Design of a stable and transparent micro teleoperation system
Identifieur interne : 000158 ( Hal/Corpus ); précédent : 000157; suivant : 000159Design of a stable and transparent micro teleoperation system
Auteurs : Abdenbi Mohand OusaidSource :
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Abstract
Direct user interaction in microrobotics is a challenge because of the scale of treated objects, the complexity of the physical phenomena and the high impact of environmental conditions. Teleoperation in this case is a promising approach to supplement human perception. Its success requires a control scheme guaranteeing transparency and stability, to represent complex physical phenomena to the user without degradation. Although several control schemes are proposed with good performances, it clearly appears that there is room for improvement especially in regard to specificities of multiscale haptic coupling, the rendering of the haptic information, force sensing at the microscale, the mechanics of measurement devices... Several issues need to be addressed in this purpose : design of an adapted haptic device, design of a force sensor with proper dynamic properties and bandwidth, development of a case-specific control scheme and implementation of bilateral coupling between the haptic device and the force sensor. Therefore, this thesis describes a novel teleoperation chain for microscale force probing. Experimental validations are carried out, with single axis measurements on a water droplet. The system is also tested by several user with no experience in microscale phenomena. All the test subjects were able to correctly master the approach-and-retreat operations. Various interaction forces, pull-in and pull-off phenomena are correctly rendered. The proposed system is a proof-of-concept of a new design for a microscale force sensing tool, a high-fidelity haptic device, and appropriate bilateral coupling.
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Teleoperation in this case is a promising approach to supplement human perception. Its success requires a control scheme guaranteeing transparency and stability, to represent complex physical phenomena to the user without degradation. Although several control schemes are proposed with good performances, it clearly appears that there is room for improvement especially in regard to specificities of multiscale haptic coupling, the rendering of the haptic information, force sensing at the microscale, the mechanics of measurement devices... Several issues need to be addressed in this purpose : design of an adapted haptic device, design of a force sensor with proper dynamic properties and bandwidth, development of a case-specific control scheme and implementation of bilateral coupling between the haptic device and the force sensor. Therefore, this thesis describes a novel teleoperation chain for microscale force probing. Experimental validations are carried out, with single axis measurements on a water droplet. The system is also tested by several user with no experience in microscale phenomena. All the test subjects were able to correctly master the approach-and-retreat operations. Various interaction forces, pull-in and pull-off phenomena are correctly rendered. The proposed system is a proof-of-concept of a new design for a microscale force sensing tool, a high-fidelity haptic device, and appropriate bilateral coupling.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Design of a stable and transparent micro teleoperation system</title><title xml:lang="fr">Conception d'une chaîne de micro téléopération stable et transparente</title><author role="aut"><persName><forename type="first">Abdenbi</forename><surname>Mohand Ousaid</surname></persName><email>mohand_ousaid@isir.upmc.fr</email><ptr type="url" target="http://people.isir.upmc.fr/mohand_ousaid"></ptr><idno type="halauthor">838034</idno><affiliation ref="#struct-393916"></affiliation></author><editor role="depositor"><persName><forename>Abdenbi</forename><surname>Mohand Ousaid</surname></persName><email>mohand_ousaid@isir.upmc.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2013-04-10 15:23:10</date><date type="whenModified">2016-03-21 17:49:05</date><date type="whenReleased">2013-04-10 15:25:25</date><date type="whenProduced">2013-03-05</date><date type="whenEndEmbargoed">2013-04-10</date><ref type="file" target="https://tel.archives-ouvertes.fr/tel-00811544/document"><date notBefore="2013-04-10"></date></ref><ref type="file" n="1" target="https://tel.archives-ouvertes.fr/tel-00811544/file/these_Abdenbi_MOHAND_OUSAID.pdf"><date notBefore="2013-04-10"></date></ref></edition><respStmt><resp>contributor</resp><name key="181933"><persName><forename>Abdenbi</forename><surname>Mohand Ousaid</surname></persName><email>mohand_ousaid@isir.upmc.