HapticV1, PascalFrancis, Corpus, bibRecord, 000D29

Scaled teleoperation controller design for micromanipulation over internet

Identifieur interne : 000D29 ( PascalFrancis/Corpus ); précédent : 000D28; suivant : 000D30

Scaled teleoperation controller design for micromanipulation over internet

Auteurs : Moussa Boukhnifer ; Antoine Ferreira ; Jean-Guy Fontaine

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Scaled teleoperation controller design for micromanipulation over internet`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings`
A11	`01`	`1`		`@1 BOUKHNIFER (Moussa)`
A11	`02`	`1`		`@1 FERREIRA (Antoine)`
A11	`03`	`1`		`@1 FONTAINE (Jean-Guy)`
A14	`01`			`@1 Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle @2 18020 Bourges @3 FRA @Z 1 aut. @Z 2 aut. @Z 3 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and automation society @3 USA @9 org-cong.`
A20				`@1 4577-4583`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8232-3`
A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38842 @5 354000153471327360`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 14 ref.`
A47	`01`	`1`		`@0 06-0270433`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D07`
C02	`02`	`X`		`@0 001D02D08`
C03	`01`	`X`	`FRE`	`@0 Téléopération @5 06`
C03	`01`	`X`	`ENG`	`@0 Remote operation @5 06`
C03	`01`	`X`	`SPA`	`@0 Teleacción @5 06`
C03	`02`	`X`	`FRE`	`@0 Synthèse commande @5 07`
C03	`02`	`X`	`ENG`	`@0 Control synthesis @5 07`
C03	`02`	`X`	`SPA`	`@0 Síntesis control @5 07`
C03	`03`	`X`	`FRE`	`@0 Rétroaction @5 08`
C03	`03`	`X`	`ENG`	`@0 Feedback regulation @5 08`
C03	`03`	`X`	`SPA`	`@0 Retroacción @5 08`
C03	`04`	`X`	`FRE`	`@0 Système à retard @5 09`
C03	`04`	`X`	`ENG`	`@0 Delay system @5 09`
C03	`04`	`X`	`SPA`	`@0 Sistema con retardo @5 09`
C03	`05`	`X`	`FRE`	`@0 Système paramètre variable @5 10`
C03	`05`	`X`	`ENG`	`@0 Time varying system @5 10`
C03	`05`	`X`	`SPA`	`@0 Sistema parámetro variable @5 10`
C03	`06`	`X`	`FRE`	`@0 Commande robuste @5 11`
C03	`06`	`X`	`ENG`	`@0 Robust control @5 11`
C03	`06`	`X`	`SPA`	`@0 Control robusta @5 11`
C03	`07`	`X`	`FRE`	`@0 Commande H infini @5 12`
C03	`07`	`X`	`ENG`	`@0 H infinite control @5 12`
C03	`07`	`X`	`SPA`	`@0 Control H infinito @5 12`
C03	`08`	`X`	`FRE`	`@0 Commande optimale @5 13`
C03	`08`	`X`	`ENG`	`@0 Optimal control @5 13`
C03	`08`	`X`	`SPA`	`@0 Control óptimo @5 13`
C03	`09`	`X`	`FRE`	`@0 Robustesse @5 14`
C03	`09`	`X`	`ENG`	`@0 Robustness @5 14`
C03	`09`	`X`	`SPA`	`@0 Robustez @5 14`
C03	`10`	`X`	`FRE`	`@0 Micromanipulation @5 18`
C03	`10`	`X`	`ENG`	`@0 Micromanipulation @5 18`
C03	`10`	`X`	`SPA`	`@0 Micromanipulación @5 18`
C03	`11`	`X`	`FRE`	`@0 Internet @5 19`
C03	`11`	`X`	`ENG`	`@0 Internet @5 19`
C03	`11`	`X`	`SPA`	`@0 Internet @5 19`
C03	`12`	`3`	`FRE`	`@0 Echelle nanométrique @5 20`
C03	`12`	`3`	`ENG`	`@0 Nanometer scale @5 20`
C03	`13`	`X`	`FRE`	`@0 Sensibilité tactile @5 21`
C03	`13`	`X`	`ENG`	`@0 Tactile sensitivity @5 21`
C03	`13`	`X`	`SPA`	`@0 Sensibilidad tactil @5 21`
C03	`14`	`X`	`FRE`	`@0 Bilatéral @5 22`
C03	`14`	`X`	`ENG`	`@0 Bilateral @5 22`
C03	`14`	`X`	`SPA`	`@0 Bilateral @5 22`
C03	`15`	`X`	`FRE`	`@0 Temps retard @5 23`
C03	`15`	`X`	`ENG`	`@0 Delay time @5 23`
C03	`15`	`X`	`SPA`	`@0 Tiempo retardo @5 23`
C03	`16`	`X`	`FRE`	`@0 Temps différé @5 24`
C03	`16`	`X`	`ENG`	`@0 Delayed time @5 24`
C03	`16`	`X`	`SPA`	`@0 Tiempo diferido @5 24`
C03	`17`	`X`	`FRE`	`@0 Facteur échelle @5 25`
C03	`17`	`X`	`ENG`	`@0 Scale factor @5 25`
C03	`17`	`X`	`SPA`	`@0 Factor escala @5 25`
C03	`18`	`X`	`FRE`	`@0 Optimisation @5 28`
C03	`18`	`X`	`ENG`	`@0 Optimization @5 28`
C03	`18`	`X`	`SPA`	`@0 Optimización @5 28`
C03	`19`	`X`	`FRE`	`@0 Valeur singulière structurée @5 29`
C03	`19`	`X`	`ENG`	`@0 Structured singular value @5 29`
C03	`19`	`X`	`SPA`	`@0 Valor singular estructurada @5 29`
N21				`@1 170`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0270433 INIST
ET :	Scaled teleoperation controller design for micromanipulation over internet
AU :	BOUKHNIFER (Moussa); FERREIRA (Antoine); FONTAINE (Jean-Guy)
AF :	Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle/18020 Bourges/France (1 aut., 2 aut., 3 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 4577-4583; ISBN 0-7803-8232-3
LA :	Anglais
EA :	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.
CC :	001D02D07; 001D02D08
FD :	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
ED :	Remote operation; Control synthesis; Feedback regulation; Delay system; Time varying system; Robust control; H infinite control; Optimal control; Robustness; Micromanipulation; Internet; Nanometer scale; Tactile sensitivity; Bilateral; Delay time; Delayed time; Scale factor; Optimization; Structured singular value
SD :	Teleacción; Síntesis control; Retroacción; Sistema con retardo; Sistema parámetro variable; Control robusta; Control H infinito; Control óptimo; Robustez; Micromanipulación; Internet; Sensibilidad tactil; Bilateral; Tiempo retardo; Tiempo diferido; Factor escala; Optimización; Valor singular estructurada
LO :	INIST-Y 38842.354000153471327360
ID :	06-0270433

