Journal articles: 'Slave control'

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SIVÝ, Radovan, and Peter GIROVSKÝ. "Master-Slave Control of Dynamixel Actuators." Acta Electrotechnica et Informatica 14, no. 2 (June 1, 2014): 51–54. http://dx.doi.org/10.15546/aeei-2014-0018.

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Sikainga, Ahmad A. "The Paradox of the Female Slave Body in the Islamic Legal System: The Cases of Morocco and Sudan." Hawwa 9, no. 1-2 (2011): 215–33. http://dx.doi.org/10.1163/156920811x578557.

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AbstractThis chapter is concerned with the way in which Muslim jurisprudence dealt with the body of female slaves in two Muslim societies: Morocco and the Sudan. While the depiction and the representation of the slave body have generated a great deal of debate among scholars working on slavery in the New World, this subject has received little attention amongst both Islamicists and Africanists. The literature on slavery in the American South and in the Caribbean has shown that the depiction of the slave body reveals a great deal about the reality of slavery, the relations of power and control, and the cultural codes that existed within the slave societies. The slave physical appearance and gestures were used to distinguish between the slaves and free and to justify slavery. Throughout the Americas slaves were routinely branded as a form of identification right up to the eighteenth century. Although the body of the slaves from both sexes was subjected to the same depiction, the treatment of female slaves deserves further exploration. As many scholars have argued, slave women suffer the double jeopardy of being both a slave and a woman. Moreover, the body of the female slave in Muslim societies is of particular significance as many of them were used for sexual purposes, as mistresses and concubines. The chapter shows that the reproductive role of female slaves became a major justice issue, particularly in their struggle for freedom.

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Chen, Zheng, Ya-Jun Pan, Jason Gu, and Shane Forbrigger. "A novel multilateral teleoperation scheme with power-based time-domain passivity control." Transactions of the Institute of Measurement and Control 40, no. 11 (December 12, 2016): 3252–62. http://dx.doi.org/10.1177/0142331216679500.

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Multilateral teleoperation systems, which are extended from the traditional bilateral teleoperation, have become subject to increasing attention in current years, with increasing industrial requirements, such as the remote operation of larger objects and more complex tasks. In this paper, a general multilateral teleoperation control problem is discussed, in which n masters remotely control n slaves through delayed communication channels. A novel communication structure is proposed to satisfy the multiple master–slave communication requirement, in which weighting coefficients are chosen freely to perform the weighted effects of different masters or slaves. Power-based time-domain passivity control is subsequently developed for the complex multiple master–slave communication channel, to achieve the passivity of multilateral teleoperation systems under time delay. Experiments on a teleoperation system with two masters and two slaves are described; the results verify the effectiveness of the proposed control scheme.

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Menon, Parvathi. "Edmund Burke and the Ambivalence of Protection for Slaves: Between Humanity and Control." Journal of the History of International Law / Revue d’histoire du droit international 22, no. 2-3 (October 21, 2020): 246–68. http://dx.doi.org/10.1163/15718050-12340151.

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Abstract This article focuses on the period between 1812 and 1834, when the British Empire introduced protection measures to mitigate the suffering of slaves from planter brutality, but also to protect planters from slave rebellion. By examining the impact and influences wielded by Edmund Burke’s Sketch of a Negro Code (1780), this article studies protection as an alliance between the abolitionists and planters who, despite contestations, found in Burke’s Code a means to attain their separate ends. Through the workings of the Office of the Protector, instituted by the imperial authorities in the slave colony of Trinidad, this study examines how it granted slaves the humanity of ‘rights’ against their masters, while also protecting the right to property (in slaves) of the planters. I argue that the paternalistic practice of protection was, as is in the present, at the center of the exploitation of subjugated groups.

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Masamune, Ken, Atsushi Nishikawa, Toshikazu Kawai, Yuki Horise, and Noriyasu Iwamoto. "The development of Smart Cyber Operating Theater (SCOT), an innovative medical robot architecture that can allow surgeons to freely select and connect master and slave telesurgical robots." Impact 2018, no. 3 (June 15, 2018): 35–37. http://dx.doi.org/10.21820/23987073.2018.3.35.

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Master-slave robotic technology demonstrates a distinct model of communication that allows one device or user to have unidirectional control over one or more devices. The master refers to the user or device that initiates and controls the transmission, while the slave is the unit that receives these commands and acts accordingly. The direction of control always flows from the master to the slave. This technology has found a plethora of applications in a variety of fields such as engineering, information technology as well as hydraulic and pneumatic systems. Robotic technology has become an integral part of medical applications involving telesurgery (remote surgery) owing to the profound advantages it can offer to both surgeons and patience. Not only is surgery in previously-inoperable conditions now possible through this technology, but robotics also offer additional advantages in the training of medical professionals. In laparoscopic surgery, a high level of accuracy and control are required due to the complex nature and small scale of the area involved. Here, robotically-assisted surgery is performed by the surgeon using master-slave remotely-controlled manipulators or integrating locally-operated small surgical robots in a sterilised area. However, the fundamental problem associated with this master-slave system is that the master and the slave cannot be separated and exchanged with a master or a slave of another system. Performance of the robotic systems during these operations often come across limitations due to the inability of a slave robot to match the pace and performance of the master or the need for different tools during surgery, forcing a requirement for separate master-slave pairs. This creates an inefficiency in the system that Professor Ken Masamune from the Institute of Advance Biomedical Engineering and Science at the Tokyo Women’s Medical University seeks to address. By introducing a middleware that will connect these various masters and slaves, Masamune and his team seek to allow optimal communication and evaluation between robotic units. By separating the master from the slave and using middleware to allow communication between modules, the architecture being developed by Masamune, together with a group of collaborators, provides a quick evaluation of the master-slave combination and enables a far more efficient development and use of telesurgical robots.

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Stewart, Louis J. "A CONTINGENCY THEORY PERSPECTIVE ON MANAGEMENT CONTROL SYSTEM DESIGN AMONG U.S. ANTE-BELLUM SLAVE PLANTATIONS." Accounting Historians Journal 37, no. 1 (June 1, 2010): 91–120. http://dx.doi.org/10.2308/0148-4184.37.1.91.

