Design of Synchronization Tracking Adaptive Control for Bilateral Teleoperation System with Time-Varying Delays.

The performances of position synchronization and force interaction of the teleoperation system provide a safe and efficient way for operators to perform tasks in remote, hazardous environments. In practice, however, communication delays and dynamic uncertainties can impair the performance of position synchronization controls. Under the above factors, it is necessary to study and design appropriate bilateral control methods to achieve stable and effective position synchronization control. In this paper, a new adaptive control architecture based on velocity feedback filter and radial basis function neural network is proposed. In the proposed control scheme, only the position signal is transmitted during the communication process, and the speed feedback filter and compensation method are designed and adopted to avoid the use of acceleration signals. In addition, a new auxiliary variable with a tracking error integral term is used to reduce the steady-state error of position tracking under nonzero external environmental forces. Using the Lyapunov-Krasovskii method, the stability of closed-loop remote operating systems is demonstrated. In the simulation and experiment sections, the algorithm was verified separately and compared with other algorithms. The results of a master-slave robot system verify the tracking performance of our proposed control scheme.

Recent Progress in the Preparation Technologies for Micro Metal Coils.

The recent development of micro-fabrication technologies has provided new methods for researchers to design and fabricate micro metal coils, which will allow the coils to be smaller, lighter, and have higher performance than traditional coils. As functional components of electromagnetic equipment, micro metal coils are widely used in micro-transformers, solenoid valves, relays, electromagnetic energy collection systems, and flexible wearable devices. Due to the high integration of components and the requirements of miniaturization, the preparation of micro metal coils has received increasing levels of attention. This paper discusses the typical structural types of micro metal coils, which are mainly divided into planar coils and three-dimensional coils, and the characteristics of the different structures of coils. The specific preparation materials are also summarized, which provides a reference for the preparation process of micro metal coils, including the macro-fabrication method, MEMS (Micro-Electro-Mechanical System) processing technology, the printing process, and other manufacturing technologies. Finally, perspectives on the remaining challenges and open opportunities are provided to help with future research, the development of the Internet of Things (IoTs), and engineering applications.