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| formal based operation strategy design for collaborative shared teleoperation system | |
| Fengge Wu; Junsuo Zhao; Huaping Liu; Xiaohui Hu; Fanjiang Xu | |
| 2010 | |
| Conference Name | International Conference on Control, Automation and Systems, ICCAS 2010 |
| Source | ICCAS 2010 - International Conference on Control, Automation and Systems |
| Pages | 1477-1481 |
| Conference Date | 40843 |
| Conference Place | Gyeonggi |
| Publish Place | United States |
| ISBN | 978-1-4244-7453-0 |
| Department | Inst. of Software, Chinese Acad. Sci., Beijing, China |
| English Abstract | 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. |
| Keyword | 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 |
| Content Type | 会议论文 |
| URI | http://ir.iscas.ac.cn/handle/311060/8770 |
| Collection | 天基综合信息系统全国重点实验室 |
| Recommended Citation 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| 05670135.pdf（591KB） | 开放获取 | -- | Application Full Text | |||
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