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This paper examines the management control-system design of mid-19th century U.S. slave plantations using a contingency theory framework. Large rice plantations that relied on forced labor and tidal-flow agricultural technology were very profitable for their owners. This paper presents a model that links these favorable operating results to a close fit between the control-system design and three key contingent environmental variables. Absentee owners hired managers to provide on-site oversight and periodic operational reporting. These managers relied on slave drivers to assign individualized daily tasks to the plantation's field hands and monitor their performance. Productive field slaves were rewarded with greater free time each working day. In addition, many slaves worked cooperatively with their masters to obtain better jobs outside the rice fields and cash income. Ultimately, however, it was the institution of chattel slavery that kept the slaves working in the rice fields under oppressive and unhealthy conditions.

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Lochan, Kshetrimayum, Binoy Krishna Roy, and Bidyadhar Subudhi. "Generalized projective synchronization between controlled master and multiple slave TLFMs with modified adaptive SMC." Transactions of the Institute of Measurement and Control 40, no. 4 (November 16, 2016): 1049–71. http://dx.doi.org/10.1177/0142331216674067.

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The problem of projected work space trajectory synchronization for multiple two link flexible manipulators is considered here. Generalized projective synchronization between a controlled master and multiple slave manipulators is presented in this paper. The master and slave manipulators are non-identical. A low frequency chaotic signal and an exponentially varying signal are used as the desired trajectories. An equivalent sliding mode controller is designed for the master manipulator to track the desired trajectory. A modified adaptive equivalent sliding mode controller is designed for the slave manipulators to be projectively synchronized with the controlled master. Two scaling factors are used for the projective synchronization. Simulation results, with disturbances and payload variation reveal that the master and multiple slaves are synchronized with their respective desired trajectories. Such projective synchronization between one master and multiple slaves using the proposed control techniques to track a low frequency chaotic desired signal is not found in the literature. Such projective synchronization to track a chaotic signal is considered as the novelty of this paper. The performances of the proposed control techniques are found to be better in terms of link deflections and control effort when compared with three other sliding mode control techniques.

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AHMAD, ABDUSSAMAD H. "TRADING IN SLAVES IN BELA-SHANGUL AND GUMUZ, ETHIOPIA: BORDER ENCLAVES IN HISTORY, 1897–1938." Journal of African History 40, no. 3 (November 1999): 433–46. http://dx.doi.org/10.1017/s0021853799007458.

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Like other empires in the late nineteenth and early twentieth century, expansion and slavery went hand in hand in Ethiopia, contrary to imperial justifications based on the abolition of the slave trade and slavery. Towards the end of the nineteenth century, the Ethiopian empire incorporated the northwestern border enclaves of Bela-Shangul and Gumuz into greater Ethiopia. Having obtained the subordination of the local Muslim warlords, the emperor then demanded tribute from them in slaves, ivory and gold. Slaves were used as domestics in the imperial palace at Addis Ababa and the houses of state dignitaries and as farm labor on their farms elsewhere in the country. Responding to the demands of the central government as well as their own needs, borderland chiefs raided local villages and neighbouring chiefdoms for slaves. Expanding state control thus led to intensified slave raiding and the extension of the slave trade from the borderlands into the centre of the empire in spite of Ethiopia's public commitment to end slavery and the slave trade as a member of the League of Nations. The end of slavery in Ethiopia only came with the Italian occupation in 1935.

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Law, Robin. "Slave-Raiders and Middlemen, Monopolists and Free-Traders: the supply of slaves for the Atlantic trade in Dahomey c. 1715–1850." Journal of African History 30, no. 1 (March 1989): 45–68. http://dx.doi.org/10.1017/s0021853700030875.

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This article, which extends and modifies the analysis offered in an earlier article in this journal (1977), examines what is known of the organization of the supply of slaves for the trans-Atlantic trade in Dahomey, with particular emphasis on the relative importance of local slave-raiding and the purchase of slaves from the interior, and on the evolution of a group of private merchants within Dahomey. It is argued that initially the kings of Dahomey sought to operate the slave trade as a royal monopoly, and relied exclusively upon slave-raiding rather than purchasing slaves from the interior. From the mid-eighteenth century, however, Dahomey did seek to operate as a ‘ middleman’ in the supply of slaves from the interior, and since its kings did not normally attempt to control this aspect of the trade this involved the emergence of a private sector in the slave trade. Although merchants in Dahomey were in origin state officials, licensed to trade on behalf of the king or ‘caboceers’ (chiefs), they subsequently acquired the right to trade on their own account also and thus became in some measure independent of the state structure. The autonomy and wealth of the merchant community in Dahomey were further enhanced by the transition from slave to palm oil exports in the nineteenth century, when leading merchants moved into large-scale oil production, using slave labour supplied by the king. There were recurrent tensions between the monarchy and the merchants over commercial policy and over the monarchy's expropriatory fiscal practices, and the conflict of interests between the two was exacerbated by the development of the oil trade, undermining the solidarity of Dahomey in the face of the European imperialism of the late nineteenth century.

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Thomas, Brian W. "Power and Community: The Archaeology of Slavery at the Hermitage Plantation." American Antiquity 63, no. 4 (October 1998): 531–51. http://dx.doi.org/10.2307/2694107.

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The social and material lives of African Americans on antebellum plantations in the southern United States were heavily influenced by power relations inherent to the institution of slavery. Although planters exerted immense control over slaves, plantation slavery involved constant negotiation between master and slave. This give-and-take was part of the lived experience of enslaved African Americans, and one way to approach the study of this experience is by adopting a dialectical view of power. I illustrate how such a theoretical approach can be employed by examining the archaeology of slavery at the Hermitage plantation, located near Nashville, Tennessee. By examining material culture from former slave cabins located on different parts of the plantation, I explore how various categories of material culture reflected and participated in planters’ efforts to control slaves, as well as how those efforts were contested.

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Kosuge, Kazuhiro, Katsuhisa Furuta, Yoshinori Shiote, and Hiroshi Hatano. "Control of Master-Slave Manipulator Based on Virtual Internal Model." Journal of Robotics and Mechatronics 2, no. 5 (October 20, 1990): 358–63. http://dx.doi.org/10.20965/jrm.1990.p0358.

