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Haifei Chen
Northwestern Polytechnical University
3Publications
1H-index
3Citations
Publications 4
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#1Haifei Chen (NPU: Northwestern Polytechnical University)H-Index: 1
#2Panfeng Huang (NPU: Northwestern Polytechnical University)H-Index: 19
Last.Zhiqiang Ma (NPU: Northwestern Polytechnical University)
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Abstract Compared with general telerobot system, space telerobot system (STS) faces with more serious and complex time delay. In time delay prediction, the traditional sparse multivariate linear regressive (SMLR), auto regressive (AR), neural network (NN) and cubic polynomial model based (CBMB) approaches share lower efficiency or precision, when time delay is serious and complex. To solve this problem, time delay prediction for STS is discussed in this paper. Through analysis, time delay in STS...
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Bilateral synchronization control problem for networked teleoperation space robot system (NTSRS) with unknown gravity and asymmetric, random delay as well as communication intermittent interruption is discussed in this paper. To make full use of limited operation window time, improve telepresence and realize continuous teleoperation, a special mode switching based symmetric predictive control mechanism is designed, where the mode switching idea is to make full use of limited operation time. Mean...
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#1Haifei Chen (NPU: Northwestern Polytechnical University)H-Index: 1
#2Panfeng Huang (NPU: Northwestern Polytechnical University)H-Index: 19
Last.Zhengxiong Liu (NPU: Northwestern Polytechnical University)H-Index: 11
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Time delay is the biggest barrier in improving the control property for teleoperation system, especially for space robot teleoperation system (SRTS) that faces the most complex and serious case being composed of three parts: 1) transport time delay between the ground control-center and base-station; 2) transmission time delay between the ground and space base-stations; 3) processing time delay among all information loops. To solve time delay problem for SRTS, modeling and forecasting methods con...
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#1Zhenyu Lu (NPU: Northwestern Polytechnical University)H-Index: 4
#2Panfeng Huang (NPU: Northwestern Polytechnical University)H-Index: 19
Last.Haifei Chen (NPU: Northwestern Polytechnical University)H-Index: 1
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In this paper, a novel fuzzy-observer-based hybrid force/position control method is investigated for a bimanual teleoperation system in the presence of dynamics uncertainties, random network-induced time delays, and multiple sampling rates of remote control signals and local measured data. The system structure consists of two pairs of position observers and contact force/torque estimators. The position observers are designed based on Takagi–Sugeno fuzzy inference rules to estimate the delayed re...
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