Transparency- and performance-oriented control of haptic teleoperation systems:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
2013
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| Subjects: | |
| Online Access: | Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20130528-1145579-0-6 Inhaltsverzeichnis |
| Physical Description: | XIV, 216 S. Ill., graph. Darst. |
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Record in the Search Index
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|---|---|
| adam_text | CONTENTS
1 INTRODUCTION 1
1.1 CHALLENGES 4
1.2 MAIN CONTRIBUTIONS AND OUTLINE OF THE THESIS 5
2 DESIGN OBJECTIVES AND OVERVIEW OF STATE-OF-THE-ART CONTROL CONCEPTS 8
2.1 SYSTEM COMPONENTS 9
2.2 DESIGN OBJECTIVES 10
2.2.1 TRANSPARENCY 11
2.2.2 PERFORMANCE 13
2.2.3 FEELING OF PRESENCE 14
2.2.4 USABILITY 15
2.3 CLASSICAL CONTROL
CONCEPTS 17
2.3.1 LOCAL CONTROLLERS 18
2.3.2 CONTROL ARCHITECTURES 18
2.4 EOT-ADAPTING CONTROL CONCEPTS 23
2.4.1 FIDELITY AUGMENTATION 24
2.4.2 PERFORMANCE AUGMENTATION 27
2.5 SUMMARY 32
3 TRANSPARENCY-ORIENTED CONTROL CONCEPT: STABILITY AND FIDELITY ANALYSIS
34
3.1 OVERVIEW OF FIDELITY AND
STABILITY ANALYSES FOR MODEL-MEDIATED TELEOPERATION
36
3.2 MODELING MODEL-MEDIATED
TELEOPERATION 37
3.2.1 MODELING ASSUMPTIONS FOR
SYSTEM COMPONENTS 37
3.2.2 MODELING ASSUMPTIONS FOR CLOSED-LOOP SYSTEM 39
3.3 STABILITY ANALYSIS 43
3.3.1 STABILITY ANALYSIS TOOLS 43
3.3.2 STABILITY OF THE SYSTEM IN STEADY-STATE 48
3.3.3 STABILITY DURING THE TRANSIENT PHASE: MOVABLE OBJECTS 51
3.3.4 STABILITY DURING THE TRANSIENT PHASE: STATIC OBJECTS 52
3.4 FIDELITY ANALYSIS 58
3.4.1 FIDELITY ANALYSIS FOR PERFECT ENVIRONMENT RECONSTRUCTION 58
3.4.2 INFLUENCE OF STATIONARY ESTIMATION ERROR ON FIDELITY 66
3.5 SUMMARY 67
4 TRANSPARENCY-ORIENTED CONTROL CONCEPT: DESIGN AND EVALUATION 69
4.1 OVERVIEW OF MODEL-MEDIATED TELEOPERATION
APPROACHES 70
4.2 DESIGN: ENVIRONMENT MODELING 71
4.2.1 STATIC OBJECTS 71
HTTP://D-NB.INFO/1047610027
CONTENTS
4.2.2 MOVABLE OBJECTS 75
4.3 DESIGN: ENVIRONMENT ESTIMATION 75
4.3.1 RECURSIVE LEAST SQUARES (RLS) 76
4.3.2 ADAPTIVE IDENTIFICATION (AI) 77
4.3.3 ADAPTATION TO ENVIRONMENT MODELS 78
4.3.4 PERSISTENT EXCITATION 80
4.4 DESIGN: ENVIRONMENT RECONSTRUCTION 82
4.4.1 RECONSTRUCTION FOR STATIC AND MOVABLE OBJECTS 82
4.4.2 RECONSTRUCTION FOR SYSTEMS
WITH NON-IDEAL
COMMUNICATION 83
4.5 EVALUATION: ENVIRONMENT MODELING AND ESTIMATION 85
4.5.1 STATIC OBJECTS 85
4.5.2 MOVABLE OBJECTS 92
4.6 EVALUATION: MODEL-MEDIATED TELEOPERATION 93
4.6.1 PRACTICAL ISSUES 93
4.6.2 MODEL-MEDIATED TELEOPERATION
WITH IDEAL COMMUNICATION 95
4.6.3 MODEL-MEDIATED TELEOPERATION
WITH TIME DELAY 101
4.7 COMPARISON WITH CLASSICAL
CONTROL CONCEPT 107
4.7.1 EVALUATION OF CLASSICAL CONTROL
CONCEPT 107
4.7.2 DISCUSSION 109
4.8 SUMMARY 109
5 PERFORMANCE-ORIENTED CONTROL CONCEPT 112
5.1 DESIGN SPACE FOR ASSISTANCE POLICY
MODULE 115
5.1.1 PERFORMANCE CRITERIA 116
5.1.2 PERFORMANCE REFERENCE 118
5.1.3 ASSISTANCE POLICIES 118
5.2 CATEGORIZATION OF RELATED WORK 119
5.3 RESEARCH QUESTIONS 121
5.4 EXPLORING THE DESIGN SPACE FOR A MAZE SCENARIO 122
5.4.1 SCENARIO AND EXPERIMENTAL SETUP 122
5.4.2 IMPLEMENTATION OF PATH PLANNING AND ASSISTANCE CONTROL 124
5.4.3 SPANNING THE DESIGN SPACE 127
5.4.4 EXTRACTING EXAMPLES FROM THE DESIGN SPACE: CONDITIONS 135
5.5 QUALITATIVE EVALUATION 137
5.5.1 INTERNAL VS. EXTERNAL REFERENCE 137
5.5.2 SINGLE- VS. MULTI-CRITERIA PERFORMANCE 139
