公开(公告)号：US20060290311A1

公开(公告)日：2006-12-28

申请号：US11427227

申请日：2006-06-28

申请人： Nikhil Chopra ,  Mark Spong

发明人： Nikhil Chopra ,  Mark Spong

IPC分类号： G05B19/19

CPC分类号： B25J9/1689 ,  G05B19/408 ,  G05B2219/33274 ,  G05B2219/34406 ,  G05B2219/40147 ,  G05B2219/40151

摘要： A control system for output synchronization of a networked communication system comprises a plurality of agents governed by control affine passive dynamics, each of the plurality of agents being coupled to the networked communication system which facilitates data exchange between the plurality of agents with induced delays, and a plurality of controller blocks, each one associated with one of the plurality of agents. Each of the plurality of the controller blocks uses output signals received from the associated agent and from a subset of the plurality of agents to derive a synchronizing control for the associated agent, so that the output signals of the plurality of agents converge asymptotically with time and so that the plurality of agents are synchronized to each other.

摘要翻译： 用于网络通信系统的输出同步的控制系统包括由控制仿射被动动态管理的多个代理，所述多个代理中的每一个被耦合到网络通信系统，该有线通信系统有助于导致延迟的多个代理之间的数据交换，以及 多个控制器块，每个控制器块与多个代理之一相关联。 多个控制器块中的每个控制器块使用从相关代理接收的输出信号和从多个代理的子集导出相关代理的同步控制，使得多个代理的输出信号渐近地随时间收敛，并且 使得多个代理彼此同步。

公开(公告)号：US20150304193A1

公开(公告)日：2015-10-22

申请号：US14388653

申请日：2013-04-02

申请人： YOKOGAWA ELECTRIC CORPORATION

发明人： Yousuke ISHII ,  Masato YAMAJI ,  Masahiro TAKEKAWA

IPC分类号： H04L12/26

CPC分类号： H04L43/0852 ,  G05B19/4185 ,  G05B2219/33192 ,  G05B2219/40151 ,  H04L43/10 ,  H04L67/125 ,  H04L67/325

摘要： A controller for using a first data item transmitted via a network to generate a second data item for controlling an entity to be controlled over the network, wherein the controller is characterized in being provided with: an adjustment unit for adjusting, with respect to the maximum delay time permissible on the network, the time by which generation of the second data item is started using the first data item after the first data item has been received; and a delay compensation unit, designed using a model of the entity to be controlled and the maximum delay time permissible on the network, for compensating for the delay of the first and second data items that can be generated using the network.

摘要翻译： 一种控制器，用于使用经由网络发送的第一数据项以产生用于控制通过所述网络进行控制的实体的第二数据项，其中所述控制器的特征在于具有：调整单元，用于相对于所述最大值 在网络上允许的延迟时间，在接收到第一数据项之后使用第一数据项开始生成第二数据项的时间; 以及使用要控制的实体的模型和网络上允许的最大延迟时间设计的延迟补偿单元，用于补偿可以使用网络生成的第一和第二数据项的延迟。

公开(公告)号：US20150117466A1

公开(公告)日：2015-04-30

申请号：US14062521

申请日：2013-10-24

申请人： HARRIS CORPORATION

发明人： Matthew D. Summer ,  Paul M. Bosscher

IPC分类号： H04L1/00 ,  H04L12/26

CPC分类号： H04L1/0002 ,  B25J9/1689 ,  G05B2219/40147 ,  G05B2219/40149 ,  G05B2219/40151 ,  G05B2219/40174 ,  G05D1/0022 ,  H04L1/0019 ,  H04L43/0852

摘要： Systems (100) and methods (700) for increasing a predictability of Telematic Operations (“TOs”) of a Teleoperation System (“TS”). The methods involve: measuring an inherent latency of a Communications Link (“CL”) of TS which varies unpredictably over at least a first window of time; analyzing the inherent latency, which was previously measured, to determine a first reference value useful for increasing the predictability of the TOs; using the first reference value to select an amount of controlled latency to be added to CL (120) at each of a plurality of time points (502-518); and adding the amount of controlled latency to CL at each of the plurality of time points so as to increase the predictability of the TOs. In some scenarios, the amount of controlled latency added at a first time point is different than the amount of controlled latency added at a second time point.