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This paper presents an alternative control architecture of master-slave manipulators using of Virtual Internal Model. The proposed control architecture realizes the master-slave manipulator system with functions which assist operators based on the external information from sensors as well as bilateral feedback. In this paper, the control problem of a master-slave manipulator is formulated as the realization problem of the desired relation between a master arm and a slave arm. The virtual internal model, whose input includes the external sensory information, is used to describe the desired relation. The control system is designed so that the master arm and the slave arm tracks the desired trajectories generated by the virtual internal model.The proposed control architecture is experimentally applied to the master-slave manipulator system with force sensors. The effectiveness of the control architecture is illustrated through experiments.

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Richards, Helen. "Distant Garden: Moravian Missions and the Culture Of Slavery in the Danish West Indies, 1732-1848." Journal of Moravian History 2, no. 1 (2007): 55–74. http://dx.doi.org/10.2307/41179825.

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Abstract The author traces the effects of Moravian mission work on the slave culture of the Danish West Indies. She describes the colonization of the islands, including the context of its religious foundations and role of Moravian missionaries from their arrival in 1732 through the ultimate emancipation of the slave population in 1848. Although Moravians understood slavery as a condition ordained by God, they believed in the spiritual equality of all souls. One of the first missionaries, Friedrich Martin, became a strong advocate of teaching literacy among slaves in order to spread the gospel. Plantation owners initially resisted this instruction, but as the abolition movement swelled over the next hundred years, Moravians inadvertently became facilitators of peace and education. In 1839 all schools for free and slave negroes were placed under Moravian control. In their indirect role as teachers and purveyors of the gospel, Moravian missionaries nurtured a sense of dignity and equality among slaves, which contributed greatly to the emancipation movement in the Danish West Indies.

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Glassman, Jonathon. "The Bondsman's New Clothes: The Contradictory Consciousness of Slave Resistance on the Swahili Coast." Journal of African History 32, no. 2 (July 1991): 277–312. http://dx.doi.org/10.1017/s0021853700025731.

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The most fruitful approaches to the study of slave resistance in the New World have involved examination of the slaves' struggles to create and control institutions of community and kinship in the face of planters' attempts to suppress local social reproduction altogether. Africanists who would attempt similar analysis of rebellious slave consciousness are hampered by the tradition of functionalist anthropology which dominates studies of African culture, especially Miers and Kopytoff's thesis of the integrative nature of African slavery. By contrast, more class-oriented approaches to studies of African slave resistance assume too stark a division between the consciousness of slaves and the consciousness of masters. It is suggested that Gramsci's concepts of hegemony and contradictory popular consciousness can be used to reconcile the cultural sensitivity of the first approach with the concern of the second for issues of domination and struggle. Thus a more nuanced view of slave consciousness might be reached.The case studied involves resistance to the rapid rise of sugar plantations on the northern Tanzania coast in the late nineteenth century. Miers and Kopytoff's model of the ‘reduction of marginality’ is modified to accommodate a process of conflict, as slaves struggled to gain access to institutions of Swahili prestige and citizenship and as their masters struggled to exclude them. Analysis of a large-scale slave rebellion in 1873 reveals that the consciousness of the rebels was couched in the local ‘traditional’ language of a moral economy of patrons and clients. Although this language was expressive of some of the hegemonic ideas of the emergent planter class, it was also openly rebellious. It expressed neither a slave class-consciousness nor simply the ideology of the dominant planter class but was instead a contradictory consciousness of the type that Gramsci discerned in other movements of agrarian rebellion.

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Rosenthal, Caitlin C. "From Memory to Mastery: Accounting for Control in America, 1750–1880." Enterprise & Society 14, no. 4 (December 2013): 732–48. http://dx.doi.org/10.1093/es/kht086.

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From Memory to Mastery explores the development of commercial numeracy and accounting in America and the English-speaking Atlantic world between 1750 and 1880. Most histories of accounting begin in the factories of England and New England, largely ignoring slave economies. I analyze both traditional sites of innovation, including textile mills and iron forges, and also southern and West Indian plantations. Along several dimensions, the calculative practices of slave owners advanced ahead of northern merchants and manufacturers, and many recorded and analyzed the productivity of their human capital with cruel precision. Following threads from Jamaica and Barbados to the American South, I show how plantation power relations stimulated the development of new accounting practices. The control of planters over their slaves made data easier to collect and more profitable to use. Commercial recordkeeping also expanded in free factories, but in different ways than on southern plantations. The mobility of labor made accounting necessary for keeping track of wages but relatively futile for detailed productivity analysis.

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Vallejos, Julio Pinto. "Slave Control and Slave Resistance in Colonial Minas Gerais, 1700–1750." Journal of Latin American Studies 17, no. 1 (May 1985): 1–34. http://dx.doi.org/10.1017/s0022216x00009184.

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In the early half of the eighteenth century, Minas Gerais became the main focus of colonial activity in Brazil. Gold and diamonds made this an immensely profitable colony at the very time when the sugar economy of the Northeast entered one of its most severe downturns. In response to this combination of circumstances, population and resources deserted the northeastern coastlands (and the Portuguese mainland as well) in favor of the rising Center–South. From that point on, this was to become the dominant area within Brazil – in a pattern unshaken either by independence or by the exhaustion of the gold deposits. The transfer of the viceregal capital from Bahia to Rio de Janeiro (1763) only gave official recognition to a process that demography, economy and society had already made quite unequivocal.

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Bagheri, P., M. Shahrokhi, and H. Salarieh. "Adaptive observer-based synchronization of two non-identical chaotic systems with unknown parameters." Journal of Vibration and Control 23, no. 3 (August 9, 2016): 389–99. http://dx.doi.org/10.1177/1077546315580052.