5.5.3 SWITCHING VS. CONTINUOUSLY-ADAPTING ASSISTANCE 140
5.5.4 DISCUSSION 141
5.6 STATISTICAL EVALUATION 143
5.6.1 METHOD 143
5.6.2 PERFORMANCE CRITERIA 143
5.6.3 RESULTS 144
5.6.4 DISCUSSION 149
5.7 SUMMARY 154
VIII
CONTENTS
6 TOWARDS
MULTI-CRITERIA CONTROL CONCEPTS 158
6.1 RELATED WORK 159
6.2 MULTI-CRITERIA CONTROL CONCEPT 160
6.3 PROOF OF CONCEPT 164
6.3.1 BASIC CONTROL ARCHITECTURE 164
6.3.2 TRANSPARENCY-ORIENTED CONTROLLER 166
6.3.3 PERFORMANCE-ORIENTED CONTROLLER 167
6.3.4 EXPERIMENTAL RESULTS 168
6.3.5 INTEGRATED SYSTEM 170
6.3.6 EVALUATION 171
6.4 OPEN RESEARCH
QUESTIONS 174
6.5 SUMMARY 175
7 CONCLUSIONS AND FUTURE WORK 177
7.1 CONCLUSIONS 177
7.2 RITURE RESEARCH DIRECTIONS 181
A MODELING AND EXPERIMENTAL SETUPS 183
A.L HUMAN OPERATOR MODEL 183
A.2 DYNAMIC MODEL OF POSITION-BASED ADMITTANCE CONTROL WITH FORCE-FORCE
EX
CHANGE (FAFA) 183
A.3 OBJECTS 184
A.4 1 DOF TELEOPERATION SYSTEM: LINEAR DEVICES THRUSTTUBES 184
A.5 2 DOF TELEOPERATION SYSTEM: LINEAR DEVICES THRUSTTUBES 184
A.6 6 DOF MULTI-MODAL TELEOPERATION SYSTEM: HAPTIC INTERFACE VISHARD7
AND
MOBILE TELEOPERATOR MTO 186
B MODEL EVALUATION TOOLS 189
B.L NORMALIZED ROOT
MEAN SQUARE ERROR (NRMSE) 189
B.2 RELATIVE ESTIMATION ERROR (REE) 189
B.3 CONVERGENCE TIME (CT) 189
C FIDELITY
ANALYSIS: STABLE PARAMETERS OPTIMIZING FIDELITY 190
D ASPECTS CONCERNING THE DESIGN SPACE OF HAPTIC ASSISTANCES 193
D.L USER STUDY WITH CONSTANT ASSISTANCE LEVELS 193
D.L.L EXPERIMENTAL DESIGN 193
D.1.2 PROCEDURE 193
D.L.3 PARTICIPANTS 193
D.1.4 EVALUATION RESULTS 193
D.2 CLASSICAL GRADIENT
SEARCH 195
D.3 DISAGREEMENT THRESHOLD 196
BIBLIOGRAPHY 198
IX
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| spelling | Passenberg, Carolina Verfasser aut Transparency- and performance-oriented control of haptic teleoperation systems Carolina U. Passenberg 2013 XIV, 216 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2013 Mit einer Zssfassung in dt. Sprache (DE-588)4113937-9 Hochschulschrift gnd-content Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20130528-1145579-0-6 http://mediatum.ub.tum.de/node?id=1145579 Verlag kostenfrei Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20130528-1145579-0-6 Resolving-System DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026994134&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Passenberg, Carolina Transparency- and performance-oriented control of haptic teleoperation systems |
| subject_GND | (DE-588)4113937-9 |
| title | Transparency- and performance-oriented control of haptic teleoperation systems |
| title_auth | Transparency- and performance-oriented control of haptic teleoperation systems |
| title_exact_search | Transparency- and performance-oriented control of haptic teleoperation systems |
| title_full | Transparency- and performance-oriented control of haptic teleoperation systems Carolina U. Passenberg |
| title_fullStr | Transparency- and performance-oriented control of haptic teleoperation systems Carolina U. Passenberg |
| title_full_unstemmed | Transparency- and performance-oriented control of haptic teleoperation systems Carolina U. Passenberg |
| title_short | Transparency- and performance-oriented control of haptic teleoperation systems |
| title_sort | transparency and performance oriented control of haptic teleoperation systems |
| topic_facet | Hochschulschrift |
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