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The time-delay in the teleoperation system is an important parameter affecting the stability and performance. A time delay prediction method based on EMD(Empirical Mode Decomposition) and Elman neural network is proposed in this paper. Firstly, time delay sequence is separated into IMFs by EMD, then the first several IMFs are subtracted from time delay signals as noise. The sum of rest IMFs are taken...
With the pervasive participation from the Chinese netizens in the cyberspace, the Human Flesh Search (HFS) is becoming a phenomenon profoundly affecting the public life in China. While hot debate and discussion arise, it is still not clear how the knowledge fragments are gathered by the netizens, and eventually merge to an answer in a HFS. This paper presents a first study to the knowledge aggregation...
The last decade has witnessed an explosion of interest in technology of large simulation with the rapid growth of both the complexity and the scale of problem domains. A variety of techniques have been developed for fostering large simulations over the Internet. Along this direction, existing work normally only suit for coarse-grained models. In this paper, we present a hybrid grid infrastructure...
For Internet based real-time teleoperation systems, unknown and variable time delay can cause instability in the closed loop control system and hence hinder task accomplishment. According to requirement of Internet-based teleoperation, exact prediction of RTT can improve greatly performance of the teleoperation system. In this paper, statistical properties of the Round Trip Timedelay (RTT) are investigated...
The variable time delay and the packet loss degrade the performance of Internet based teleoperation system severely, even make the system unstable. Most of the previous work on Internet-based teleoperations rest on many assumptions, for example, time delay is constant or has upper bound, control is not in real-time. This paper presents a new predictive control strategy for the Internet based teleoperation...
The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. To overcome the trouble, an idea that using CARIMA model of the linearized slave robot to design a controller based on the Generalized Predictive Control (GPC) method is proposed in this paper. We place the GPC controller at the remote site. First of...
In this paper, we present a predictive strategy for teleoperating via communication channel with unknown and variable time delay, where the remote robot is compensated to be a linear system. According to the state received from remote plant and the local predictor, a discrete-time device called path governor(PG) generates on line a suitable time-parameterization of the path to be tracked, by solving...
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