1_optimal control of robot through internet

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World Applied Sciences Journal 6 (5): 702-710, 2009ISSN 1818-4952

IDOSI Publications, 2009

Correspoding Author: Dr. Mahdi Ghanbari, Department of Mathematics, Khorramabad Branch, Islamic Azad University,Khorramabad, Iran

702

Optimal Control of Robot through Internet

1

Mahdi Ghanbari and2

Ehsan Kamrani

1Department of Mathematics, Khorramabad Branch, Islamic Azad University, Khorramabad, Iran

2Department of Electrical Engineering, Khorramabad Branch, University of Lorestan and Islamic,

Azad University, Khorramabad, Iran

Abstract: Robotics and Internet industry can be considered as one of the most important specification of

the technology improvement today. Here, we introduce the remote operational systems as a new improving

and great technology which is the result of technology improvement in both fields and we have tried to

study the emerge of it and review the various application in order to present the view of operational and theexceptional Know-how of this new technology on internet and robots.

Key words:Teleoperation system Remote control operations Delay Robots Internet

INTRODUCTION

In a near future, performing the physical

application through a remote control will be an

Unavailing necessity. These physical applications will

be possible through Internet through using computers

and other equipments such as robots and mediate

circuits. Remote control operations often refers to

activation, control and accessing to a device or a system

from a for distance. Scientists use Internet robots for

activities in dangerous areas and unbearable places for

human being like mars and atomic power plants, which

have the possibility of control and monitoring them

through Internet. Industrial robots are commonly

controlled in joint space to perform position control

[1, 36].In practice, for tracking a trajectory in task space,

an industrial robot follow a desired trajectory in joint

space which is already recorded in a learning process

called the teach and play back technique. The various

applications have been mentioned in [2, 28-31, 43, 44].

The most important issues which we face with in

designing a control system through Internet are:

modeling the remote operation system, delay in the

remote operation system, control and the resistance of

the remote control system and the safety in the remote

operation system. There is a challenge in robot control

to overcome uncertainties, nonlinearities and couplings

from different aspects in the field of control engineering

[43, 44]. In this paper, we have tried to introduce these

factors and the related issues and present a background

in this field with some proposals in order to improve

and promote there most favorite approaches to be

manipulated in the future.

History of teleoperation system: The first modern

remote command givers and command takers were

mechanical panthographers. These actors were

improved By R. Goertz"s group in 1940 in the Argon

national lab, where Enrico Fremic designed the first

Atomic Reactor.

The electromechanical actors rapidly replaced the

mechanical actors. In 1954, Goertz"s team designed the

first electromechanical actor with automatic feedback

control. Then, the remote operations were expanded in

various field. The expansion of the application of the

remote operation system is so that we cant mention

them here. With respect to the Internet growth, man has

got access to much equipment such as coffee machines,

telescope and robot. The studies done on the possibility

and the easiness of using Internet robots show thatcontrol through Internet can be expanded. The remote

processing has a shining future, especially in

companies, which have many branches with electronic

machines working instead of manpower. Which a

computer connected to the automation system can

control and get data from a production line processes,

an operator can process the data according to the

adjustment and roles and then issue the necessary

commands to control them.

The definition of the remote system: The robotic

technology is a new technology but a fast one. Some of

the robotologists claim that the robots will be improved

just like computers so, the access and the usage of the

robots will increase and the will be accessible in any

house and shop. In a near future the control and the

operation of the processes from a far distance would be

two unavoidable necessities. This operation would be


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Fig. 6: Concept of telesurgery

Fig. 7: Architecture of telesurgery system

Applications: Theres no doubt that technology

enhancement will lead to an increase in using remote

operation system. Todays applications are still

enhancing through with respect to its numerous

advantages, there are lost of samples used in the fields

and there are many articles on them. We believe that

the remote operation application would be limited only

through imagination. Internet proves that if you produce

something it will definitely use. In other words,technology should be created and people will find its

applications.

Telemdicine: The first applications in this field more

about 1960. The telemedicine of the remote operation

system consist of micro mechanicals such as endoscope

surgeries and macro telemedicine applications. The

goal is the applications is short distances, low damage

to the patient, decrease the risk and increase in accuracy

in the cure. The remote applications are mainly for

using the advanced equipments and experts in far

distances. In CAT and MRI, from a far distance to

guide the photography robotic equipments [6]. a sample

of a telemedicine consists of many camera which shot

from various angles and a graphical machine which

show them in a tri-dimensional way [7].

Despite the doubts in this case, it has bean

attractive for many experts and if has bean advanced in

many ways. The final goal of a telemedicine design is

reaching to a very precise system which can be used in

our life in a secure style. This system allows the experts

to cure the patients from long distances. Through

remote operation, most of the surgeries can be done

Fig. 8: Example of an industrial teleoperation system

Fig. 9: Example of an industrial teleoperation system

using surgical techniques with the last MIS, in which

there is only a very small hole for surgery.

