Topology analysis of position information in multilateral communication system

Satoshi Nishimura, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes the best topology in multilateral control system. Multilateral control system is a control system which enables to share tactile information between several subsystems. Specifically, every subsystems communicates position and force information each other to achieve control goal. As shown above, the information flow is bilateral in multilateral control, and when sharing haptic information between several remote places, there occurs delay time in each communication links. When there exists delay time inside control system, the system starts to destabilize and haptic information deteriorates. In order to prevent the deterioration of the information, the optimal topology regarding position information is realized in this paper. The proposed method can be applied to a system where the delay time of each communication links is different from each other. The validity of the proposal is confirmed by experiments, and the results show that the degradation of haptic sensation under communication delay is prevented.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6569-6574
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Nishimura, S., & Katsura, S. (2013). Topology analysis of position information in multilateral communication system. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 6569-6574). [6700218] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6700218