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In this study, adaptive observer-based synchronization of chaotic systems is considered. The master and slaves systems have different dynamics and it is assumed that the master system parameters are unknown while its states are available. First, it is assumed that the slave system parameters are known but its states are not completely available. It is shown that an observer for the slave system can be designed and applied for the purpose of synchronization. Based on a Lyapunov function, an adaptive law for master parameters estimation and a control law for the synchronization goal are extracted. Stability of the entire system including the observer dynamics has been proved. Further, it is assumed that the parameters of both master and slave systems are unknown. For this case, an adaptive nonlinear observer is designed to estimate the slave system states and two adaptive laws for estimating the unknown parameters are proposed. In addition, a proper control law to achieve the synchronization goal has been suggested, and the stability of the closed-loop system is established. Finally, the effectiveness of the proposed synchronization method is shown via simulation results.

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Božek, Pavol, Andrey Abramov, Ivan Abramov, Yuri Nikitin, and Aleksander Romanov. "Synchronous Control of Parallel Axes Equipment." Applied Mechanics and Materials 816 (November 2015): 69–75. http://dx.doi.org/10.4028/www.scientific.net/amm.816.69.

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The paper describes the problems and state of art in control system with parallel axes. Basic theoretical principles of synchronization control are considered, Modified master-slave synchronization method is described. Experimental unit is used to investigation of master-slave synchronous control method, simulation and experimental results are described.

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Yoshinada, Hiroshi, Kenji Okamura, and Shinich Yokota. "Master-Slave Control Method for Hydraulic Excavator." Journal of Robotics and Mechatronics 24, no. 6 (December 20, 2012): 977–84. http://dx.doi.org/10.20965/jrm.2012.p0977.

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A new master-slave controlmethod is presented with a different configuration that will suit a hydraulic excavator operation. A new coordinate conversion method between master and slave manipulators is introduced. This method provides good agreement in direction of movement between master and slave manipulators in the almost entire work area without any mode change. The authors also developed a new 3-dimensional joystick as a master manipulator that has affinity with a conventional joystick and gives a comfortable feeling to conservative operators. In this paper, an outline of the new method is described and results of evaluation tests are presented.

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Cheng, Lingbo, and Mahdi Tavakoli. "Switched-Impedance Control of Surgical Robots in Teleoperated Beating-Heart Surgery." Journal of Medical Robotics Research 03, no. 03n04 (September 2018): 1841003. http://dx.doi.org/10.1142/s2424905x18410039.

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A novel switched-impedance control method is proposed and implemented for telerobotic beating-heart surgery. Differing from cardiopulmonary-bypass-based arrested-heart surgery, beating-heart surgery creates challenges for the human operator (surgeon) due to the heart’s fast motions and, in the case of a teleoperated surgical robot, the oscillatory haptic feedback to the operator. This paper designs two switched reference impedance models for the master and slave robots to achieve both motion compensation and nonoscillatory force feedback during slave–heart interaction. By changing the parameters of the impedance models, different performances for both robots are obtained: (a) when the slave robot does not make contact with the beating heart, the slave robot closely follows the motion of the master robot as in a regular teleoperation system, (b) when contact occurs, the slave robot automatically compensates for the fast motions of the beating heart while the human operator perceives the nonoscillatory component of the slave–heart interaction forces, creating the feeling of making contact with an idle heart for the human operator. The proposed method is validated through simulations and experiments.

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Shahzad, Mohammad, Mohammed Raziuddin, and Mohammed Naheed. "Internal Synchronization Using Adaptive Control." Computational and Mathematical Methods 2022 (September 9, 2022): 1–13. http://dx.doi.org/10.1155/2022/2089151.

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This paper mainly deals on the issue of a chaotic synchronization of a master and slave systems. It is generally the requirement of the synchronization that someone needs at least one to one master and slave systems. In the current study, the authors introduce the concept of a synchronization in which there is no need of slave/response system externally. Furthermore, the synchronization has been demonstrated here within a system among the subsystems of different orders. In addition, adaptive control is chosen for the synchronization among various combinations in multiswitching manner. For demonstration purpose, Lorenz Six Dimensional Hyper Chaotic System (L6DHCS) is chosen. There are three different kinds of possible switches presented by the authors formed within the considered system. The numerical simulations are carried out to validate the effectiveness of the analytical technique using Mathematica.

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Farahmandrad, Maryam, Soheil Ganjefar, Heidar Ali Talebi, and Mahdi Bayati. "A Novel Cooperative Teleoperation Framework for Nonlinear Time-Delayed Single-Master/Multi-Slave System." Robotica 38, no. 3 (May 30, 2019): 475–92. http://dx.doi.org/10.1017/s0263574719000791.

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SummaryThis paper proposes a novel control framework for a single-master/multi-slave teleoperation system to grasp and handle an object, considering nonlinearity and uncertainty in the dynamics of the slaves and time-varying delay in the communication channel. Based on passive decomposition approach, the dynamics of the slaves are decomposed into two decoupled systems, and then two higher order sliding mode controllers are designed to control them. Also, a synchronization control methodology for the master is developed. Stability is fully studied using the passivity property and Lyapunov theorem. Finally, simulation and practical results confirm that the control system works well against the conditions.

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Malysz, Pawel, and Shahin Sirouspour. "Trilateral teleoperation control of kinematically redundant robotic manipulators." International Journal of Robotics Research 30, no. 13 (March 22, 2011): 1643–64. http://dx.doi.org/10.1177/0278364911401053.

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Teleoperation control of kinematically redundant robots requires a strategy for resolving their redundancy. A trilateral two-master/one-slave control approach is proposed for delay-free applications in which the first master controls a primary task control frame, e.g. the slave end-effector frame; meanwhile, another master device can manipulate a secondary task frame attached to the slave robot, e.g. to avoid collision with obstacles in the task environment. Any remaining degrees of motion are resolved autonomously. Teleoperation control is achieved in three steps employing joint-space Lyapunov-based adaptive motion/force controllers, a velocity-level redundancy resolution method, and task-space coordinating reference commands. Priority can be given to either the primary or secondary control frame so that the high-priority task can be transparently carried out without interference from the other task. Whenever applicable, the lower-priority task control frame would be restricted to the natural constraints imposed by prioritization or otherwise, decoupling between the tasks is achieved with the use of an arbitrarily weighted pseudo-inverse. Experiments with a planar teleoperation system consisting of two master devices controlling a closed-chain four degree-of-motion redundant slave robot show the feasibility of the approach.

