This paper presents a tele-control system comprised of a robot hand/arm and an operator. In our system, the angle of the finger of the robot hand is controlled according to the angle of the operator's finger, and the position of the robot arm is controlled according to the position of the operator's arm. Simultaneously, the operator feels the environmental force as detected by the touch sensor attached to the robot hand, resulting in so-called bilateral master/slave control. To date, there have been a few studies of bilateral master/slave systems that use a multi-fingered humanoid robot hand in communication networks with delay caused by physical distance. The purpose of our study was to achieve tele-operation with bilateral master/slave control between the operator's hand/arm and the multi-fingered humanoid robot hand/arm using the Internet with delay caused by distance. For our experiment, the operator was in the USA, and the multi-fingered humanoid robot hand/arm and object were in Japan. Using our system, the operator could successfully grasp and move an object while he felt the reaction force from the object. This technology can applicable to tele-operation such as feeling the hardness and weight of the stone which exist in the moon, on the ground etc.

This paper presents a tele-control system constructed by a robot hand/arm and operator. The angle of the robot hand is controlled by the angle of the operator's finger, and the operator feels the environmental force, as detected by the touch sensor of the robot hand, constituting so-called bilateral master/slave control. The position of the robot arm is controlled by the position of the operator's arm.

Over-the-air reconfiguration is a key characteristic of software defined radio communication systems. It offers great advantages in terms of cost-effective software deployment to a large number of user terminals. It also enables manufacturers and service providers to introduce additional features in hardware components after their shipment. Even though automatic repeat request (ARQ) or forward error correction (FEC) schemes are used for error control in transmission of configuration data (CD), the received configuration data may not be error free, therefore, the erroneous CD result in implementation of faulty circuits. In order to reduce the effects of the CD error, fault-tolerant processing is provided in circuits to be reconfigured over the air. We designed fault-tolerant digital filters based on redundant residue number arithmetic. A computer simulation model is described and simulation results are presented for the filters operating in the presence of simulated hardware failures.

In order to quantify the performance degradation of software radio communication systems due to faults of digital circuits which are configured by over-the-air download of configuration data, a 16-QAM demodulator with LUT-based reconfigurable square root raised cosine filters is designed. After over-the-air download of configuration data and reconfiguration is completed at the 16-QAM demodulator, BER performance of the reconfigured demodulator in an AWGN channel is evaluated by computer simulations. Furthermore, we develop a new radio transmission scheme of the configuration data. Our results show that 25 percent reduction in the number of symbols to transmit configuration data can be achieved without significant BER degradations.