HapticV1, PascalFrancis, Checkpoint, bibRecord, 000C24

Scaled teleoperation controller design for micromanipulation over internet

Identifieur interne : 000C24 ( PascalFrancis/Checkpoint ); précédent : 000C23; suivant : 000C25

Scaled teleoperation controller design for micromanipulation over internet

Auteurs : Moussa Boukhnifer [France] ; Antoine Ferreira [France] ; Jean-Guy Fontaine [France]

Source :

RBID : Pascal:06-0270433

Descripteurs français

Pascal (Inist)
- Téléopération, Synthèse commande, Rétroaction, Système à retard, Système paramètre variable, Commande robuste, Commande H infini, Commande optimale, Robustesse, Micromanipulation, Internet, Echelle nanométrique, Sensibilité tactile, Bilatéral, Temps retard, Temps différé, Facteur échelle, Optimisation, Valeur singulière structurée.

English descriptors

KwdEn :
- Bilateral, Control synthesis, Delay system, Delay time, Delayed time, Feedback regulation, H infinite control, Internet, Micromanipulation, Nanometer scale, Optimal control, Optimization, Remote operation, Robust control, Robustness, Scale factor, Structured singular value, Tactile sensitivity, Time varying system.

Abstract

Recent developments on micro/nano manipulation and internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.

Affiliations:

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000D29
to stream PascalFrancis, to step Curation: 000777

