Application of infinite mode networks theory to haptic teleoperation for noise suppression

Baris Yalcin, Kouhei Ohnishi

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

In this paper, a novel multi input multi output network model entitled as "infinite mode networks" is explained. The model proposes a new and challenging design concept. It has mathematically clear input output relationship compared to neural networks. This new model has a desired embedded internal function which roughly determines a route for the whole system to follow as DNA does for biological systems. By this model, infinitely many error dimensions can be defined and each error converges to zero in a stable manner. Additional to the network theory, applications on a four channel haptic bilateral teleoperation control system whose performance is degraded via feedback and feedforward sensor noise are shown. This type of noise suppression is challenging because of two reasons: to obtain an ideal performance disturbance observers necessitate high gains that in turn make the system unstable under feedback and feedforward noises, in a four channel structure noise is reflected back and forth to both bilateral robots which in turn results in unpurified force and position data.

元の言語English
ホスト出版物のタイトルProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
出版者IEEE Computer Society
ページ1845-1850
ページ数6
ISBN(印刷物)9781424417667
DOI
出版物ステータスPublished - 2008 1 1

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Yalcin, B., & Ohnishi, K. (2008). Application of infinite mode networks theory to haptic teleoperation for noise suppression. : Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 1845-1850). [4758236] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2008.4758236