Wave transformation using unit delayed reflection
Wave variables have been used to overcome the transmission delay of a system from the viewpoint of passivity. During implementation of the wave transformation for the sampled-data system, a unit delay arises due to causality of the reflection wave. The property of the wave transformation using delay...
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| creator | Jae-Hyeong Lee Jae-Bok Song Chang-Soon Hwang Munsang Kim |
| description | Wave variables have been used to overcome the transmission delay of a system from the viewpoint of passivity. During implementation of the wave transformation for the sampled-data system, a unit delay arises due to causality of the reflection wave. The property of the wave transformation using delayed reflection, which is different from the standard wave transformation, can be verified with the passivity condition of the scattering matrix. The unit delay on the reflection wave occasionally becomes a positive damping. From the passivity condition of the sampled-data system, the wave impedance can be designed such that the wave transformation using delayed reflection wave provides the effect of positive damping. As an example, the wave transformation using delayed reflection wave makes it possible that the stable haptic interface is achieved on the sampled-data system with appropriate wave impedance. The simulation and the experiment results show that the stable haptic interface can be accomplished by use of the wave transformation using delayed reflection. |
| doi_str_mv | 10.1109/IROS.2005.1545457 |
| format | Conference Proceeding |
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During implementation of the wave transformation for the sampled-data system, a unit delay arises due to causality of the reflection wave. The property of the wave transformation using delayed reflection, which is different from the standard wave transformation, can be verified with the passivity condition of the scattering matrix. The unit delay on the reflection wave occasionally becomes a positive damping. From the passivity condition of the sampled-data system, the wave impedance can be designed such that the wave transformation using delayed reflection wave provides the effect of positive damping. As an example, the wave transformation using delayed reflection wave makes it possible that the stable haptic interface is achieved on the sampled-data system with appropriate wave impedance. The simulation and the experiment results show that the stable haptic interface can be accomplished by use of the wave transformation using delayed reflection.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 0780389123</identifier><identifier>ISBN: 9780780389120</identifier><identifier>EISSN: 2153-0866</identifier><identifier>DOI: 10.1109/IROS.2005.1545457</identifier><language>eng</language><publisher>IEEE</publisher><subject>Damping ; Delay effects ; Delay systems ; Delayed reflection ; Haptic interface ; Haptic interfaces ; Impedance ; Propagation delay ; Reflection ; Sampled-data system ; Sampling methods ; Scattering ; Transmission line matrix methods ; Wave transfomation</subject><ispartof>2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, p.4116-4121</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1545457$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2051,4035,4036,27904,54899</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1545457$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Jae-Hyeong Lee</creatorcontrib><creatorcontrib>Jae-Bok Song</creatorcontrib><creatorcontrib>Chang-Soon Hwang</creatorcontrib><creatorcontrib>Munsang Kim</creatorcontrib><title>Wave transformation using unit delayed reflection</title><title>2005 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>Wave variables have been used to overcome the transmission delay of a system from the viewpoint of passivity. During implementation of the wave transformation for the sampled-data system, a unit delay arises due to causality of the reflection wave. The property of the wave transformation using delayed reflection, which is different from the standard wave transformation, can be verified with the passivity condition of the scattering matrix. The unit delay on the reflection wave occasionally becomes a positive damping. From the passivity condition of the sampled-data system, the wave impedance can be designed such that the wave transformation using delayed reflection wave provides the effect of positive damping. As an example, the wave transformation using delayed reflection wave makes it possible that the stable haptic interface is achieved on the sampled-data system with appropriate wave impedance. The simulation and the experiment results show that the stable haptic interface can be accomplished by use of the wave transformation using delayed reflection.