<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-02123753</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-20T09:12:43+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Position and Velocity Control for Telemanipulation with Interoperability Protocol</title>
            <author role="aut">
              <persName>
                <forename type="first">Bukeikhan</forename>
                <surname>Omarali</surname>
              </persName>
              <email type="md5">fa04452f1801e9caed6874ff905b9c80</email>
              <email type="domain">qmul.ac.uk</email>
              <idno type="idhal" notation="numeric">1046949</idno>
              <idno type="halauthorid" notation="string">1581335-1046949</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Francesca</forename>
                <surname>Palermo</surname>
              </persName>
              <idno type="halauthorid">1581336-0</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Maurizio</forename>
                <surname>Valle</surname>
              </persName>
              <idno type="idhal" notation="numeric">795032</idno>
              <idno type="halauthorid" notation="string">1581337-795032</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7366-6060</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Stefan</forename>
                <surname>Poslad</surname>
              </persName>
              <idno type="halauthorid">1581338-0</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Kaspar</forename>
                <surname>Althoefer</surname>
              </persName>
              <idno type="halauthorid">1581339-0</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Ildar</forename>
                <surname>Farkhatdinov</surname>
              </persName>
              <email type="md5">f6959ed09f1fcd028d2ac5b4c507e07f</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="numeric">956460</idno>
              <idno type="halauthorid" notation="string">827966-956460</idno>
              <affiliation ref="#struct-303063"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Ildar</forename>
                <surname>Farkhatdinov</surname>
              </persName>
              <email type="md5">f6959ed09f1fcd028d2ac5b4c507e07f</email>
              <email type="domain">gmail.com</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2019-05-09 01:38:53</date>
              <date type="whenModified">2020-03-05 15:29:21</date>
              <date type="whenReleased">2019-05-24 16:08:42</date>
              <date type="whenProduced">2019-07-03</date>
              <date type="whenEndEmbargoed">2019-05-09</date>
              <ref type="file" target="https://hal.science/hal-02123753v1/document">
                <date notBefore="2019-05-09"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-02123753v1/file/TAROS2019_060_original_v2.pdf" id="file-2123753-2117282">
                <date notBefore="2019-05-09"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="195423">
                <persName>
                  <forename>Ildar</forename>
                  <surname>Farkhatdinov</surname>
                </persName>
                <email type="md5">f6959ed09f1fcd028d2ac5b4c507e07f</email>
                <email type="domain">gmail.com</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-02123753</idno>
            <idno type="halUri">https://hal.science/hal-02123753</idno>
            <idno type="halBibtex">omarali:hal-02123753</idno>
            <idno type="halRefHtml">&lt;i&gt;20th Towards Autonomous Robotic Systems Conference, Lecture Notes on Artificial Intelligence&lt;/i&gt;, Jul 2019, London, United Kingdom</idno>
            <idno type="halRef">20th Towards Autonomous Robotic Systems Conference, Lecture Notes on Artificial Intelligence, Jul 2019, London, United Kingdom</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-2123753-2117282"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="0">No</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Position and Velocity Control for Telemanipulation with Interoperability Protocol</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Bukeikhan</forename>
                    <surname>Omarali</surname>
                  </persName>
                  <email type="md5">fa04452f1801e9caed6874ff905b9c80</email>
                  <email type="domain">qmul.ac.uk</email>
                  <idno type="idhal" notation="numeric">1046949</idno>
                  <idno type="halauthorid" notation="string">1581335-1046949</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Francesca</forename>
                    <surname>Palermo</surname>
                  </persName>
                  <idno type="halauthorid">1581336-0</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Maurizio</forename>
                    <surname>Valle</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">795032</idno>
                  <idno type="halauthorid" notation="string">1581337-795032</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7366-6060</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Stefan</forename>
                    <surname>Poslad</surname>
                  </persName>
                  <idno type="halauthorid">1581338-0</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Kaspar</forename>
                    <surname>Althoefer</surname>
                  </persName>
                  <idno type="halauthorid">1581339-0</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Ildar</forename>
                    <surname>Farkhatdinov</surname>
                  </persName>
                  <email type="md5">f6959ed09f1fcd028d2ac5b4c507e07f</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="numeric">956460</idno>
                  <idno type="halauthorid" notation="string">827966-956460</idno>
                  <affiliation ref="#struct-303063"/>
                </author>
              </analytic>
              <monogr>
                <meeting>
                  <title>20th Towards Autonomous Robotic Systems Conference, Lecture Notes on Artificial Intelligence</title>
                  <date type="start">2019-07-03</date>
                  <settlement>London</settlement>
                  <country key="GB">United Kingdom</country>
                </meeting>
                <imprint/>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>In this paper we describe how a generic interoperability teler-obotics protocol can be applied for master-slave robotic systems operating in position-position, position-speed and hybrid control modes. The interoperability protocol allows robust and efficient data exchange for teleoperation systems, however it was not shown how it can fit switching position and rate control modes. Here we propose the general framework of hybrid position and rate control modes with interoperability protocol. Furthermore, we demonstrate experimentally that the framework is suitable for robotics teleoperation systems in which a human-operator can switch between position-position and position-speed master and slave robots' workspace mapping.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="institution" xml:id="struct-303063" status="VALID">
          <idno type="ROR">https://ror.org/026zzn846</idno>
          <orgName>Queen Mary University of London</orgName>
          <orgName type="acronym">QMUL</orgName>
          <desc>
            <address>
              <addrLine>Mile End Road, London E1 4NS</addrLine>
              <country key="GB"/>
            </address>
            <ref type="url">http://www.qmul.ac.uk/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>