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">tel-00811544</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-00811544</idno><idno type="halBibtex">mohandousaid:tel-00811544</idno><idno type="halRefHtml">Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2013. Français</idno><idno type="halRef">Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2013. Français</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="THESES-UPMC">Thèses de l'Université Pierre et Marie Curie</idno><idno type="stamp" n="UPMC">Université Pierre et Marie Curie</idno><idno type="stamp" n="ISIR" p="UPMC">Institut des Systèmes Intelligents et de Robotique</idno><idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno></seriesStmt><notesStmt></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Design of a stable and transparent micro teleoperation system</title><title xml:lang="fr">Conception d'une chaîne de micro téléopération stable et transparente</title><author role="aut"><persName><forename type="first">Abdenbi</forename><surname>Mohand Ousaid</surname></persName><email>mohand_ousaid@isir.upmc.fr</email><ptr type="url" target="http://people.isir.upmc.fr/mohand_ousaid"></ptr><idno type="halAuthorId">838034</idno><affiliation ref="#struct-393916"></affiliation></author></analytic><monogr><imprint><date type="dateDefended">2013-03-05</date></imprint><authority type="institution">Université Pierre et Marie Curie - Paris VI</authority><authority type="school">Sciences mécaniques, acoustique, électronique et robotique de Paris</authority><authority type="supervisor">Stéphane Régnier(stephane.regnier@upmc.fr)</authority><authority type="jury">Nicolas CHAILLET (Rapporteur)</authority><authority type="jury">Pierre RENAUD (Rapporteur)</authority><authority type="jury">Jöel CHEVRIER (Examinateur)</authority><authority type="jury">Lionel BUCHAILLOT (Examinateur)</authority><authority type="jury">Stéphane Régnier (co-directeur)</authority><authority type="jury">Vincent HAYWARD (co-directeur)</authority><authority type="jury">Aude BOLOPION (membre invité)</authority></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="fr">French</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">microrobotics</term><term xml:lang="en">haptic interface</term><term xml:lang="en">force measurement</term><term xml:lang="en">electrostatic actuator</term><term xml:lang="en">coupling scheme</term><term xml:lang="en">transparency</term><term xml:lang="en">stability</term><term xml:lang="fr">microrobotique</term><term xml:lang="fr">téléopération</term><term xml:lang="fr">interface haptique</term><term xml:lang="fr">mesure de force</term><term xml:lang="fr">actionneur électrostatique</term><term xml:lang="fr">schéma de couplage</term><term xml:lang="fr">transparence</term><term xml:lang="fr">stabilité</term></keywords><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode><classCode scheme="halTypology" n="THESE">Theses</classCode></textClass><abstract xml:lang="en">Direct user interaction in microrobotics is a challenge because of the scale of treated objects, the complexity of the physical phenomena and the high impact of environmental conditions. Teleoperation in this case is a promising approach to supplement human perception. Its success requires a control scheme guaranteeing transparency and stability, to represent complex physical phenomena to the user without degradation. Although several control schemes are proposed with good performances, it clearly appears that there is room for improvement especially in regard to specificities of multiscale haptic coupling, the rendering of the haptic information, force sensing at the microscale, the mechanics of measurement devices... Several issues need to be addressed in this purpose : design of an adapted haptic device, design of a force sensor with proper dynamic properties and bandwidth, development of a case-specific control scheme and implementation of bilateral coupling between the haptic device and the force sensor. Therefore, this thesis describes a novel teleoperation chain for microscale force probing. Experimental validations are carried out, with single axis measurements on a water droplet. The system is also tested by several user with no experience in microscale phenomena. All the test subjects were able to correctly master the approach-and-retreat operations. Various interaction forces, pull-in and pull-off phenomena are correctly rendered. The proposed system is a proof-of-concept of a new design for a microscale force sensing tool, a high-fidelity haptic device, and appropriate bilateral coupling.</abstract><abstract xml:lang="fr">En microrobotique, l'interaction directe avec les objets par l'opérateur est impossible, en raison notamment de leur taille, des phénomènes physiques complexes et de la grande sensibilité des systèmes aux conditions environnementales. Les systèmes de téléopération apparaissent comme un moyen prometteur pour interagir avec l'échelle microscopique où la perception sensorielle humaine a dépassé ses limites. Cependant, ces systèmes doivent répondre à deux problématiques importantes: la transparence du fait des phénomènes physiques complexes qui doivent être retransmis et la stabilité du fait de la réduction d'échelle. Bien que les travaux actuels aient donné lieu à des systèmes performants, des insuffisances apparaissent notamment par la prise en compte de la spécificité du couplage haptique, de la mesure de microforces, de l'inertie importante des interfaces haptiques utilisées, etc. Pour obtenir des systèmes complets et intuitifs, plusieurs points doivent être abordés : le choix d'une interface haptique adaptée, le développement d'un nouvel outil de mesure de microforces, la synthèse de loi de commande et l'utilisation d'un couplage bilatéral direct. Une chaîne de micro téléopération est conçu en prenant en compte les points précédents. Des téléopérations mono-dimensionnelles ont pu être menées pour valider la chaîne. Plusieurs utilisateurs inexpérimentés ont réussi à utiliser le système pour interagir avec une goutte d'eau. Ils ont pu ressentir les différents efforts d'interaction, notamment le pull-in et le pull-off. Ce travail n'est qu'un premier pas vers des systèmes de micro téléopération intuitifs. Il montre aussi l'intérêt de l'approche proposée en microrobotique.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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