Increasing stability in model-mediated teleoperation approach by reducing model jump effect

Document Type : Article

Authors

School of Mechanical Engineering, Iran University of Science and Technology, Tehran, P.O. Box 16765163, Iran

Abstract

Model-mediated teleoperation is a predictive control approach for controlling haptic teleoperation systems whereby the environment force is virtually located on master side in order to increase the stability and transparency of the system. This promising approach, however, results in new challenges. One pivotal challenge is the model jump effect, which stems from the delay in correct creation of the virtual environment. Previous works have endeavored to reduce this effect; however, they either led to transparency decrease or assumed simplified environment models. In this paper, we propose a control approach for this aim based on the idea of decoupling. This means that when a new environment has been identified, the operation is interrupted and no signal is transmitted between master and slave sides. During this time, both sides are controlled by their own sliding mode controllers until the system reaches stability. The main advantage of this method is its independence from environment type, which makes it usable for different kinds of applications. To verify the effectiveness of the proposed approach simulation tests are conducted. The results show the system is stable in interaction with hard and soft environments in presence of large time delays in communication channels.

Keywords

Main Subjects


  1. Ballard, G. and Koskela, L. On the agenda of design management research", Proceedings IGLC, pp. 52-69

(1998). 2. Mazlum, S.K. and Pekericli, M.K. Lean design management-an evaluation of waste items for architectural

design process", METU Journal of the Faculty of Architecture, 33, pp. 1-20 (2016). 3. Koskela, L., Ballard, G., and Tanhuanpaa, V.P. Towards lean design management", Proceedings of the 5th Annual Conference of the International Group for Lean Construction, Gold Coast, pp. 1-13 (1997). 4. Yu, H., Tweed, T., Al-Hussein, M., and Nasseri, R., Development of lean model for house construction using value stream mapping", Journal of Construction Engineering and Management, 135, pp. 782-790 (2009). 5. Hopp, W.J. and Spearman, M.L., Factory Physics, 3rd Edition, McGraw-Hill (2008). 6. Steward, D.V., Systems Analysis and Management: Structure, Strategy, and Design, Petrocelli Books (1981). 7. Arashpour, M., Wake_eld, R., Abbasi, B., Lee, E.W.M., and Minas, J. O_-site construction optimization: Sequencing multiple job classes with time constraints", Automation in Construction, 71, pp. 262- 270 (2016). 8. Goldratt, E.M., Critical Chain, North River Press (1997). 9. Ballard, H., The Last Planner System of Production Control, University of Birmingham (2000). 10. Russell, M.M., Liu, M., Howell, G., and Hsiang, S.M.

Case studies of the allocation and reduction of time bu_er through use of the last planner system", Journal of Construction Engineering and Management, 141, p. 04014068 (2015). 11. Fosse, R. and Ballard, G. Lean design management in practice with the last planner system", 24th Annual Conference of the International Group for Lean Construction, Boston (2016). 24 M. Khanzadi et al./Scientia Iranica, Special Issue on: Socio-Cognitive Engineering 26 (2019) 15{25 12. Khan, S. and Tzortzopoulos, P. Improving design workow with the last planner system: Two action

research studies", 23rd Annual Conference of the International Group for Lean Construction, pp. 568-577

(2015). 13. Hansen, G.K. and Olsson, N.O.E. Layered project{ layered process: lean thinking and exible solutions",

Architectural Engineering and Design Management, 7, pp. 70-84 (2011). 14. El. Rei_, M.H. and Emmitt, S. Perceptions of lean design management", Architectural Engineering and Design Management, 9, pp. 195-208 (2013). 15. Bolviken, T., Gullbrekken, B., and Nyseth, K. Collaborative design management", 18th Annual Conference of the International Group for Lean Construction, Haifa, Israel, pp. 103-112 (2010).

