Virtual reality (VR) is regarded as a useful tool for teleoperation systems and provides operators with immersive visual feedback on the robot environment. However, without any haptic or physical constructions, VR-based normally suffer from poor maneuverability, operational faults may be caused in some fine movements. In this article, we employ mixed (MR), which combines real virtual worlds, to develop novel system. A new system design control algorithms are proposed. For design, an MR...

Seeds are another product in addition to leaves (raw materials for teas) of tea (Camellia sinensis L.) plant. The great increase consumption recent years raises the challenge finding commercial applications seeds. In present study, supercritical carbon dioxide (SC-CO(2)) extraction edible oil from seed was carried out, response surface methodology (RSM) used optimize processing parameters including time (20-90 min), temperature (35-45 °C) and pressure (50-90 MPa). fatty acid composition...

An innovative wave-based time-domain passivity approach applied to a four-channel nonlinear teleoperation system is proposed. The primary objective of this enhance transparency while maintaining stability in the presence random time delays. for different scenarios human and environment condition analyzed. method validated through experimental work based on 3-DOF bilateral system. results show that proposed control algorithm can robustly guarantee stability, simultaneously provide better...

In this paper, a novel neural network-based fourchannel wave-based Time Domain Passivity approach (TDPA) is proposed for teleoperation system with time-varying delays.The designed TDPA aims to robustly guarantee the channels passivity and provide higher transparency than previous power-based TDPA.The applied network used estimate eliminate system's dynamic uncertainties.The stability linearity assumption on human environment has been analyzed using Lyapunov method.The algorithm validated...

This paper develops data-driven Type-2 Takagi-Sugeno (T-S) fuzzy modeling and control for bilateral teleoperation with dynamic uncertainties time-varying delays. The T-S model identified based on input-output data samples describes the nonlinear system by a weighted sum of group linear local models, which offers platform to design robust algorithms means mature theories. fuzzy-model-based four-channel laws are proposed guarantee motion synchronization enhance operator's force perception...

This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot slave side. A novel nonsingular fast terminal sliding-mode algorithm, together varying dominance factors for cooperation, is proposed to offer this system's position force tracking, as well integrated perception operator (manipulator). The Type-2 fuzzy model used describe overall dynamics, accordingly new fuzzy-model-based...

This article proposes a new single master bimanual teleoperation system with an efficient position, orientation, and force regulation strategy. Unlike many existing studies that solely support motion synchronization, the first contribution of proposed work is to propose solution for orientation when several slave robots have differing motions. In other words, we self-regulated dual-arm robots. A second in allows fewer degrees freedom (DoF) control slaves (with higher DoF), while...

This study presents a new point set registration method to align 3D range scans. In our method, fuzzy clusters are utilized represent scan, and the of two given scans is realized by minimizing weighted sum distances between their cluster centers. cluster-based metric has broad basin convergence robust noise. Moreover, this provides analytic gradients, allowing standard gradient-based algorithms be applied for optimization. Based on metric, outlier issues addressed. addition, first time in...

Supercritical carbon dioxide (SC-CO(2)) extraction of bioactive compounds including flavonoids and phenolics from Ampelopsis grossedentata stems was carried out. Extraction parameters such as pressure, temperature, dynamic time modifier, were optimized using an orthogonal array design L(9) (3(4)), antioxidant activities the extracts evaluated by 2,2-diphenyl-1-picrylhydrazyl (DPPH) free radical scavenging assay ferrous ion chelating (FIC) assay. The best conditions obtained for SC-CO(2) 250...

Imitation learning is an important direction in the area of robot skill learning. It provides a user-friendly and straightforward solution to transfer human demonstrations robots. In this article, we integrate fuzzy theory into imitation develop novel method called type-2 model-based movement primitives (T2FMP). method, group data-driven models are used describe input–output relationships demonstrations. Based on models, T2FMP can efficiently reproduce trajectory without high computational...

SUMMARY Stability and transparency are two critical indices of bilateral teleoperation systems. The wave variable method is a conservative approach to robustly guarantee system passivity under arbitrary constant time delays. However, the wave-variable-based reflection an intrinsic problem in this because it can significantly degrade disorient operator's perception remote environment. In order enhance both stability systems presence large delays, new four-channel (4-CH) architecture proposed...

In order to better handle the coupling effects when controlling multiple-input multiple-output (MIMO) systems, taking decentralized control structure as basis, this paper proposes a sparse strategy and decoupling strategy. Type-1 type-2 Takagi-Sugeno (T-S) fuzzy models are used describe MIMO system, relative normalized gain array-based criterion is employed measure effects. The main contributions include: 1) compared previous studies, manner with less computational cost build for systems...

Interaction measure determines decentralized and sparse control configurations for a multivariable process control. This paper investigates interval type-2 Takagi-Sugeno fuzzy (IT2TSF) model based interaction measures using two different criteria, one is controllability observability gramians, the other relative normalized gain array (RNGA). The main contributions are: first, data-driven IT2TSF modeling method introduced; second, explicit formulas to execute on models are given; third,...

The asymmetry in bilateral teleoperation, i.e., the differences of mechanical structures, sizes, and number joints between master slave robots, can introduce kinematics redundancy workspace inequality problems. In this article, a novel shared autonomy control strategy is proposed for handling which has two main contributions. First, to deal with redundancy, provides self-regulation algorithm orientation that allows operator solely use position command simultaneously slave's orientation....

A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of nonlinear single-master-multiple-slave teleoperation system simultaneously guarantee overall system’s stability in presence large time-varying delays. The different scenarios human environment situations has been analyzed. method validated through experimental work 3-DOF trilateral consisting three manipulators. results clearly...