formal based operation strategy design for collaborative shared teleoperation system

	formal based operation strategy design for collaborative shared teleoperation system
	Fengge Wu; Junsuo Zhao; Huaping Liu; Xiaohui Hu; Fanjiang Xu
	2010
会议名称	International Conference on Control, Automation and Systems, ICCAS 2010
会议录名称	ICCAS 2010 - International Conference on Control, Automation and Systems
页码	1477-1481
会议日期	40843
会议地点	Gyeonggi
出版地	United States
ISBN	978-1-4244-7453-0
部门归属	Inst. of Software, Chinese Acad. Sci., Beijing, China
摘要	The cooperative shared tele-operation technology is used to overcome the impact of satellite-earth communication delay and non-structural space environment. To get the appropriate collaborative shared teleoperation system operation sequence, the formal based operation strategy is proposed. Firstly, the task sequence algorithm is introduced. In the algorithm, GSPN (generalize stochastic Petri net) based task sequence models for teleoperation task are established and evaluated to work out the optimal task sequence. And the task sequence is turned into a working mode sequence. Then the working mode transform algorithm is designed in order to reach a fast and stable transform. Based on directed graph theory, the working mode topology graph is obtained. The optimal working mode transform steps can be derived by shortest path algorithm. Finally, unit replacement task is proposed as example to illustrate the operation strategy. The result in this paper can be used in cooperative shared teleoperation system design and on-orbit system task design. It also can be the auxiliary method for teleoperation operator.
关键词	Auxiliary Method Collaborative Shared Teleoperation System Directed Graph Theory Formal Based Operation Strategy Design Generalize Stochastic Petri Net Nonstructural Space Environment On-orbit System Task Design Satellite-earth Communication Delay Shortest Path Algorithm Task Sequence Algorithm Task Sequence Model Unit Replacement Task Working Mode Sequence Working Mode Topology Graph Working Mode Transform Algorithm Petri Nets Aerospace Robotics Graph Theory Stochastic Processes Telerobotics Transforms
内容类型	会议论文
URI标识	http://ir.iscas.ac.cn/handle/311060/8770
专题	天基综合信息系统全国重点实验室
推荐引用方式 GB/T 7714	Fengge Wu,Junsuo Zhao,Huaping Liu,et al. formal based operation strategy design for collaborative shared teleoperation system[C]. United States,2010:1477-1481.

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