摘要翻译： 用于增加远程操作系统（“TS”）的远程信息业务（“TOs”）的可预测性的系统（100）和方法（700）。 所述方法包括：测量TS的通信链路（“CL”）在至少第一时间窗口上不可预测地变化的固有等待时间; 分析先前测量的固有延迟，以确定有用于增加TO的可预测性的第一参考值; 使用第一参考值来选择在多个时间点（502-518）中的每个时刻被添加到CL（120）的受控等待时间量; 并且在多个时间点的每一个时刻将控制的等待时间量加到CL中，以增加TO的可预测性。 在某些情况下，在第一时间点添加的受控延迟量不同于在第二时间点添加的受控延迟量。

公开(公告)号：US09300430B2

公开(公告)日：2016-03-29

申请号：US14062521

申请日：2013-10-24

申请人： HARRIS CORPORATION

发明人： Matthew D. Summer ,  Paul M. Bosscher

IPC分类号： H04L1/00 ,  H04L12/26 ,  B25J9/16

CPC分类号： H04L1/0002 ,  B25J9/1689 ,  G05B2219/40147 ,  G05B2219/40149 ,  G05B2219/40151 ,  G05B2219/40174 ,  G05D1/0022 ,  H04L1/0019 ,  H04L43/0852

摘要： Systems (100) and methods (700) for increasing a predictability of Telematic Operations (“TOs”) of a Teleoperation System (“TS”). The methods involve: measuring an inherent latency of a Communications Link (“CL”) of TS which varies unpredictably over at least a first window of time; analyzing the inherent latency, which was previously measured, to determine a first reference value useful for increasing the predictability of the TOs; using the first reference value to select an amount of controlled latency to be added to CL (120) at each of a plurality of time points (502-518); and adding the amount of controlled latency to CL at each of the plurality of time points so as to increase the predictability of the TOs. In some scenarios, the amount of controlled latency added at a first time point is different than the amount of controlled latency added at a second time point.

摘要翻译： 用于增加远程操作系统（“TS”）的远程信息业务（“TOs”）的可预测性的系统（100）和方法（700）。 所述方法包括：测量TS的通信链路（“CL”）在至少第一时间窗口上不可预测地变化的固有等待时间; 分析先前测量的固有延迟，以确定有用于增加TO的可预测性的第一参考值; 使用第一参考值来选择在多个时间点（502-518）中的每个时刻被添加到CL（120）的受控等待时间量; 并且在多个时间点的每一个时刻将控制的等待时间量加到CL中，以增加TO的可预测性。 在某些情况下，在第一时间点添加的受控延迟量不同于在第二时间点添加的受控延迟量。

公开(公告)号：US08947522B1

公开(公告)日：2015-02-03

申请号：US13464586

申请日：2012-05-04

申请人： Ryan Hickman ,  Damon Kohler

发明人： Ryan Hickman ,  Damon Kohler

IPC分类号： H04N7/00 ,  H04N7/15 ,  H04M3/56

CPC分类号： H04N7/15 ,  G05B2219/40151 ,  H04M3/487 ,  H04M3/567 ,  H04M2201/50 ,  H04N7/18

摘要： Systems and methods to adjust actions based on latency levels are described. The method may be executable to determine an action being performed by a robotic device. The method may also be executable to generate data based on execution of the action to provide to a server and receive information indicative of latency attributable to communication between the robotic device and a server. The method may also determine a priority at which to provide the generated data to the server and provide the generated data to the server in an order based on the priority. When the latency is above a threshold amount, the method may identify information of the generated data having a given priority above a threshold level and provide a reduced resolution version of the identified information to the server.

摘要翻译： 描述了基于延迟水平调整动作的系统和方法。 该方法可以是可执行的以确定由机器人装置执行的动作。 所述方法还可以被执行以基于所述动作的执行来生成数据以提供给服务器并且接收指示归因于所述机器人设备和服务器之间的通信的延迟的信息。 该方法还可以确定将生成的数据提供给服务器的优先级，并且基于优先级按顺序向服务器提供生成的数据。 当延迟高于阈值量时，该方法可以识别具有高于阈值水平的给定优先级的生成数据的信息，并将所识别的信息的降低分辨率版本提供给服务器。

公开(公告)号：US5572809A

公开(公告)日：1996-11-12

申请号：US414991

申请日：1995-03-30

申请人： Timothy E. Steenwyk ,  Eric J. Walstra

发明人： Timothy E. Steenwyk ,  Eric J. Walstra

IPC分类号： B25J9/16 ,  E02F3/43 ,  E02F9/22 ,  G06G7/64 ,  E02F9/20 ,  G05D1/04

CPC分类号： E02F3/437 ,  B25J9/1656 ,  G05B2219/39002 ,  G05B2219/39439 ,  G05B2219/40151 ,  G05B2219/41273 ,  G05B2219/42033 ,  G05B2219/45012 ,  Y10S37/907

摘要： An apparatus and method for controlling a hydraulically operated construction machine, having a plurality of tandem articulated members which are controlled in a manner that movement of one of the members is controlled in response to movement of another of the members, in order to move the members in a predetermined pattern. The members are controlled in response to the anticipated future movement of the another member. Anticipated future movement of the another member may be determined, for example, as a function of the present position and velocity of the another member and system delay in movement of the another member. Where the another member is controlled manually by an operator control lever coupled with a manual hydraulic control valve, anticipated future movement may be determined by monitoring actuation of the control lever.

