Authors

Ramtin Rakhsha, Daniela Constantinescu

Abstract

For distributed haptic cooperation systems, this paper develops a framework for virtual environments such that the design of the coordinating controllers is decoupled from the network topology and the communication issues. The discrete-time n-port passivity of the shared virtual object (SVO) is presented when n SVO copies are distributed on an undirected and connected communication topology with unreliable data transmission. Wave nodes as passive network elements can be implemented on multilateral wave-based communication architecture to passively distribute power across the network. In this note, the wave node scheme introduced in [16] is employed to construct a passive wave-based network architecture in order to passively interconnect multiple discrete-time port-Hamiltonian local SVO copies alongside their coordinating controllers. The performance analysis shows that the proposed network architecture: (i) possesses n-port passivity over a network with time-varying delay and packet-loss; (ii) is lossless when subjected to communications with no time delay; and (iii) offers less dissipation comparing to the network structures built based on the node scheme proposed in [18]. Simulations in which a VO is shared among four peers across a network with constant and varying time-delay validate the analysis.

Citation

  • Journal: 2014 IEEE Haptics Symposium (HAPTICS)
  • Year: 2014
  • Volume:
  • Issue:
  • Pages: 221–226
  • Publisher: IEEE
  • DOI: 10.1109/haptics.2014.6775458

BibTeX

@inproceedings{Rakhsha_2014,
  title={{Passive shared virtual environment for distributed haptic cooperation}},
  DOI={10.1109/haptics.2014.6775458},
  booktitle={{2014 IEEE Haptics Symposium (HAPTICS)}},
  publisher={IEEE},
  author={Rakhsha, Ramtin and Constantinescu, Daniela},
  year={2014},
  pages={221--226}
}

Download the bib file

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