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<p>This paper proposes an environment-energy-based approach (EEA) for a model mediated telemanipulation system to stably interact with a rapidly updating virtual environment. The EEA enforces passivity by monitoring a non-negative energy function and adaptively scaling the force rendered to the operator, thereby guaranteeing stability even while the virtual environment parameters—including newly sensed contact locations and dynamics—are reflected instantaneously. Because the method does not rely on gradual model blending, it preserves high transparency under variable latency wireless links (e.g., forthcoming 5G New Radio (5G NR)/Future Railway Mobile Communication System (FRMCS) rail networks) and remains applicable to arbitrarily changing or initially unknown remote environments. Preliminary experiments show that the EEA outperforms classical MMT and MMC controllers in both stability and haptic fidelity, indicating its potential for safety critical tasks such as railway electrification maintenance.</p>

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Environment-Energy-Based Stable Model-Mediated Telemanipulation Toward 5G-Ready Railway Electrification Maintenance

  • 期刊论文

  • 发表日期：

    2025年10月16日

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  • Sungjun Park,
  • Dongkue Kim,
  • Ilmu Byun

摘要

This paper proposes an environment-energy-based approach (EEA) for a model mediated telemanipulation system to stably interact with a rapidly updating virtual environment. The EEA enforces passivity by monitoring a non-negative energy function and adaptively scaling the force rendered to the operator, thereby guaranteeing stability even while the virtual environment parameters—including newly sensed contact locations and dynamics—are reflected instantaneously. Because the method does not rely on gradual model blending, it preserves high transparency under variable latency wireless links (e.g., forthcoming 5G New Radio (5G NR)/Future Railway Mobile Communication System (FRMCS) rail networks) and remains applicable to arbitrarily changing or initially unknown remote environments. Preliminary experiments show that the EEA outperforms classical MMT and MMC controllers in both stability and haptic fidelity, indicating its potential for safety critical tasks such as railway electrification maintenance.