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A Distributed Architecture for Teleoperation over the Internet with Application to the Remote Control of an Inverted Pendulum

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Inverted pendulum

An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies.

Domain-specific modeling

Domain-specific modeling (DSM) is a software engineering methodology for designing and developing systems, such as computer software. It involves systematic use of a domain-specific language to represent the various facets of a system. Domain-specific modeling languages tend to support higher-level abstractions than general-purpose modeling languages, so they require less effort and fewer low-level details to specify a given system.

Thin client

In computer networking, a thin client is a simple (low-performance) computer that has been optimized for establishing a remote connection with a server-based computing environment. They are sometimes known as network computers, or in their simplest form as zero clients. The server does most of the work, which can include launching software programs, performing calculations, and storing data.

Fluid dynamics

In physics, physical chemistry and engineering, fluid dynamics is a subdiscipline of fluid mechanics that describes the flow of fluids—liquids and gases. It has several subdisciplines, including aerodynamics (the study of air and other gases in motion) and hydrodynamics (the study of liquids in motion). Fluid dynamics has a wide range of applications, including calculating forces and moments on aircraft, determining the mass flow rate of petroleum through pipelines, predicting weather patterns, understanding nebulae in interstellar space and modelling fission weapon detonation.

Domain-specific language

A domain-specific language (DSL) is a computer language specialized to a particular application domain. This is in contrast to a general-purpose language (GPL), which is broadly applicable across domains. There are a wide variety of DSLs, ranging from widely used languages for common domains, such as HTML for web pages, down to languages used by only one or a few pieces of software, such as MUSH soft code.

Server (computing)

In computing, a server is a piece of computer hardware or software (computer program) that provides functionality for other programs or devices, called "clients". This architecture is called the client–server model. Servers can provide various functionalities, often called "services", such as sharing data or resources among multiple clients or performing computations for a client. A single server can serve multiple clients, and a single client can use multiple servers.

Powered exoskeleton

A powered exoskeleton (also known as power armor, powered armor, powered suit, cybernetic suit, robot armor, robot suit, high-tech armor, robotic armor, robot armor suit, cybernetic armor, exosuit, hardsuit, exoframe or augmented mobility) is a mobile machine that is wearable over all or part of the human body, providing ergonomic structural support and powered by a system of electric motors, pneumatics, levers, hydraulics or a combination of cybernetic technologies, while allowing for sufficient limb movem

Real number

In mathematics, a real number is a number that can be used to measure a continuous one-dimensional quantity such as a distance, duration or temperature. Here, continuous means that pairs of values can have arbitrarily small differences. Every real number can be almost uniquely represented by an infinite decimal expansion. The real numbers are fundamental in calculus (and more generally in all mathematics), in particular by their role in the classical definitions of limits, continuity and derivatives.

Telepresence

Telepresence refers to a set of technologies which allow a person to feel as if they were present, to give the appearance or effect of being present via telerobotics, at a place other than their true location. Telepresence requires that the users' senses interact with specific stimuli in order to provide the feeling of being in that other location. Additionally, users may be given the ability to affect the remote location. In this case, the user's position, movements, actions, voice, etc.

Pendulum (mechanics)

A pendulum is a body suspended from a fixed support so that it swings freely back and forth under the influence of gravity. When a pendulum is displaced sideways from its resting, equilibrium position, it is subject to a restoring force due to gravity that will accelerate it back toward the equilibrium position. When released, the restoring force acting on the pendulum's mass causes it to oscillate about the equilibrium position, swinging it back and forth. The mathematics of pendulums are in general quite complicated.