Development of Bilateral control for tele-operation system using communication networks with random delay

• Project/Area Number: 25420184
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Kyoto Institute of Technology
• Principal Investigator: SAWADA Yuichi 京都工芸繊維大学, 機械工学系, 教授 (80273548)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000); Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2014: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2013: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
• Keywords: バイラテラル制御 / ネットワーク / ランダム伝送遅延 / 確率システム / 対数正規分布 / 不規則遅れ時間 / 通信路 / カルマンフィルタ / 不規則雑音 / 拡張カルマンフィルタ / 状態推定 / 確率過程 / 確率的ロジスティック方程式

Outline of Final Research Achievements

This research is concerned with synthesis and analysis of tele-operation systems using communication networks with random delay. The effect of the random delay of the networks can be rewritten into the additive observation noise representation by using the Taylor expansion method to the observation system. The probability density function of the random delay in communication networks is assumed to be log-normal distributions. Introducing this expression, state estimation problem of tele-operation system with random delay of the communication networks is considered as a state estimation problem based on the nonlinear observation system with additive random delay noise. In this research, the bilateral control system using proposed state estimation method based on the observation data with random delay is considered. Two proposed state estimator is used for the reduction of effect of random delay in the communication networks. The proposed system shows good performance in this research.

Research Products

• [Journal Article] Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter (2015)
  • Author(s): Masaharu Yagi, Kengo Kimura and Yuichi Sawada
  • Journal Title: Proceedings of the 47th ISCIE International Symposium on Stochastic Systems Theory and Its Applications Honolulu Volume: 1 Pages: 88-95
  • NAID: 130005277714
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Presentation] Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter (2015)
  • Author(s): Masaharu Yagi, Kengo Kimura and Yuichi Sawada
  • Organizer: The 47th ISCIE International Symposium on Stochastic Systems Theory and Its Applications
  • Place of Presentation: Honolulu, Hawaii, USA
  • Year and Date: 2015-12-05
  • Int'l Joint Research
• [Presentation] 不規則な時間遅れを伴う観測システムを通したシステムの状態推定 (2015)
  • Author(s): 澤田祐一
  • Organizer: 第2回制御部門マルチシンポジウム
  • Place of Presentation: 東京電機大学
  • Year and Date: 2015-03-04 – 2015-03-07
• [Presentation] State Estimation for Networked System with Random Delay modeled by Stochastic Logistic Equation using Extended Kalman Filter (2013)
  • Author(s): Masaharu Yagi, Yuichi Sawada
  • Organizer: 第57回システム制御情報学会研究発表講演会
  • Place of Presentation: 神戸市
• [Presentation] State Estimation for Networked System with Random Delay Using Kalman Filter (2013)
  • Author(s): Masaharu Yagi, Yuichi Sawada
  • Organizer: The 45th ISCIE International Symposium on Stochastic Systems Theory and Its Applications
  • Place of Presentation: 沖縄県