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HAYASHI, Keiji, Yoshikazu HAYAKAWA, Norihiko KATO, and Seizo FUJII. "Master-Slave Manipulator via Adaptive Control." Transactions of the Society of Instrument and Control Engineers 29, no. 1 (1993): 78–85. http://dx.doi.org/10.9746/sicetr1965.29.78.

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SUZUMURA, Isao, and Yoshikazu HAYAKAWA. "Bilateral Control of Master-Slave Robots." Transactions of the Japan Society of Mechanical Engineers Series C 63, no. 608 (1997): 1295–302. http://dx.doi.org/10.1299/kikaic.63.1295.

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Pena Ramirez, J., E. Garcia, and J. Alvarez. "Master-slave synchronization via dynamic control." Communications in Nonlinear Science and Numerical Simulation 80 (January 2020): 104977. http://dx.doi.org/10.1016/j.cnsns.2019.104977.

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Tang, Rui. "Sliding Mode Control Scheme for Tele-Operation Manipulator." Applied Mechanics and Materials 246-247 (December 2012): 842–46. http://dx.doi.org/10.4028/www.scientific.net/amm.246-247.842.

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Master and slave manipulator has been widely used because it can work easily in the working environment where the human beings can hardly work. In order to make the manipulator control system have good tracking performance, a control strategy based on sliding mode control was proposed for master-slave manipulator control system. Considering that the quality and stability of servo system will be affected by the chattering phenomenon in the SMC, a reaching law approach was used to reduce the chattering phenomenon. The proposed control strategy can make the master and slave manipulator have good performances on force and position tracking, and the chattering problem has also been alleviated. Simulation and experiments results show that the proposed control strategy can produce good performances on the force and position tracking, the problem of chattering has also been inhibited significantly, and the stability and quality of the master and slave manipulator has been improved as well.

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Uenohara, Michihiro, Nobuto Matsuhira, Makoto Asakura, and Hiroyuki Bamba. "Redundancy Control of a Master-Slave Manipulator with a Redundant Slave Arm." Journal of the Robotics Society of Japan 13, no. 4 (1995): 574–79. http://dx.doi.org/10.7210/jrsj.13.574.

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Li, Xiao. "Study on Master-Slave Control Method Using Load Force and Impedance Identifiers for Tele-Operated Hydraulic Construction Robot." Applied Mechanics and Materials 29-32 (August 2010): 2170–75. http://dx.doi.org/10.4028/www.scientific.net/amm.29-32.2170.

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A master-slave control method based on the identifications of load force and impedance for Tele-operated hydraulic construction robot system is presented in this paper. The robot system is composed of a hydraulic excavator and two joysticks. The hydraulic excavator is served as the construction robot. The joysticks are used for operating the robot in a remote region. The master actuator and the slave actuator in this system are the joystick-gear of a joystick and the fork-glove actuator of the excavator respectively. The load force and impedance identifiers are used for identifying the load force and impedance of the slave actuator respectively. According to the load force, the master controller controls the master actuator to generate the reaction force for operator. On the basis of the load impedance and the master slave error, the slave controller controls the slave actuator to perform a working task. The experimental researches confirmed that the operator not only obtains the force sense of the object accurately, but also obtains the deformation and stiffness senses of the object obviously.

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Mao, Gang Yuan, Hui Kang Liu, Yin Xian Yang, and Fei Huang. "Multiple Microprocessor Neural Network Master-Slave Control System in the Application of the Coaxial Control System." Applied Mechanics and Materials 568-570 (June 2014): 1045–48. http://dx.doi.org/10.4028/www.scientific.net/amm.568-570.1045.

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This article is mainly based on the host parameters design a neural network controller, using neural networks enable from the machine's speed and torque have followed the host, so as to achieve a master-slave follow mode. And then, depending on the design parameters for simulation and operation, and puts forward the two coaxial motor control system speed concept ring adopts a master-slave control to achieve the same speed.

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Kuzu, Ahmet, Seta Bogosyan, Metin Gokasan, and Asif Sabanovic. "Experimental Evaluation of Novel Master-Slave Configurations for Position Control under Random Network Delay and Variable Load for Teleoperation." Mathematical Problems in Engineering 2014 (2014): 1–12. http://dx.doi.org/10.1155/2014/608208.

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This paper proposes two novel master-slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control. The proposed novel master-slave configurations integrate modular control and communication approaches, consisting of a delay regulator to address problems related to variable network delay common to such systems, and a model tracking control that runs on the slave side for the compensation of uncertainties and model mismatch on the slave side. One of the configurations uses a sliding mode observer and the other one uses a modified Smith predictor scheme on the master side to ensure position transparency between the master and slave, while reference tracking of the slave is ensured by a proportional-differentiator type controller in both configurations. Experiments conducted for the networked position control of a single-link arm under system uncertainties and randomly varying network delays demonstrate significant performance improvements with both configurations over the past literature.

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Chen, Hongtang, Haijun Ma, Hongli Jiang, Shenjin Lv, Yong Li, and Heshan Liu. "The Influence of Control Parameters on Precision of Welding Seam Tracking in Manually Control Master-slave Robot Remote Welding System." Journal of Physics: Conference Series 2218, no. 1 (March 1, 2022): 012045. http://dx.doi.org/10.1088/1742-6596/2218/1/012045.

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Abstract The welding seam tracking precision is one of the key factors to ensure welding qua ntity. However, when the operator manually manipulate the master robot to control the slave ro bot tracking welding seam used the master- slave robot remote welding system, seam tracking precision does not meet the requirement of the welding quantity, the influence of control param eters on precision of welding seam tracking is unkown. In this article, a master-slave robot rem ote welding system is set up which includes a master robot with 6 degrees of freedom, a compu ter control system, and robot HP3J carrying a welding torch and laser sensor system. The slave robot tracking welding seam was controlled by computer control system and the human operat or via master manipulator. The influence of control parameters (cross deviation, arc length and welding speed) on precision of welding seam tracking was analysed. The experiment results de monstrate the more control parameters of operator, the lower tracking precision, so in order to guarantee a good welding seam tracking effect, the operator should control less parameters.

