Shihua Wang

South China University of Technology, Shengcheng, Guangdong, China

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Publications (4)0 Total impact

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    ABSTRACT: A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay-jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.
    Frontiers of Mechanical Engineering in China 08/2008; 3(3):299-306.
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    ABSTRACT: This paper presents a system that enables remote operator to control a mobile robot with real-time control style via Internet. To compensate network delay and cancel its impact on teleoperation system, we adopt predictive control scheme based on a modified Smith predictor that we proposed previously. To guarantee stability and transparency of system, a dynamic model manager is described from sensors information exchange between the master and slave side, where model and force feedback errors are regulated under a fuzzy controller. In addition to force feedback, virtual predictive display is introduced to enhance the real-time efficiency of teleoperation. To predict time delay precisely, a novel timer synchronization algorithm is proposed. To decrease delay jittering, data buffer scheme is achieved at both sides together with its two algorithms. The usefulness and effectiveness of the developed method and system have been validated by teleoperation experiments through Internet on long distance.
    Control and Automation, 2007. ICCA 2007. IEEE International Conference on; 07/2007
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    ABSTRACT: Smith predictor is very sensitive to uncertain system with variable time-delay. Using dual-locus diagram method, we first analyse the essence of Smith predictor's sensitivity and present a proposition to illustrate the system stability criteria with relation to system gain and time-delay variation. Then a new modified Smith predictor is proposed to compensate the variable time-delay system with uncertain model for set-point tracking. After that, we discuss the system internal stability and give two-degree freedom controller self-adaptive to eliminate the impact of system uncertainty with varying time-delay. Examples show the improved performance compared to previous modified Smith predictor structures
    Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on; 01/2006
  • Shihua Wang, Bugong Xu, Qingyang Wang
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    ABSTRACT: For the teleoperation of a robot over the IP network, we must deal with the uncertain time-delay because it reduces the stability of the teleoperation significantly. The time-delay is produced by the variable network structure and its imbalanced distributed flows. In this paper, we first analyze the time-delay of Internet and establish a model based on the dynamic IP network traffic characteristics, and then bring forward a real-time remote control architecture based on Smith predictor principle and network delay regulator method. In order to overcome the predicted time-delay errors, we present an online adaptive time-delay parameter control scheme. These methods are validated through experiments and simulations, and results of them are also given and explained. All these results show that the proposed model and the enhanced Smith Predictor with adaptive time-delay control are desirable to the improvement of Internet-based teleoperation systems
    Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on; 01/2005