Distribution Modeling-Based Capture Algorithm for Interfering Multi-Target
In physical spaces, pointing interactions cannot rely on cursors, rays, or virtual hands for feedback as in virtual environments; users must rely solely on their perception and experience to capture targets. Currently, research on modeling target distribution for pointing interactions in physical space is relatively sparse. Area division is typically simplistic, and theoretical models are lacking. To address this issue, we propose two models for target distribution in physical space-pointing interactions: the single-target pointing endpoint distribution model (ST-PEDM) and the multi-target pointing endpoint distribution model (MT-PEDM). Based on these models, we have developed a basic region partitioning algorithm (BRPA) and an enhanced region partitioning algorithm (ERPA). We conducted experiments with 15 participants (11 males, and four females) to validate the proposed distribution models and region partitioning algorithm. The results indicate that these target distribution models accurately describe the distribution areas of targets, and the region partitioning algorithm demonstrates high precision and efficiency in determining user intentions during pointing interactions. At target distances of 200 cm and 300 cm, the accuracy without any algorithm is 60.54% and 42.39%, respectively. Using the BRPA algorithm, the accuracy is 72.94% and 68.57%, while, with the ERPA algorithm, the accuracy reaches 84.11% and 82.74%, respectively. This technology can be utilized in interaction scenarios involving handheld pointing devices, such as handheld remote controls. Additionally, it can be applied to the rapid capture control and trajectory planning of drone swarms. Users can quickly and accurately capture and control target drones using pointing interaction technology, issue commands, and transmit data through smart glasses, thereby achieving effective drone control and trajectory planning.
Journal Article
Secure command transmission techniques for industrial remote control
Operating a factory near a war zone or in a country with an unstable political environment poses significant risks. These risks can be mitigated by managing production lines remotely. To preserve technical knowledge and specific algorithms, it is essential to implement secure, precise, and efficient remote control in industrial applications, especially considering the risks associated with storing operational code on controllers. To address these challenges, we propose a novel technique where executable commands are dynamically transmitted from a Python script to an ESP32-WROOM-32 microcontroller. Unlike conventional methods that preload code onto the controller, this approach interprets, executes, and erases commands immediately after execution, thereby enhancing security and precision. The proposed system was evaluated through a comparative analysis of eleven distinct methods, which varied in command transmission strategies and employed dual-core processing for performance optimization. VPN technology was integrated to enable remote control from geographically distant locations, demonstrating the system’s adaptability for global industrial operations. The results indicate that this method significantly outperforms the traditional on-site approach, where operational code is preloaded onto the microcontroller. Specifically, bundled command transmission combined with dual-core processing proved particularly effective, reducing latency and improving reliability. These findings highlight the robustness of the proposed approach as a secure and flexible solution for modern smart factories.
Journal Article
Stabilization and Optimal Control for Markov Jump Linear System With Two Controllers Over Multiple Erasure Channels
This paper considers the stabilization and optimal control of networked control systems possessing two controllers, in which the local controller and the remote controller transmit state information over multiple erasure channels. Multiple controllers are introduced for the first time in this multi-mode system. The coupling of the two controllers and the dependence of the adjacent-time jumping parameters make the control problem more difficult. For the finite horizon, the existence conditions and the explicit solutions to the optimal controllers are given in virtue of two coupled difference Riccati equations (CDREs). For the infinite horizon, the necessary and sufficient conditions of stabilizability are presented and the corresponding optimal controllers are derived with a new set of coupled algebraic Riccati equations (CAREs). Numerical examples are used to demonstrate the effectiveness of the proposed algorithms.
Journal Article