• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

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

Research Project

Project/Area Number 25420184
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Dynamics/Control
Research InstitutionKyoto 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 *help
¥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.

Report

(4 results)
  • 2015 Annual Research Report   Final Research Report ( PDF )
  • 2014 Research-status Report
  • 2013 Research-status Report
  • Research Products

    (5 results)

All 2015 2013

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results,  Acknowledgement Compliant: 1 results) Presentation (4 results) (of which Int'l Joint Research: 1 results)

  • [Journal Article] Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter2015

    • 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

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] Bilateral Control System of Flexible Master-Slave Arms with Random Delay Using Kalman Filter2015

    • 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
    • Related Report
      2015 Annual Research Report
    • 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
    • Related Report
      2014 Research-status Report
  • [Presentation] State Estimation for Networked System with Random Delay modeled by Stochastic Logistic Equation using Extended Kalman Filter2013

    • 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
    • Related Report
      2013 Research-status Report
  • [Presentation] State Estimation for Networked System with Random Delay Using Kalman Filter2013

    • 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
    • Related Report
      2013 Research-status Report

URL: 

Published: 2014-07-25   Modified: 2019-07-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi