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Sun, D., Liao, Q., Stoyanov, T., Kiselev, A. & Loutfi, A. (2019). A New Mixed Reality - based Teleoperation System for Telepresence and Maneuverability Enhancement.
Open this publication in new window or tab >>A New Mixed Reality - based Teleoperation System for Telepresence and Maneuverability Enhancement
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2019 (English)In: Article in journal (Refereed) Accepted
Abstract [en]

Virtual Reality (VR) is regarded as a useful tool for teleoperation system that provides operators an immersive visual feedback on the robot and the environment. However, without any haptic feedback or physical constructions, VR-based teleoperation systems normally have poor maneuverability and may cause operational faults in some fine movements. In this paper, we employ Mixed Reality (MR), which combines real and virtual worlds, to develop a novel teleoperation system. New system design and control algorithms are proposed. For the system design, a MR interface is developed based on a virtual environment augmented with real-time data from the task space with a goal to enhance the operator’s visual perception. To allow the operator to be freely decoupled from the control loop and offload the operator’s burden, a new interaction proxy is proposed to control the robot. For the control algorithms, two control modes are introduced to improve long-distance movements and fine movements of the MR-based teleoperation. In addition, a set of fuzzy logic based methods are proposed to regulate the position, velocity and force of the robot in order to enhance the system maneuverability and deal with the potential operational faults. Barrier Lyapunov Function (BLF) and back-stepping methods are leveraged to design the control laws and simultaneously guarantee the system stability under state constraints.  Experiments conducted using a 6-Degree of Freedom (DoF) robotic arm prove the feasibility of the system.

National Category
Robotics
Identifiers
urn:nbn:se:oru:diva-77829 (URN)
Note

This paper is accepted in 10/11/2019, and will be online one month later.

Available from: 2019-11-11 Created: 2019-11-11 Last updated: 2019-11-11
Sun, D., Liao, Q., Stoyanov, T., Kiselev, A. & Loutfi, A. (2019). Bilateral telerobotic system using Type-2 fuzzy neural network based moving horizon estimation force observer for enhancement of environmental force compliance and human perception. Automatica, 106, 358-373
Open this publication in new window or tab >>Bilateral telerobotic system using Type-2 fuzzy neural network based moving horizon estimation force observer for enhancement of environmental force compliance and human perception
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2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 106, p. 358-373Article in journal (Refereed) Published
Abstract [en]

This paper firstly develops a novel force observer using Type-2 Fuzzy Neural Network (T2FNN)-based Moving Horizon Estimation (MHE) to estimate external force/torque information and simultaneously filter out the system disturbances. Then, by using the proposed force observer, a new bilateral teleoperation system is proposed that allows the slave industrial robot to be more compliant to the environment and enhances the situational awareness of the human operator by providing multi-level force feedback. Compared with existing force observer algorithms that highly rely on knowing exact mathematical models, the proposed force estimation strategy can derive more accurate external force/torque information of the robots with complex mechanism and with unknown dynamics. Applying the estimated force information, an external-force-regulated Sliding Mode Control (SMC) strategy with the support of machine vision is proposed to enhance the adaptability of the slave robot and the perception of the operator about various scenarios by virtue of the detected location of the task object. The proposed control system is validated by the experiment platform consisting of a universal robot (UR10), a haptic device and an RGB-D sensor.

Place, publisher, year, edition, pages
Pergamon Press, 2019
Keywords
Force estimation and control, Type-2 fuzzy neural network, Moving horizon estimation, Bilateral teleoperation, Machine vision
National Category
Control Engineering
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-74377 (URN)10.1016/j.automatica.2019.04.033 (DOI)000473380000041 ()2-s2.0-85065901728 (Scopus ID)
Funder
Swedish Research Council
Available from: 2019-05-23 Created: 2019-05-23 Last updated: 2019-11-13Bibliographically approved
Sun, D., Liao, Q., Gu, X., Changsheng, L. & Ren, H. (2019). Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic. IEEE Transactions on Cybernetics, 49(8), 2845-2859
Open this publication in new window or tab >>Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic
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2019 (English)In: IEEE Transactions on Cybernetics, ISSN 2168-2267, E-ISSN 2168-2275, Vol. 49, no 8, p. 2845-2859Article in journal (Refereed) Published
Abstract [en]