  1. Hamzeh, F.R., Ballard, G., and Tommelein, I.D. Is the last planner system applicable to design? A case

study", 17th Annual Conference of the International Group for Lean Construction, Taipei, Taiwan, pp. 165-

176 (2009). 17. Fundli, I.S. and Drevland, F. Collaborative design management - A case study", 22nd Annual Conference of the International Group for Lean Construction: Understanding and Improving Project Based Production, IGLC, pp. 627-638 (2014). 18. Rosas, E. Integrating the design structure matrix and

the last planner system into Building Design", 21th Annual Conference of the International Group for Lean

Construction, Fortaleza, Brazil, pp. 389-398 (2013). 19. Vaagen, H. and Aas, B., A Multidisciplinary Framework

for Robust Planning and Decision-Making in Dynamically Changing Engineering Construction Projects, pp. 515-522 (2014). 20. Cameron, I., Hare, B., Du_, R., and Maloney, B. An investigation of approaches to worker engagement",

HSE RR516 (2006). 21. Xue, X., Shen, Q., and Ren, Z. Critical review of collaborative working in construction projects: Business environment and human behaviors", Journal of Management in Engineering, 26, pp. 196-208 (2010). 22. Bartoska, J. and Subrt, T. The e_ect of human agent in project management", Central European Journal of Operations Research, 20 pp. 369-382 (2012). 23. Parkinson, C.N., Parkinson's Law (1984). 24. Leach, L.P. Critical chain project management improves project performance", Project Management Journal (1999).

  1. Kamma, D., Geetha, G., and Neela, J.P. Countering Parkinson's law for improving productivity", Proceedings

of the 6th India Software Engineering Conference on - ISEC, New York, USA, 13, pp. 91-96 (2013). 26. Buehler, R., Gri_n, D., and Ross, M. Exploring the planning fallacy: Why people underestimate their task completion times", Journal of Personality and Social Psychology, 67, p. 366 (1994). 27. Roy, M.M., Christenfeld, N.J.S., and Mckenzie,

C.R.M. Underestimating the duration of future events: memory incorrectly used or memory bias?",

Psychological Bulletin, 131, p. 738 (2005). 28. Williams, T., Modelling complex Projects, John Wiley & Sons (2001).

  1. Park, M. and Pe~na-Mora, F. Dynamic change management for construction: introducing the change

cycle into model-based project management", System Dynamics Review, 19, pp. 213-242 (2003).

  1. Nepal, M.P., Park, M., and Son, B. E_ects of schedule pressure on construction performance", Journal of

Construction Engineering and Management, 132, pp. 182-188 (2006). 31. Hamzeh, F.R., Improving Construction Workow-The Role of Production Planning and Control (2009) 32. Deterding, S., Dixon, D., Khaled, R., and Nacke, L.

From game design elements to gamefulness", Proceedings of the 15th International Academic MindTrek Conference on Envisioning Future Media Environments - MindTrek'11, New York, USA, p. 9 (2011). 33. Juul, J., A Casual Revolution: Reinventing Video Games and Their Players, MIT press (2010). 34. Paharia, R., Loyalty 3.0: How to Revolutionize Customer and Employee Engagement with Big Data and Gami_cation, McGraw Hill Professional (2013). 35. Hamari, J. Transforming homo economicus into homo ludens: A _eld experiment on gami_cation in a utilitarian peer-to-peer trading service", Electronic Commerce Research and Applications, 12, pp. 236-245 (2013).

  1. Reiners, T., and Wood L., Gami_cation in Education and Business, Springer International Publishing (2015).
  2. Ruhi, U. Level up your strategy: Towards a descriptive framework for meaningful enterprise gami_- cation", Technology Innovation Management Review, 5, p. 5 (2015). 38. Locke, E.A. and Latham, G.P., New Developments in

Goal Setting and Task Performance, Routledge (2013). 39. Armstrong, M. and Murlis, H., Reward Management:

A Handbook of Remuneration Strategy and Practice, Kogan Page Publishers (2007). 40. Obe, R. and Hsu, L., PostgreSQL: Up and Running, O'Reilly Media, Inc. (2012). 41. Rossum, G.V., Python Reference Manual, Centrum

voor Wiskunde en Informatica (1995). 42. Project Management Institute, A Guide to the Project Management Body of Knowledge, Project Management Institute, Inc., p. 616 (2013).