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Wang, Jin, Haoyuan Li, Fansheng Meng, Rui Ma, Quanbin Lai, Jianwu Li, and Xingguang Duan. "Control Strategy of Master-Slave Manipulator Based on Force Feedback for Decommissioning of Nuclear Facilities." Mathematical Problems in Engineering 2022 (June 6, 2022): 1–9. http://dx.doi.org/10.1155/2022/9945758.

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To improve operation and reduce labor intensity during the process of decommissioning of nuclear facilities, a master-slave manipulation robot system based on force feedback for decommissioning of nuclear facilities is proposed, which is divided into three parts: master hand, wall-through pipe, and slave hand. The structure of master hand is designed according to the human-computer interaction design to add the perception of force information based on position perception. The master-slave manipulation system adopts a force-position hybrid control strategy; the position and force are sent to master and slave hand to discover telepresence operation. Incremental position control method realizes the workspace mapping between the master and the slave manipulator to improve the accuracy of the following performance. The novel zero-length spring compensation is designed to recognize the total gravity compensation of the force feedback device. Finally, the relative experiments have verified the work effectiveness of the master-slave manipulation system.

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A. Rahman, Zain-Aldeen S., Hayder A. A. Al-Kashoash, Saif Muneam Ramadhan, and Yasir I. A. Al-Yasir. "Adaptive Control Synchronization of a Novel Memristive Chaotic System for Secure Communication Applications." Inventions 4, no. 2 (June 17, 2019): 30. http://dx.doi.org/10.3390/inventions4020030.

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In this paper, a new memristive chaotic system is designed, analyzed, tested, and proposed. An adaptive control synchronization mechanism for both master and slave chaotic systems is also designed. The adaptive control law of this mechanism is derived based on the Lyapunov theory. A single parameter in the slave system has been assumed to be unknown. As the parameters of the master and slave are asymptotically matched, the unknown slave parameters will be identified according to the master’s parameters. The proposed system is used in a secure communication system. The achieved results prove a simple system implementation with a high security of data transmission.

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He, Jian Zhong, Zi Xian Zhao, and Zhao Nan Zhong. "The Design and Application of PLC Master-Slave Control System Based on MPI." Applied Mechanics and Materials 241-244 (December 2012): 1908–12. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1908.

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In the industrial control system, the communication framework of the master-slave mode is usually set up according to the general requirement of the control system. This paper mainly introduces the design and implementation of the PLC master-slave mode control system, using the MPI communication mode to realize data transmission between the master station and slave station, so as to realize the requirement of control system.

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Cheng, Hong Li, Jun Xia, and Yun Feng Ni. "Design and Simulation of Synchronization Control for a Dual-Output Forward Converter." Applied Mechanics and Materials 574 (July 2014): 517–22. http://dx.doi.org/10.4028/www.scientific.net/amm.574.517.

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Since high utilization and high output efficiency of forward converter transformer, it is often used in multiple-output DC voltage occasions. But the cross regulation in multiple outputs has affected the performance of forward converter. For this problem, a synchronization control model for a dual-output forward converter is proposed in this paper. That is, the master output is identified by calculating the desired power of dual outputs, and the other is the slave. Then it controls duty cycle of primary switch and master rectifying switch by employing closed-loop PID voltage-mode control. Simultaneously, it is to control duty cycle of rectifying switch in the slave by comparing sampled voltage with desired voltage. Simulation results demonstrate that cross-regulation problems can be solved effectively by this control method, and get a higher voltage accuracy of master output and slave output.

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Stockreiter, Elke E. "“The Ignorant Do Not Belong to Any Particular Sect”: Legal Practice and Social Identities in Colonial Zanzibar." Islamic Law and Society 23, no. 4 (November 17, 2016): 410–31. http://dx.doi.org/10.1163/15685195-00234p04.

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Omani and British reforms of Zanzibar’s judiciary date back to the 1820s, when the abolition of the slave trade justified Western control of the sultanate’s political economy. The sultan enacted the abolition of slavery as a legal status in 1897, seven years after Zanzibar had become a British protectorate. Through the lens of a 1948 inheritance case, I analyze how colonial judicial reforms shaped the negotiation of grievances and the judges’ interpretations of social equality. As members of the colonial elite, both Muslim and British judges were embedded in a racialized social hierarchy. Their reasoning not only exposes the continuous marginalization of former slaves but also attests to ex-slaves’ ability to assert material power. While a Muslim and a British judge used different hermeneutics, both validated the marriage of a Hadrami water carrier to a former slave, thereby affirming his entitlement to a share of his wife’s estate.

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Lin, Zi Qi, Yong Jie Pang, and Da Peng Jiang. "Research on Multiple Autonomous Underwater Vehicles Formation Control." Applied Mechanics and Materials 641-642 (September 2014): 1264–68. http://dx.doi.org/10.4028/www.scientific.net/amm.641-642.1264.

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While the single AUV is sometimes unable to meet the complex and difficult tasks demand, the advantages of the multiple autonomous underwater vehicles (MAUV) system was proposed. Several MAUV formation methods were studied and master-slave collaborative formation method was focused. The law and algorithm of master-slave formation control was designed and analyzed. Representative formations for different tasks were proposed and the advantages and disadvantages were discussed.

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Okamoto, Yu, Kotaro Tadano, and Kenji Kawashima. "A Basic Study on Biological Signal of Operator During Master-Slave System Control." Journal of Robotics and Mechatronics 24, no. 5 (October 20, 2012): 908–16. http://dx.doi.org/10.20965/jrm.2012.p0908.

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In a master-slave system, operators control the master device based on visual information and sensory feedback. This suggests that the position sensors on the slave side are not always necessary. However, position signals are required to estimate the acting force conveyed to the slave using an observer which realize the force sensorless control. In this paper, we focused on the biological signals of the operator to estimate the slave side’s condition which can be used to estimate the external force. In the early stage of the research, we investigate biological signals just with 1-DOF masterslave system. First, we measured electromyographic (EMG) and gripping force of operators when pushing objects. We verified that predictive signals can be used for estimation of touching the objects. Second, we propose a method, which uses wrist joint torque and Total Contraction Level (TCL) calculated by the EMG when pushing the virtual elastic films, of estimating the acting force conveyed to the slave. We verify that the proposed method can estimate external force under specific conditions with a trained subject.

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Rodriguez-Angeles, Alejandro, and Henk Nijmeijer. "Synchronizing Tracking Control for Flexible Joint Robots via Estimated State Feedback." Journal of Dynamic Systems, Measurement, and Control 126, no. 1 (March 1, 2004): 162–72. http://dx.doi.org/10.1115/1.1636197.

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In this paper, we propose a synchronization controller for flexible joint robots, which are interconnected in a master-slave scheme. The synchronization controller is based on feedback linearization and only requires measurements of the master and slave link positions, since the velocities and accelerations are estimated by means of model-based nonlinear observers. It is shown, using Lyapunov function based stability analysis, that the proposed synchronization controller yields local uniformly ultimately boundedness of the closed loop errors. A tuning gain procedure is presented. The results are supported by simulations in a one degree of freedom master-slave system.

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Zhao, X., X. Huang, T. Zhang, and Y. Wang. "Integrated speed/synchrophasing control of turboprop engine." Aeronautical Journal 122, no. 1253 (May 24, 2018): 1038–50. http://dx.doi.org/10.1017/aer.2018.44.

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ABSTRACTPropeller synchrophasing control is an active method to reduce the noise and vibration of turboprop aircraft without additional weight and power. Phase control accuracy has a great influence on the noise reduction effect of synchrophasing. An integrated power/speed/synchrophasing control strategy is proposed to improve the control precision. Speed/phase control transformation logic based on a multi-blade phase plane is adopted which can take both the rapidity of speed response and phase control precision into account, but there exists switching oscillation during the mode transform process. In order to suppress the phase fluctuation due to exterior disturbance, a slave-slave control scheme is provided to take place of a master-slave scheme. Simulation results based on an integrated turboprop engine/propeller real-time non-linear model show that speed/phase integration logic can improve the response rapidity of both the speed and phase. The precision of the control system is verified to be in acceptable range.

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Yang, Yana, Changchun Hua, Huafeng Ding, and Xinping Guan. "Finite-time coordination control for networked bilateral teleoperation." Robotica 33, no. 2 (March 5, 2014): 451–62. http://dx.doi.org/10.1017/s026357471400037x.

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SUMMARYA continuous finite-time control scheme for networked bilateral teleoperation is proposed in this brief. The terminal sliding mode technology is used and new master–slave torques are designed. With the new controller, the coordination error of the master manipulator and the slave manipulator converges to zero in finite time. Moreover, the reaching time and the sliding time can be derived. Finally, the comparisons are performed and simulations show the effectiveness of the proposed approach.

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XU, JIAN-XIN, and RUI YAN. "SYNCHRONIZATION OF CHAOTIC SYSTEMS VIA LEARNING CONTROL." International Journal of Bifurcation and Chaos 15, no. 12 (December 2005): 4035–41. http://dx.doi.org/10.1142/s0218127405014477.

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In this paper, a learning control approach is applied to the synchronization of two uncertain chaotic systems which contain both time varying and time invariant parametric uncertainties. The new learning approach also deals with unknown time varying parameters having distinct periods in the master and slave systems. Using the Lyapunov–Krasovskii functional and incorporating periodic parametric learning mechanism, the global stability and asymptotic synchronization between the master and the slave systems are obtained. Simulations on a representative class of chaotic systems show the effectiveness of the method.

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Kim, In, Kotaro Tadano, Takahiro Kanno, and Kenji Kawashima. "Implementing pseudo haptic feedback in a semi-isometric master interface for robotic surgery." International Journal of Advanced Robotic Systems 14, no. 5 (September 1, 2017): 172988141773388. http://dx.doi.org/10.1177/1729881417733885.

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We have developed a master interface that uses an isometric velocity control technique for translation and an anisometric position control technique for rotation. Using the developed interface, the operator can concentrate on the slave side and control the robot without repositioning required in conventional master arm due to the workspace limitation. However, it cannot display haptic to the operator for the translation directions with the manipulator. In this article, we propose a method to feedback the external force on the slave side to the master manipulator without using actuators or link mechanism but using a pseudo haptic effect. A flexible wrist joint with a spring is used at the tip of the slave forceps to enhance visual effect. The spring stiffness is pneumatically controlled. At the same time, we change the reference velocity of the slave according to the external force applied to the slave manipulator. The changed velocity caused by the external force restrains the slave motion. Using both the visual feedback and the motion restrain, the master–slave system is able to display force to the operator as pseudo haptic feedback without actuators. Experiments of pulling suture threads are executed using the developed master–slave surgical robot. It is confirmed that the master–slave system with pseudo haptic feedback can decrease the variance of force.

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Suoth, Verna Albert, Didik R. Santoso, and Sukir Maryanto. "Pengembangan Array sensor Suhu dan Sistem Akusisi Data Berbasis Mikrokontroler untuk Pengukuran Suhu Bawah Permukaan." Jurnal MIPA 2, no. 1 (February 11, 2013): 66. http://dx.doi.org/10.35799/jm.2.1.2013.1038.

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Dalam penelitian ini dikembangkan sebuah sistem akusisi data untuk survei panas bumi. Untuk menghasilkan sistem instrumentasi yang mampu mengukur dan memonitor distribusi suhu bawah permukaan diperlukan sistem akusisi data yang murah dan efesien. Sistem dibangun berbasis jaringan sistem terdistribusi dengan topologi field-bus, menggunakan arsitektur single-master multi-slave. Master merupakan unit pengendali, dibangun berbasiskan sebuah PC yang dilengkapi dengan antarmuka RS-485. Slave merupakan unit sensing, tiap-tiap unit slave dibangun dengan mengintegrasikan sistem array sensor LM35 dengan sistem akuisisi data berbasis mikrokontroler menggunakan AVR ATmega8. Pengolahan data dari hasil pengukuran suhu ini menggunakan satu set komputer dengan perangkat lunak microsoft excel 2010 untuk menghasilkan grafik pada titik pengukuran. Hasil implementasi dari monitoring suhu ini akan mengambarkan distribusi suhu bawah permukaan tanah.A data acquisition system for geothermal survey was developed in this research. Cheap and efficient data acquisition system was required to produce the instrumentation system which was capable to measure and monitor the distribution of subsurface temperature. The system consists of field-bus topology, using single-master multi-slave architecture. Master is a control unit built based on a PC equipped with RS-485 interface. Slave is a sensing unit; each slave is built by integrating array sensor LM35 within AVR ATmega8a microcontroller-based data acquisition system. Measurement techniques included sounding and mapping system by placing four slaves planted in the depth of 2.5 m. Processing of data obtained from temperature measurements was performed using Microsoft Excel 2010 to produce graphics at point of measurement. The results of temperature monitoring will described the distribution of subsurface temperature.