This paper develops an innovative multilateral teleoperation system with two haptic devices in the master side and a newly-designed reconfigurable multi-fingered robot hand in the slave side. A novel non-singular fast terminal sliding mode (NFTSM) algorithm together with varying dominance factors for cooperation is proposed to offer this system fast position and force tracking, as well as an integrate perception for the operator on the robot hand. Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for the system uncertainties. A sliding mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
Multifingered robot multilateral teleoperation, sliding-mode control (SMC), type-2 Takagi–Sugeno (T–S) fuzzy logic
National Category
Robotics
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-66702 (URN)10.1109/TCYB.2018.2828503 (DOI)000467561700003 ()30072352 (PubMedID)2-s2.0-85050992654 (Scopus ID)
Note

Funding Agencies:

Office of Naval Research Global 

ONRG-NICOP-N62909-15-1-2029  NUSRI China Jiangsu Provincial  BK20150386  BE2016077 

Singapore NMRC Bedside and Bench Grant  R-397-000-245-511 

Available from: 2018-04-23 Created: 2018-04-23 Last updated: 2019-06-19Bibliographically approved
Liao, Q. & Sun, D. (2019). Sparse and Decoupling Control Strategies based on Takagi-Sugeno Fuzzy Models. IEEE transactions on systems, man and cybernetics. Part B. Cybernetics
Open this publication in new window or tab >>Sparse and Decoupling Control Strategies based on Takagi-Sugeno Fuzzy Models
2019 (English)In: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492Article in journal (Refereed) Accepted
Abstract [en]

In order to better handle the coupling effects when controlling multiple-input multiple-output (MIMO) systems, taking the decentralized control structure as the basis, this paper proposes a sparse control strategy and a decoupling control strategy. Type-1 and type-2 Takagi-Sugeno (T-S) fuzzy models are used to describe the MIMO system, and the relative normalized gain array (RNGA) based criterion is employed to measure the coupling effects. The main contributions include: i). compared to the previous studies, a manner with less computational cost to build fuzzy models for the MIMO systems is provided, and a more accurate method to construct the so-called effective T-S fuzzy model (ETSM) to express the coupling effects is developed; ii). for the sparse control strategy, four indexes are defined in order to extend a decentralized control structure to a sparse one. Afterwards, an ETSM-based method is presented that a sparse control system can be realized by designing multiple independent single-input single-output (SISO) control-loops; iii). for the decoupling control strategy, a novel and simple ETSM-based decoupling compensator is developed that can effectively compensate for both steady and dynamic coupling effects. As a result, the MIMO controller design can be transformed to multiple non-interacting SISO controller designs. Both of the sparse and decoupling strategies allow to use linear SISO control algorithms to regulate a closely coupled nonlinear MIMO system without knowing its exact mathematical functions. Two examples are used to show the effectiveness of the proposed strategies

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
Effective fuzzy model, T-S fuzzy model, sparse control, decoupling control, type-2 fuzzy logic
National Category
Control Engineering
Identifiers
urn:nbn:se:oru:diva-71904 (URN)
Available from: 2019-01-29 Created: 2019-01-29 Last updated: 2019-02-08Bibliographically approved
Stoyanov, T., Krug, R., Kiselev, A., Sun, D. & Loutfi, A. (2018). Assisted Telemanipulation: A Stack-Of-Tasks Approach to Remote Manipulator Control. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018 (pp. 6640-6645). IEEE Press
Open this publication in new window or tab >>Assisted Telemanipulation: A Stack-Of-Tasks Approach to Remote Manipulator Control
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2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Press, 2018, p. 6640-6645Conference paper, Published paper (Refereed)
Abstract [en]

This article presents an approach for assisted teleoperation of a robot arm, formulated within a real-time stack-of-tasks (SoT) whole-body motion control framework. The approach leverages the hierarchical nature of the SoT framework to integrate operator commands with assistive tasks, such as joint limit and obstacle avoidance or automatic gripper alignment. Thereby some aspects of the teleoperation problem are delegated to the controller and carried out autonomously. The key contributions of this work are two-fold: the first is a method for unobtrusive integration of autonomy in a telemanipulation system; and the second is a user study evaluation of the proposed system in the context of teleoperated pick-and-place tasks. The proposed approach of assistive control was found to result in higher grasp success rates and shorter trajectories than achieved through manual control, without incurring additional cognitive load to the operator.