Links to Exploration step

Pascal:06-0270433

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Scaled teleoperation controller design for micromanipulation over internet</title>
<author><name sortKey="Boukhnifer, Moussa" sort="Boukhnifer, Moussa" uniqKey="Boukhnifer M" first="Moussa" last="Boukhnifer">Moussa Boukhnifer</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 Bourges</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Centre-Val de Loire</region>
<region type="old region" nuts="2">Région Centre</region>
<settlement type="city">Bourges</settlement>
</placeName>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
<author><name sortKey="Ferreira, Antoine" sort="Ferreira, Antoine" uniqKey="Ferreira A" first="Antoine" last="Ferreira">Antoine Ferreira</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 Bourges</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Centre-Val de Loire</region>
<region type="old region" nuts="2">Région Centre</region>
<settlement type="city">Bourges</settlement>
</placeName>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
<author><name sortKey="Fontaine, Jean Guy" sort="Fontaine, Jean Guy" uniqKey="Fontaine J" first="Jean-Guy" last="Fontaine">Jean-Guy Fontaine</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 Bourges</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Centre-Val de Loire</region>
<region type="old region" nuts="2">Région Centre</region>
<settlement type="city">Bourges</settlement>
</placeName>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">06-0270433</idno>
<date when="2004">2004</date>
<idno type="stanalyst">PASCAL 06-0270433 INIST</idno>
<idno type="RBID">Pascal:06-0270433</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">000D29</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000777</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000C24</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Scaled teleoperation controller design for micromanipulation over internet</title>
<author><name sortKey="Boukhnifer, Moussa" sort="Boukhnifer, Moussa" uniqKey="Boukhnifer M" first="Moussa" last="Boukhnifer">Moussa Boukhnifer</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 Bourges</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Centre-Val de Loire</region>
<region type="old region" nuts="2">Région Centre</region>
<settlement type="city">Bourges</settlement>
</placeName>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
<author><name sortKey="Ferreira, Antoine" sort="Ferreira, Antoine" uniqKey="Ferreira A" first="Antoine" last="Ferreira">Antoine Ferreira</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 Bourges</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Centre-Val de Loire</region>
<region type="old region" nuts="2">Région Centre</region>
<settlement type="city">Bourges</settlement>
</placeName>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
<author><name sortKey="Fontaine, Jean Guy" sort="Fontaine, Jean Guy" uniqKey="Fontaine J" first="Jean-Guy" last="Fontaine">Jean-Guy Fontaine</name>
<affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 Bourges</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</inist:fA14>
<country>France</country>
<placeName><region type="region" nuts="2">Centre-Val de Loire</region>
<region type="old region" nuts="2">Région Centre</region>
<settlement type="city">Bourges</settlement>
</placeName>
<orgName type="university">Université d'Orléans</orgName>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Bilateral</term>
<term>Control synthesis</term>
<term>Delay system</term>
<term>Delay time</term>
<term>Delayed time</term>
<term>Feedback regulation</term>
<term>H infinite control</term>
<term>Internet</term>
<term>Micromanipulation</term>
<term>Nanometer scale</term>
<term>Optimal control</term>
<term>Optimization</term>
<term>Remote operation</term>
<term>Robust control</term>
<term>Robustness</term>
<term>Scale factor</term>
<term>Structured singular value</term>
<term>Tactile sensitivity</term>
<term>Time varying system</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Téléopération</term>
<term>Synthèse commande</term>
<term>Rétroaction</term>
<term>Système à retard</term>
<term>Système paramètre variable</term>
<term>Commande robuste</term>
<term>Commande H infini</term>
<term>Commande optimale</term>
<term>Robustesse</term>
<term>Micromanipulation</term>
<term>Internet</term>
<term>Echelle nanométrique</term>
<term>Sensibilité tactile</term>
<term>Bilatéral</term>
<term>Temps retard</term>
<term>Temps différé</term>
<term>Facteur échelle</term>
<term>Optimisation</term>
<term>Valeur singulière structurée</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Recent developments on micro/nano manipulation and internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.</div>
</front>
</TEI>
<inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Scaled teleoperation controller design for micromanipulation over internet</s1>
</fA08>
<fA09 i1="01" i2="1" l="ENG"><s1>2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings</s1>
</fA09>
<fA11 i1="01" i2="1"><s1>BOUKHNIFER (Moussa)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>FERREIRA (Antoine)</s1>
</fA11>
<fA11 i1="03" i2="1"><s1>FONTAINE (Jean-Guy)</s1>
</fA11>
<fA14 i1="01"><s1>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle</s1>
<s2>18020 Bourges</s2>
<s3>FRA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
</fA14>
<fA18 i1="01" i2="1"><s1>IEEE Robotics and automation society</s1>
<s3>USA</s3>
<s9>org-cong.</s9>
</fA18>
<fA20><s1>4577-4583</s1>
</fA20>
<fA21><s1>2004</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA25 i1="01"><s1>IEEE</s1>
<s2>Piscataway NJ</s2>
</fA25>
<fA26 i1="01"><s0>0-7803-8232-3</s0>
</fA26>
<fA30 i1="01" i2="1" l="ENG"><s1>IEEE International Conference on Robotics and Automation</s1>
<s2>21</s2>
<s3>New Orleans LA USA</s3>
<s4>2004</s4>
</fA30>
<fA43 i1="01"><s1>INIST</s1>
<s2>Y 38842</s2>
<s5>354000153471327360</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2006 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>14 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>06-0270433</s0>
</fA47>
<fA60><s1>C</s1>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA66 i1="01"><s0>USA</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>Recent developments on micro/nano manipulation and internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation systems with haptic feedback over the Internet face to strong problems due to the nonlinear nature of microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D02D07</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D02D08</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Synthèse commande</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Control synthesis</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Síntesis control</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Système à retard</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Delay system</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Sistema con retardo</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Système paramètre variable</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Time varying system</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Sistema parámetro variable</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Commande robuste</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Robust control</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Control robusta</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Commande H infini</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>H infinite control</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Control H infinito</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Commande optimale</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Optimal control</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Control óptimo</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Robustesse</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Robustness</s0>
<s5>14</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Robustez</s0>
<s5>14</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Micromanipulation</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Micromanipulation</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Micromanipulación</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Internet</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Internet</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Internet</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="3" l="FRE"><s0>Echelle nanométrique</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="3" l="ENG"><s0>Nanometer scale</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Bilatéral</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Bilateral</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Bilateral</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Temps retard</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Delay time</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Tiempo retardo</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Temps différé</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Delayed time</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Tiempo diferido</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Facteur échelle</s0>
<s5>25</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Scale factor</s0>
<s5>25</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Factor escala</s0>
<s5>25</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Optimisation</s0>
<s5>28</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Optimization</s0>
<s5>28</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Optimización</s0>
<s5>28</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Valeur singulière structurée</s0>
<s5>29</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Structured singular value</s0>
<s5>29</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Valor singular estructurada</s0>
<s5>29</s5>
</fC03>
<fN21><s1>170</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
<affiliations><list><country><li>France</li>
</country>
<region><li>Centre-Val de Loire</li>
<li>Région Centre</li>
</region>
<settlement><li>Bourges</li>
</settlement>
<orgName><li>Université d'Orléans</li>
</orgName>
</list>
<tree><country name="France"><region name="Centre-Val de Loire"><name sortKey="Boukhnifer, Moussa" sort="Boukhnifer, Moussa" uniqKey="Boukhnifer M" first="Moussa" last="Boukhnifer">Moussa Boukhnifer</name>
</region>
<name sortKey="Ferreira, Antoine" sort="Ferreira, Antoine" uniqKey="Ferreira A" first="Antoine" last="Ferreira">Antoine Ferreira</name>
<name sortKey="Fontaine, Jean Guy" sort="Fontaine, Jean Guy" uniqKey="Fontaine J" first="Jean-Guy" last="Fontaine">Jean-Guy Fontaine</name>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Checkpoint

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000C24 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Checkpoint/biblio.hfd -nk 000C24 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    PascalFrancis
   |étape=   Checkpoint
   |type=    RBID
   |clé=     Pascal:06-0270433
   |texte=   Scaled teleoperation controller design for micromanipulation over internet
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Scaled teleoperation controller design for micromanipulation over internet

Scaled teleoperation controller design for micromanipulation over internet

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri