Remote operation plays an important role in hostile environments, such as those in

Chapter 0, Problem P8.18

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Remote operation plays an important role in hostile environments, such as those in nuclear or hightemperature environments and in deep space. In spite of the efforts of many researchers, a teleoperation system that is comparable to the human's direct operation has not been developed. Research engineers have been trying to improve teleoperations by feeding back rich sensory information acquired by the robot to the operator with a sensation of presence. This concept is called tele-existence or telepresence [9]. The tele-existence master-slave system consists of a master system with a visual and auditory sensation of presence, a computer control system, and an anthropomorphic slave robot mechanism with an arm having seven degrees of freedom and a locomotion mechanism. The operator's head movement, right arm movement, right hand movement, and other auxiliary motion are measured by the master system. A specially designed stereo visual and auditory input system mounted on the neck mechanism of the slave robot gathers visual and auditory information from the remote environment. These pieces of information are sent back to the master system and are applied to the specially designed stereo display system to evoke the sensation of presence of the operator. The locomotion control system has the loop transfer function Gc(s)G(s) 4(0.5* + l) s(2s + 1) - ]2+l 2 0 ' Gc(s)G(s) \2(s + 0.5) s 2 + Us + 30* (a) Sketch the Bode diagram, (b) Find the frequency oil when the magnitude is 0 dB, and find the frequency w2 when the phase is -180. Obtain the Bode diagram for Gc(jo))G(Ja>) and determine the frequency when 20 ]og\Gc(jw)G(ja>)\ is very close to 0 dB.