Wave varible with prediction in multi-DOF teleoperation system with varying-time-delay
YU Zhen-zhong, YAN Ji-hong, HUI Jing, MA Yong-hu, ZHAO Jie
Journal of Systems Engineering and Electronics . 2011, (11): 2474 -2479 .  DOI: 10.3969/j.issn.1001-506X.2011.11.25