As a result, this will cause the patient less pain and

tissue trauma. So, the time for cure will decrease and

patient will be cured soon. In many applications, there

is a necessity for fine movements by the serpent on fine

parts such as heart, eye, brain and soon. Through using

remote accurate and intelligent equipments, we can use

endless small powers. So, the surgery will be safe and

more effective. When the organ under surgery is shown

by a monitor, all the surgery team can follow thesurgery view and they can facilitate consulting and

interfering in the surgery. On the whole the remote

surgery is a reactive immediate, an expanded band with

less in stability this application is one the most

interesting remote applications with long term interest

and advantages and it contains many functional and in

functional necessities. yet, there are weak points such as

important hard ware parts (e.g. tri-dimensional cameras,

small cameras,surgery tools) and expanded cooperation

with medical teams and robotic experts .

Industrial applications: The industrial applications of

this technology is not limited to the metrology

applications and meeting metals (furnace), general

applications, excavation applications, movement of the

objects which are not model able by computers, there

are other applications such as working on high voltage

lines and so many other applications that we can't

explain them here. Figure 8 and 9 show two

applications.

Long distance sessions: We can consider it a tread

application which develop long distance conferences or


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net meeting for achieving a virtual trading meeting. The

participants should be able to see each other and talk

simultaneously, present the hand notes and files and

they should be able to send/receive/show emails and

they should be able to read/write on a white board. Thisapplication needs a high graphic resolution, tri-

dimensional photography and video support. The

security accessories are needed to support the secrets.

Generally, this system is a reactive, immediate system

with a high wide band with the least interesting this

application is one of the most interesting operations

from a long distance with long term advantages which

are very important in the trading fields and contains a

lot of functional and in functional necessities. This

application doesn't need an expanded cooperation with

experts in professional fields. the system virtual truth

pattern is a prior leading research field. Yet, long

distance conferences and internet sessions are available

in a trading way. The main weak point in this

application, is the necessary hard wave (video cameras,

three-dimensional monitors).

Long distance games: Amusement industry is another

application. There are lost of long distance games on

the internet. For example, in Germany, there is an

interactive railway which works from a long distance.

Long distance games are a potential research field in

which a player can enter a virtual field. For instance,

the player should enter a known game and play the role

of a real one. The players can attend the internet gameson his/her computer.

Long distance learning: Learning from far gives this

potential to the student to enter a virtual class and

follow his education. This will allow the students to

follow his education according to his interest and to

have access to high school, college or university. A

student can improve according to his merit and ask for

move information to get into the since and reach the

topmost degrees. The information mentioned above can

have the from of video, text or voice. The students

should have the access to a teacher through an email.

Digital library application: On-line libraries have

access to the on-line catalogues, abstracts, standard data

base and magazine in electronic format. Services and

new possibilities, digital pictures, voice and video

support the library. The library applicant should be able

to search, watch and print an item. Having access to a

library located in a far distance can be prepared through

an email. The virtual truth pattern is one of the prior

research fields.

Fig. 10: User interface of the mercury project 1994, the

first system which enable the user to observe

and interact the remote real world (first

generation of robonets)

Fig. 11: Tele-gardening (Australian electronics center,1995)

Fig. 12: Structure of controlling home furniture via

internet

Virtual lab applications: A vertical lab is consistedof an example field and heterogeneous in which a

group of scientists would be able to work on a

common project [9-11] like other labs, tools and

techniques are limited but they share the structural

accessories in order to adjust the agendas.

Process control applications: The process control

has bean effective on industrial automation

enhancement. The remote control has created a new

era yet a limited number of companies have used

this automation industry. One of them is grading

from a long distance [12], mercury project and process

control [1].

House automation application: The remote

techniques can be done at home in this application a

special IP would be allocated at home. You can have

access to them every where and control them. In

Fig. 12, a sample structure is shown Fig. 13 is a simple

of a remote control vacuum cleaner and its path. Fig. 14

and 15 show two commercial samples. In the

graphs no.16 and 17, the rising path of their application

is shown.