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WU, XIAOFENG, and MUHONG WANG. "ROBUST SYNCHRONIZATION OF CHAOTIC LUR'E SYSTEMS VIA REPLACING VARIABLES CONTROL." International Journal of Bifurcation and Chaos 16, no. 11 (November 2006): 3421–33. http://dx.doi.org/10.1142/s0218127406016914.

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The sufficient conditions for chaos synchronization of two nonidentical systems by replacing variables control have not been proposed until now. In this paper, synchronization of two chaotic Lur'e systems with parameter mismatch by replacing variables control is studied. First of all, we present a master-slave Lur'e systems synchronization scheme with both parameter mismatch and replacing variables control, and derive a responsive error system for the scheme. A new definition of synchronization with finite L 2-gain is then introduced. Based on the definition, the sufficient synchronization criteria which are in the form of linear matrix inequality (LMI) are proved using a quadratic Lyapunov function. By means of MKY lemma the frequency domain criteria are further derived from the obtained LMIs. These frequency domain criteria are illustrated on the master-slave Chua's circuits with parameter mismatch so that the ranges of the parameters of Chua's circuit are analytically solved in the sense of the synchronization with finite L 2-gain by replacing singe-variable control. The illustrative examples verify that within the ranges of the parameters it is possible to synchronize the master-slave Chua's circuits up to a small synchronization error bound, even the qualitative behaviors of the slave circuit are different from that of the master one, such as the trajectory of the master circuit is chaotic and that of the slave divergent. The relation between the synchronization error bound and parameter mismatch is shown.

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Yamada, Hironao, Hidetoshi Kato, and Takayoshi Muto. "Master-Slave Control for Construction Robot Teleoperation." Journal of Robotics and Mechatronics 15, no. 1 (February 20, 2003): 54–60. http://dx.doi.org/10.20965/jrm.2003.p0054.

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We propose a master-slave teleoperated construction robot consisting of an excavator as the construction robot and two joysticks for operating the robot remotely. A fork glove on the front of the excavator grasps objects. The slave corresponds to the fork glove and the master to joysticks used by an operator In such remote control, the operator needs a realistic ""feel"" of force from feedback from the fork glove. To attain effective feedback, as reported previously, we proposed variable-gain symmetric-position, but found the disadvantage that the operator could not get a realistic feel when grasping a soft object at a comparatively slow velocity. We propose an improvement to overcome this problem.

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Honma, J., S. Kaji, and T. Yabuta. "Master-Slave System using Direct Compliance Control." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2002 (2002): 72. http://dx.doi.org/10.1299/jsmermd.2002.72_3.

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Gonzales, Michael J. "Chinese Plantation Workers and Social Conflict in Peru in the late Nineteenth Century." Journal of Latin American Studies 21, no. 3 (October 1989): 385–424. http://dx.doi.org/10.1017/s0022216x00018496.

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As the world capitalist system developed during the nineteenth century non-slave labour became a commodity that circulated around the globe and contributed to capital accumulation in metropolitan centres. The best examples are the emigration of millions of Asian indentured servants and European labourers to areas of European colonisation. Asians replaced emancipated African slaves on plantations in the Caribbean and South America, supplemented a declining slave population in Cuba, built railways in California, worked in mines in South Africa, laboured on sugarcane plantations in Mauritius and Fiji, and served on plantations in southeast Asia. Italian immigrants also replaced African slaves on coffee estates in Brazil, worked with Spaniards in the seasonal wheat harvest in Argentina, and, along with other Europeans, entered the growing labour market in the United States. From the perspective of capital, these workers were a cheap alternative to local wage labour and, as foreigners without the rights of citizens, they could be subjected to harsher methods of social control.1

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Kato, Keisuke, and Shigeo Hirose. "Proposition and Basic Experiments of Shape Feedback Master-Slave Arm (On the Application for the Demining Robots)." Journal of Robotics and Mechatronics 12, no. 3 (June 20, 2000): 268–74. http://dx.doi.org/10.20965/jrm.2000.p0268.

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As one of the essential technologies to realize a demining robot, which has the function of searching task of the mines in autonomous phase and digging task of the mine in tele-operated phase, we propose a new type of master-slave arm system coined as ""shape-feedback"" master-slave arm. Feature mechanism of ""Shape-feedback"" master and slave arm is the articulated to have same angle with slave finger joints, which bend with compliance. Addition of these finger joints under unilateral control on to the gripper with conventional bilateral servo control, it is expected to improve the performance of master-slave arm. We demonstrated the validity of the ""shape-feedback"" master and slave arm by the basic operation experiments and experiments using the model of demining robot.

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CHEN, YUN, and XIAOFENG WU. "GLOBAL CHAOS SYNCHRONIZATION OF NONAUTONOMOUS GYROSTAT SYSTEMS VIA VARIABLE SUBSTITUTION CONTROL." International Journal of Bifurcation and Chaos 18, no. 12 (December 2008): 3719–30. http://dx.doi.org/10.1142/s0218127408022676.

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This paper suggests a master-slave nonautonomous synchronization scheme with variable substitution control. According to the scheme, some sufficient algebraic criteria for global chaos synchronization of the master and slave nonautonomous gyrostat systems via various single-variable coupling are derived. The effectiveness of the obtained criteria is numerically verified by some examples.

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Journal articles on the topic 'Slave control'

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