Place, publisher, year, edition, pages
IEEE Press, 2018
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:oru:diva-71310 (URN)10.1109/IROS.2018.8594457 (DOI)000458872706014 ()978-1-5386-8094-0 (ISBN)978-1-5386-8095-7 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018
Funder
Knowledge FoundationSwedish Foundation for Strategic Research
Available from: 2019-01-09 Created: 2019-01-09 Last updated: 2019-03-13Bibliographically approved
Sun, D., Liao, Q. & Ren, H. (2018). Type-2 Fuzzy Logic based Time-delayed Shared Control in Online-switching Tele-operated and Autonomous Systems. Robotics and Autonomous Systems, 101, 138-152
Open this publication in new window or tab >>Type-2 Fuzzy Logic based Time-delayed Shared Control in Online-switching Tele-operated and Autonomous Systems
2018 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 101, p. 138-152Article in journal (Refereed) Published
Abstract [en]

This paper develops a novel shared control scheme for online-switching tele-operated and autonomous system with time-varying delays. Type-2 Takagi-Sugeno (T-S) fuzzy model is used to describe the dynamics of master and slave robots in this system. A novel non-singular fast terminal siding mode (NFTSM)-based algorithm combined with an extended wave-based time domain passivity approach (TDPA) is presented to enhance the master-slave motion synchronization in the tele-operated mode and reference-slave motion synchronization in the autonomous mode, while simultaneously ensuring the stability of the overall system in the presence of arbitrary time delays. In addition, based on the Type-2 Fuzzy model, a new torque observer is designed to estimate the external torques and then the torque tracking method is employed in the control laws to let the slave apply the designated force to further improve the operator’s force perception for the environment. The stability of the closed-loop system is proven using the Lyapunov-Krasovskii functions. Finally, experiments using two haptic devices prove the superiority of the proposed strategy.

Place, publisher, year, edition, pages
Elsevier, 2018
Keywords
Online-switching tele-operated and autonomous system, Type-2 T-S Fuzzy System, Time-varying delays
National Category
Robotics
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-64475 (URN)10.1016/j.robot.2017.12.010 (DOI)000428009100011 ()2-s2.0-85042604222 (Scopus ID)
Note

Funding Agencies:

Office of Naval Research Global grant  ONRG-NICOP-N62909-15-1-2029 

NUSRI China Jiangsu Provincial Grant  BK20150386  BE2016077 

Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2019-03-26Bibliographically approved
Sun, D., Naghdy, F. & Du, H. (2017). Neural Network-Based Passivity Control of Teleoperation System Under Time-Varying Delays. IEEE Transactions on Cybernetics, 47(7), 1666-1680
Open this publication in new window or tab >>Neural Network-Based Passivity Control of Teleoperation System Under Time-Varying Delays
2017 (English)In: IEEE Transactions on Cybernetics, ISSN 2168-2267, E-ISSN 2168-2275, Vol. 47, no 7, p. 1666-1680Article in journal (Refereed) Published
Abstract [en]

In this paper, a novel neural network (NN)-based four-channel wave-based time domain passivity approach (TDPA) is proposed for a teleoperation system with time-varying delays. The designed wave-based TDPA aims to robustly guarantee the channels passivity and provide higher transparency than the previous power-based TDPA. The applied NN is used to estimate and eliminate the system’s dynamic uncertainties. The system stability with linearity assumption on human and environment has been analyzed using Lyapunov method. The proposed algorithm is validated through experimental work based on a 3-DOF bilateral teleoperation platform in the presence of different time delays.