摘要翻译： 一种用于控制液压操作的建筑机械的装置和方法，其具有多个串联铰接构件，所述多个串联铰接构件以使得所述构件中的一个构件的运动响应于另一个构件的移动而被控制的方式控制，以便使构件 以预定的模式。 成员受到另一成员未来预期运动的控制。 可以例如根据另一构件的当前位置和速度以及另一构件的运动中的系统延迟的函数确定另一构件的预期的将来移动。 在另一个构件由与手动液压控制阀耦合的操作控制杆手动控制的情况下，可以通过监视控制杆的致动来确定预期的未来运动。

公开(公告)号：US20190184565A1

公开(公告)日：2019-06-20

申请号：US16322366

申请日：2016-08-04

申请人： Telefonaktiebolaget LM Ericsson (publ)

发明人： José Araújo ,  Tommy Falk ,  Lars Andersson

IPC分类号： B25J9/16 ,  G05B19/418

CPC分类号： B25J9/1689 ,  B25J9/163 ,  G05B19/41845 ,  G05B19/4187 ,  G05B2219/40151

摘要： When a control message is determined and sent from a master system to a slave system, the control message is accompanied with a time stamp, indicative of the master model version of the environment which was applied when the control data was determined by the master system. When data, triggered by data provided from the environment to the slave system in the form of updated sensor data is provided from the slave system to the master system, also that data, indicative of an updated slave model version of the environment made by the slave system, is provided to the master system, together with a time stamp, indicative of when the update of the slave model version was made. By applying the suggested time stamp, a coordination of model versions can be obtained between the master system and the slave system.

公开(公告)号：US09144907B2

公开(公告)日：2015-09-29

申请号：US14062632

申请日：2013-10-24

申请人： HARRIS CORPORATION

发明人： Matthew D. Summer ,  Paul M. Bosscher ,  Michael J. Summer ,  Miguel Ortega-Morales

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1689 ,  G05B2219/40147 ,  G05B2219/40149 ,  G05B2219/40151 ,  G05B2219/40174 ,  G05D1/0022 ,  Y10S901/02

摘要： Robotic system (100) includes a processing device (512) and a plurality of robot actuators (501) to cause a specified motion of the robot (102). The processing device (512) responds to one or more user robot commands (115) initiated by a control operator input at a remote control console (108). A user robot command will specify a first movement of the robot from a first position to a second position. The processing device will compare a current pose of the robot to an earlier pose of the robot to determine a difference between the current pose and the earlier pose. Based on this comparing, the processing device will selectively transform the user robot command to a latency-corrected robot command which specifies a second movement for the robot which is different from the first movement.

摘要翻译： 机器人系统（100）包括处理装置（512）和多个机器人致动器（501），以引起机器人（102）的指定运动。 处理设备（512）响应由遥控器控制台（108）上的控制操作员输入启动的一个或多个用户机器人命令（115）。 用户机器人命令将指定机器人从第一位置到第二位置的第一移动。 处理装置将将机器人的当前姿态与机器人的较早姿势进行比较，以确定当前姿态与较早姿态之间的差异。 基于该比较，处理装置将选择性地将用户机器人命令变换为指定与第一移动不同的机器人的第二移动的等待时间校正的机器人命令。

公开(公告)号：US20150120048A1

公开(公告)日：2015-04-30

申请号：US14062632

申请日：2013-10-24

申请人： HARRIS CORPORATION

发明人： Matthew D. Summer ,  Paul M. Bosscher ,  Michael J. Summer ,  Miguel Ortega-Morales

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1689 ,  G05B2219/40147 ,  G05B2219/40149 ,  G05B2219/40151 ,  G05B2219/40174 ,  G05D1/0022 ,  Y10S901/02

摘要： Robotic system (100) includes a processing device (512) and a plurality of robot actuators (501) to cause a specified motion of the robot (102). The processing device (512) responds to one or more user robot commands (115) initiated by a control operator input at a remote control console (108). A user robot command will specify a first movement of the robot from a first position to a second position. The processing device will compare a current pose of the robot to an earlier pose of the robot to determine a difference between the current pose and the earlier pose. Based on this comparing, the processing device will selectively transform the user robot command to a latency-corrected robot command which specifies a second movement for the robot which is different from the first movement.

摘要翻译： 机器人系统（100）包括处理装置（512）和多个机器人致动器（501），以引起机器人（102）的指定运动。 处理设备（512）响应由遥控器控制台（108）上的控制操作员输入启动的一个或多个用户机器人命令（115）。 用户机器人命令将指定机器人从第一位置到第二位置的第一移动。 处理装置将将机器人的当前姿态与机器人的较早姿势进行比较，以确定当前姿态与较早姿态之间的差异。 基于该比较，处理装置将选择性地将用户机器人命令变换为指定与第一移动不同的机器人的第二移动的等待时间校正的机器人命令。