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Fig. 13: Sample of a teleoperated electric vacuum

cleaner

Fig. 14: Sample of implementation of a furniture remote

control via internet (Echonet Project)

Fig. 15: Sample of implementation of a furniture remote

control via internet (VESA Project)

Fig. 16: Using home networking technology

THE PROPOSED CONTROL SYSTEM

A switched system is utilized when there are abrupt

changes in the structures and parameters of the dynamic

system, which can be caused by component failures,

repairs, environment changes, disturbances or changes

in subsystems interconnections [28-33] and may result

in improving the performance [30-35]. When a single

identification model is used, it will have to adapt itself

to the operating condition before appropriate controls

can be taken. If the environment changes suddenly, the

original model (and hence the controller) is no longer

valid. If the adaptation is slow, it may result in a large

Fig. 17: Developing vista in increasing home

automation users

Fig. 18: Multi-model adaptive control system

Fig. 19: Supervisor operation

transient error. However, if different models are

available for different operating conditions, then

suitable controllers corresponding to each condition can

be devised in advance. The control structure in Fig. 18

determines the best model for the existing operating

condition at every instant and activates the

corresponding controller. This structure is based on N

models which have been developed at various points

across the operating range of the process. A controller

is designed for each model, using the Diophantine pole-

placement algorithm. A supervisor as shown in Fig. 19compares the output errors for each one of the N

models. A discrete equivalent of the performance index

is given in (10), for the ith model:

M2 2

i i i i

j 1

J (k ) e (k) exp( j )e ( k j)=

= + (10)

Expansion of this controller for the master-slave

teleoperation was proposed in [30], where the best

model for the current operating condition is identified


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DELAYMODELMASTER SLAVE

M1

M2

M3

M1

M2

M3

S up er vi so r S up er vi so r

C1

C2

C3

C1

C2

C3

+

+

+

+

+

+

SW

ITC

H

SW

ITC

H

Fig. 20: The proposed master-slave multi-model

adaptive control system block diagram for

teleoperation via the Internet

and the corresponding controller either in the master or

in the slave is activated. The block diagram of this

proposed control system is shown in Fig. 20.

Here we have used the ARX model for the

communication delay and obtained its parameters usinga system identification approach; and studied its

performance under abrupt changes in the time delay

using simulation and analysis.

RESULTS AND CONCLUSIONS

Today, internet is the most current communication

media. So many applicants of the global net may face

with some problems when they want to connect to their

favorite sites and realize that the send and receive of the

information is show. This is because of the delay in the

system. There is always delay in the remote operation

system. And each part has some delay. The digital

systems increase the delay in the remote operation

system. According to Shannon's law, the measuring

frequency should be move than two times of the highest

frequency. In systems with long delay, the remote

operation performs in a "move and wait" manner. When

the delay applies to a signal accidentally, the signal

become a module signal and the move delay for this

frequency, the move similarity to a modulate signal.

This modulate signal can cause instability in system.

The important point in the remote operation system is

the existing of time delay with the path. Because in the

internet the delay for send is different with receive one,so in systems of bi lateral in internet, there will be two

variables T2 (t) and T1 (t). Such delays in system

makes the control difficult and decreases the

workability. In order to decrease the effects of delay,

the mentioned time in the remote operation, there have

been done some works. In 1957 Mr. Smith presented a

new approach called smith's approach for the above

problem. In 1989 anderson and song presented the

distribution and passivity theory. In 1977, Jacouz and

Nay Mayer used the wave variable approach in sending

remote signals and they used passivity theory for

stability of the systems. In 1999, Park and Chow used

the sliding mode for designing the controls in the

remote operation systems. Finally, in 2000, Elhaj and

his colleagues "event oriented approach" for the remote

operation systems.In this paper we presented a new method for

designing a robust stable Internet-based teleoperation

system. Our focus is on the robustness against delay

and its random nature. We have applied our proposed

method to control a simple teleoperation system and

studied its behavior for a time varying delay on the

communication link between the plant and the

controller.

This control scheme was initially proposed

and analyzed in [21]. Here we focus on the behavior of

the proposed control system under abrupt changes

in the time delay. Furthermore, we have replaced

the delay block in [21] with a delay model obtainedusing the ARX model, the parameters of which

are obtained using system identification as

discussed above.

Figure 21 shows the system output using ordinary

wave prediction method. In the output of our proposed

method (Fig. 22) we note that the proposed control

system is more robust with minim overshoot. Figure 23

shows the step responses for ordinary and proposed

control methods, when time delay changed abruptly

from 700 msec to 2100 msec at t = 50. We note that the

proposed multi-model control strategy has a satisfactory

response with small fluctuations. Fig. 24 shows the

tracking response without wave prediction. In Fig. 25and 26, the tracking responses of wave prediction and

the proposed control methods are shown. The results

indicate the usefulness of our proposed approach

particularly for abrupt variations of the environments

parameters.

We can also use this structure together with the

wave variable method, the Smith predictor method and

a combination of the two in linear and/or nonlinear

controllers, time-based and/or non-time based

controllers and other suitable types of controllers, so

that the most fitting controller can be utilized depending

on the circumstances.

Fig. 21: System response using the ordinary wave-

prediction method


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Fig. 22: System response using our proposed method

Fig. 23: System step responses for the ordinary and the

proposed control methods, when time delay

changed abruptly

Fig. 24: System tracking response without wave

prediction

Fig. 25: System output tracking response with wave

prediction

Fig. 26: System tracking response with proposed control

system

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