Date of Award

9-28-2010

Document Type

Thesis

Degree Name

Master of Science in Mechanical Engineering (MSME)

Department

Mechanical Engineering

First Advisor

Christopher Kitts

Abstract

The paper introduces a new approach to adapting network control systems to changing network conditions. The meta-controller proposed here is capable of monitoring network communication delays and seamlessly switching from control loops executing on a base station computer to control loops on a remote robot. This allows the control system to handle unexpected communication delays or failures without halting operation or becoming unstable. It also allows for a high level of human in the loop operation or monitoring at the base station without sacrificing the autonomous behavior of the remote robot. The meta-controller can automatically transition control loops between the base station and remote robot as operator confidence in system performance increases. This research develops the meta-controller framework, proposes a switching strategy, and demonstrates the concept through simulation and experimental testing.

Download

Share

COinS