Links to Exploration step

Pascal:06-0270433

Le document en format XML

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<term>H infinite control</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Téléopération</term>
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<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>
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<inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Scaled teleoperation controller design for micromanipulation over internet</s1>
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<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>
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<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>
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</fC02>
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<fC03 i1="01" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>06</s5>
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<s5>07</s5>
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<s5>07</s5>
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<s5>08</s5>
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<s5>08</s5>
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<s5>08</s5>
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<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>
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<fC03 i1="05" i2="X" l="FRE"><s0>Système paramètre variable</s0>
<s5>10</s5>
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<fC03 i1="05" i2="X" l="ENG"><s0>Time varying system</s0>
<s5>10</s5>
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<s5>10</s5>
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<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Robust control</s0>
<s5>11</s5>
</fC03>
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<s5>11</s5>
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<fC03 i1="07" i2="X" l="FRE"><s0>Commande H infini</s0>
<s5>12</s5>
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<fC03 i1="07" i2="X" l="ENG"><s0>H infinite control</s0>
<s5>12</s5>
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<fC03 i1="07" i2="X" l="SPA"><s0>Control H infinito</s0>
<s5>12</s5>
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<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>
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<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>
<server><NO>PASCAL 06-0270433 INIST</NO>
<ET>Scaled teleoperation controller design for micromanipulation over internet</ET>
<AU>BOUKHNIFER (Moussa); FERREIRA (Antoine); FONTAINE (Jean-Guy)</AU>
<AF>Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle/18020 Bourges/France (1 aut., 2 aut., 3 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 4577-4583; ISBN 0-7803-8232-3</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02D07; 001D02D08</CC>
<FD>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</FD>
<ED>Remote operation; Control synthesis; Feedback regulation; Delay system; Time varying system; Robust control; H infinite control; Optimal control; Robustness; Micromanipulation; Internet; Nanometer scale; Tactile sensitivity; Bilateral; Delay time; Delayed time; Scale factor; Optimization; Structured singular value</ED>
<SD>Teleacción; Síntesis control; Retroacción; Sistema con retardo; Sistema parámetro variable; Control robusta; Control H infinito; Control óptimo; Robustez; Micromanipulación; Internet; Sensibilidad tactil; Bilateral; Tiempo retardo; Tiempo diferido; Factor escala; Optimización; Valor singular estructurada</SD>
<LO>INIST-Y 38842.354000153471327360</LO>
<ID>06-0270433</ID>
</server>
</inist>
</record>

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Scaled teleoperation controller design for micromanipulation over internet

Scaled teleoperation controller design for micromanipulation over internet

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