</description><subject>Damping</subject><subject>Delay effects</subject><subject>Delay systems</subject><subject>Delayed reflection</subject><subject>Haptic interface</subject><subject>Haptic interfaces</subject><subject>Impedance</subject><subject>Propagation delay</subject><subject>Reflection</subject><subject>Sampled-data system</subject><subject>Sampling methods</subject><subject>Scattering</subject><subject>Transmission line matrix methods</subject><subject>Wave transfomation</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>0780389123</isbn><isbn>9780780389120</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2005</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9j91KAzEUhIM_YK19APEmL7DrOTmb3eRSitZCoaAFL0tMzkpku5VkK_TtXbE4czEXHwwzQtwilIhg75cv69dSAegSdTW6ORMThZoKMHV9Lq6hMUDGoqKLf6DNlZjl_AmjyOoKm4nAN_fNckiuz-0-7dwQ97085Nh_yEMfBxm4c0cOMnHbsf-lN-KydV3m2SmnYvP0uJk_F6v1Yjl_WBXRwlDUdROYtFItKWu9ZTK6IrLBhHGYDhys14joK2hrUAacB-OBDQakd9A0FXd_tZGZt18p7lw6bk9n6Qe_X0Ux</recordid><startdate>2005</startdate><enddate>2005</enddate><creator>Jae-Hyeong Lee</creator><creator>Jae-Bok Song</creator><creator>Chang-Soon Hwang</creator><creator>Munsang Kim</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>2005</creationdate><title>Wave transformation using unit delayed reflection</title><author>Jae-Hyeong Lee ; Jae-Bok Song ; Chang-Soon Hwang ; Munsang Kim</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-667de3522f3299c9e3854339d8d8035ded9c5111c40f60280ac08c0e81d13b053</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Damping</topic><topic>Delay effects</topic><topic>Delay systems</topic><topic>Delayed reflection</topic><topic>Haptic interface</topic><topic>Haptic interfaces</topic><topic>Impedance</topic><topic>Propagation delay</topic><topic>Reflection</topic><topic>Sampled-data system</topic><topic>Sampling methods</topic><topic>Scattering</topic><topic>Transmission line matrix methods</topic><topic>Wave transfomation</topic><toplevel>online_resources</toplevel><creatorcontrib>Jae-Hyeong Lee</creatorcontrib><creatorcontrib>Jae-Bok Song</creatorcontrib><creatorcontrib>Chang-Soon Hwang</creatorcontrib><creatorcontrib>Munsang Kim</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Jae-Hyeong Lee</au><au>Jae-Bok Song</au><au>Chang-Soon Hwang</au><au>Munsang Kim</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Wave transformation using unit delayed reflection</atitle><btitle>2005 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2005</date><risdate>2005</risdate><spage>4116</spage><epage>4121</epage><pages>4116-4121</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>0780389123</isbn><isbn>9780780389120</isbn><abstract>Wave variables have been used to overcome the transmission delay of a system from the viewpoint of passivity. During implementation of the wave transformation for the sampled-data system, a unit delay arises due to causality of the reflection wave. The property of the wave transformation using delayed reflection, which is different from the standard wave transformation, can be verified with the passivity condition of the scattering matrix. The unit delay on the reflection wave occasionally becomes a positive damping. From the passivity condition of the sampled-data system, the wave impedance can be designed such that the wave transformation using delayed reflection wave provides the effect of positive damping. As an example, the wave transformation using delayed reflection wave makes it possible that the stable haptic interface is achieved on the sampled-data system with appropriate wave impedance. The simulation and the experiment results show that the stable haptic interface can be accomplished by use of the wave transformation using delayed reflection.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2005.1545457</doi><tpages>6</tpages></addata></record> |
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| ispartof | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, p.4116-4121 |
| issn | 2153-0858 2153-0866 |
| language | eng |
| recordid | cdi_ieee_primary_1545457 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Damping Delay effects Delay systems Delayed reflection Haptic interface Haptic interfaces Impedance Propagation delay Reflection Sampled-data system Sampling methods Scattering Transmission line matrix methods Wave transfomation |
| title | Wave transformation using unit delayed reflection |
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