Place, publisher, year, edition, pages
Piscataway, NJ, United States: IEEE, 2017
Keywords
Bilateral teleoperation, neural network (NN), passivity, time domain passivity approach (TDPA), time-varying delays, wave variable
National Category
Robotics
Identifiers
urn:nbn:se:oru:diva-64476 (URN)10.1109/TCYB.2016.2554630 (DOI)000403814300007 ()2-s2.0-85028339344 (Scopus ID)
Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2018-10-31Bibliographically approved
Sun, D., Naghdy, F. & Du, H. (2017). Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance. Nonlinear dynamics, 87, 1253-1270
Open this publication in new window or tab >>Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance
2017 (English)In: Nonlinear dynamics, ISSN 0924-090X, E-ISSN 1573-269X, Vol. 87, p. 1253-1270Article in journal (Refereed) Published
Abstract [en]

A novel approach applying the extended prescribed performance control (PPC) and the wavebased time domain passivity approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system’s passivity is guaranteed in the presence of arbitrary time delays. The system’s stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results showthat the proposed control algorithm can robustly guarantee the master–slave system’s passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

Place, publisher, year, edition, pages
Dordrecht, Netherlands: Springer, 2017
Keywords
Bilateral teleoperation, prescribed, performance control (PPC) time domain passivity approach (TDPA), wave variable, passivity, time-varying delay
National Category
Robotics
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-64479 (URN)10.1007/s11071-016-3113-6 (DOI)000392293200038 ()2-s2.0-84990903030 (Scopus ID)
Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2018-10-31Bibliographically approved
Liao, Q., Sun, D., Cai, W.-J., Li, S.-Y. & Wang, Y.-L. (2017). Type-1 and Type-2 effective Takagi-Sugeno fuzzy models for decentralized control of multi-input-multi-output processes. Journal of Process Control, 52, 26-44
Open this publication in new window or tab >>Type-1 and Type-2 effective Takagi-Sugeno fuzzy models for decentralized control of multi-input-multi-output processes
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2017 (English)In: Journal of Process Control, ISSN 0959-1524, E-ISSN 1873-2771, Vol. 52, p. 26-44Article in journal (Refereed) Published
Abstract [en]

tEffective model is a novel tool for decentralized controller design to handle the interconnected inter-actions in a multi-input-multi-output (MIMO) process. In this paper, Type-1 and Type-2 effectiveTakagi-Sugeno fuzzy models (ETSM) are investigated. By means of the loop pairing criterion, simple cal-culations are given to build Type-1/Type-2 ETSMs which are used to describe a group of non-interactingequivalent single-input-single-output (SISO) systems to represent an MIMO process, consequently thedecentralized controller design can be converted to multiple independent single-loop controller designs,and enjoy the well-developed linear control algorithms. The main contributions of this paper are: i)Compared to the existing T-S fuzzy model based decentralized control methods using extra terms tocharacterize interactions, ETSM is a simple feasible alternative; ii) Compared to the existing effectivemodel methods using linear transfer functions, ETSM can be carried out without requiring exact mathe-matical process functions, and lays a basis to develop robust controllers since fuzzy system is powerful tohandle uncertainties; iii) Type-1 and Type-2 ETSMs are presented under a unified framework to provideobjective comparisons. A nonlinear MIMO process is used to demonstrate the ETSMs’ superiority overthe effective transfer function (ETF) counterparts as well as the evident advantage of Type-2 ETSMs interms of robustness. A multi-evaporator refrigeration system is employed to validate the practicabilityof the proposed methods.

Place, publisher, year, edition, pages
Elsevier, 2017
Keywords
Interactions, Loop pairing, effective Takagi-Sugeno (T-S) fuzzy model, Type-2 fuzzy system, Decentralized control
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-64478 (URN)10.1016/j.jprocont.2017.01.004 (DOI)000399849400004 ()2-s2.0-85012973939 (Scopus ID)
Note

Funding Agencies:

National Research of Singapore 

School of Electrical & Electronic Engineering, Nanyang Technological University 

Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2019-03-04Bibliographically approved
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Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-0334-2554

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