Introduction to Advances in Telerobotics

Ferré, Manuel; Buss, Martin; Aracil, Rafaél; Melchiorri, Claudio; Balaguer, Carlos

doi:10.1007/978-3-540-71364-7_1

Cited by 39 publications

(56 citation statements)

References 12 publications

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“…Ferre et al indicate that telerobotics is also used in applications that are characterized by the risk reduction of human operators to an acceptable or non-existent level. [8].…”

Section: Case Examplementioning

confidence: 99%

Enhancing System Lifecycle Processes by Integrating Functional Safety Information from Practice into Design Requirements

Lintala

Ovtcharova

2013

International Journal of Advanced Robotic Systems

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To be able to find answers for challenging research questions about the universe, advanced machinery in major research institutions -e.g. accelerator complexes -is needed. In such expensive research facilities, which generate ionizing radiation, it is necessary to protect people, infrastructure and the environment from harm. To meet functional safety requirements, machinery shall fulfil high safety standards throughout its life. This paper aims to propose a methodology for preserving the functional safety of the equipment already in operation and the maintenance phase of the lifecycle. A methodology is proposed to enable better integration of information from practice into design requirements for modifications, such as upgrades and retrofits. The method is based on existing functional safety standards. The goal is to increase the operational time while preserving performance at the intended level.

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“…Ferre et al indicate that telerobotics is also used in applications that are characterized by the risk reduction of human operators to an acceptable or non-existent level. [8].…”

Section: Case Examplementioning

confidence: 99%

Enhancing System Lifecycle Processes by Integrating Functional Safety Information from Practice into Design Requirements

Lintala

Ovtcharova

2013

International Journal of Advanced Robotic Systems

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“…Using the same Lyapunov function as in (12), we need to show that the sliding condition (13) Valves (2), (3) Cylinder (1), (4) q p,m q n,m…”

Section: ) Force Error Based (Feb)mentioning

confidence: 99%

“…4. Cylinder (1), (4) Valves (2), (3) Valves (2), (3) Cylinder (1), (4) q n,m Electro-pneumatic system Here, s m and s s are the sliding surfaces for the master and slave systems, respectively; e m is the force tracking error of the master side; and e s is the position tracking error of the slave. This architecture involves two types of data transmission between the master and the slave: force from the slave to master and position from the master to the slave.…”

Section: ) Direct Force Reflection (Dfr)mentioning

confidence: 99%

“…When the slave follows the master's motion and the force interaction with the environment is driven to the operator, the teleoperation system is said to be bilateral. The goal of bilateral teleoperation is to achieve "transparency", meaning that through the master manipulator, the operator feels as if he/she is directly operating on the remote environment [4].…”

Section: Introductionmentioning

confidence: 99%

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Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves

Pham

Tavakoli

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by lowcost solenoid valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is verified on a single-degree-of-freedom pneumatic teleoperation system with four on/off solenoid valves. Moreover, simulation results demonstrate high accuracies in terms of position and force tracking in the teleoperation system. Index terms-Pneumatic actuator, on/off solenoid valve, sliding mode control, haptic teleoperation, stability.

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“…The bilateral control algorithms are an essential part in teleoperation field and lets the human operator obtain the maximum amount of information from the remote environment where a robot is executing complex tasks or manipulating different kind of objects [2], [3], [4], [5]. The operator must feel as if he/she is doing the task directly in the remote environment.…”

Section: Introductionmentioning

confidence: 99%

Design and evaluation of an educational platform for implementing and testing bilateral control algorithms

Cogollor

Galiana

Barrio

et al. 2012

Proceedings of the 2012 IEEE Global Engineering Education Conference (EDUCON)

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Abstract-This paper describes the design and evaluation of a new platform created in order to improve the learning experience of bilateral control algorithms in teleoperation. This experimental platform, developed at Universidad Politécnica de Madrid, is used by the students of the Master on Automation and Robotics in the practices of the subject called "Telerobotics and Teleoperation". The main objective is to easily implement different control architectures in the developed platform and evaluate them under different conditions to better understand the main advantages and drawbacks of each control scheme. So, the student's tasks are focused on adjusting the control parameters of the predefined controllers and designing new ones to analyze the changes in the behavior of the whole system. A description of the subject, main topics and the platform constructed are detailed in the paper. Furthermore, the methodology followed in the practices and the bilateral control algorithms are presented. Finally, the results obtained in the experiments with students are also shown.

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Introduction to Advances in Telerobotics

Cited by 39 publications

References 12 publications

Enhancing System Lifecycle Processes by Integrating Functional Safety Information from Practice into Design Requirements

Enhancing System Lifecycle Processes by Integrating Functional Safety Information from Practice into Design Requirements

Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves

Design and evaluation of an educational platform for implementing and testing bilateral control algorithms

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