HapticV1, PascalFrancis, Curation, bibRecord, 000E36

Haptic tele-operation system control design for the ultrasound task: A loop-shaping approach

Identifieur interne : 000E36 ( PascalFrancis/Curation ); précédent : 000E35; suivant : 000E37

Haptic tele-operation system control design for the ultrasound task: A loop-shaping approach

Auteurs : C. J. Zandsteeg [Pays-Bas] ; D. J. H. Bruijnen [Pays-Bas] ; M. J. G. Van De Molengraft [Pays-Bas]

Source :

Mechatronics : (Oxford) [ 0957-4158 ] ; 2010.

RBID : Pascal:11-0002733

Descripteurs français

Pascal (Inist)
- Téléopération, Synthèse commande, Commande force, Transducteur ultrason, Commande robuste, Passivité, Application médicale, Relation homme machine, Sensibilité tactile, Ultrason, Equilibrage, Système 5 degrés liberté, Critère performance, Méthode pas à pas, Méthode domaine fréquence, Filtrage fréquence, Modélisation, Echocardiographie, Etude expérimentale, ., Modelage de boucle.

English descriptors

KwdEn :
- Balancing, Control synthesis, Echocardiography, Experimental study, Force control, Frequency domain method, Frequency filtering, Loop shaping, Man machine relation, Medical application, Modeling, Passivity, Performance requirement, Remote operation, Robust control, Step by step method, System with five degrees of freedom, Tactile sensitivity, Ultrasonic transducer, Ultrasound.

Abstract

This paper introduces a step-by-step frequency domain loop-shaping procedure for tele-operation system controllers, in particular for the three-channel Environment Force Compensation (EFC) control architecture. The framework is explained by designing a controller for a tele-operated 5-DOF probe for ultrasound echo-cardiography. Models of the tele-operation system components are created and performance requirements are specified. A control design procedure is proposed using a generic tele-operation block-scheme. In this procedure, the choice for the EFC control architecture is underpinned and guidelines for the loop-shaping of this tele-operation controller for performance and stability robustness are given. The designed controllers are tuned using the introduced procedure. Passivity, performance and stability robustness of the newly designed controller are evaluated using experiments.

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A08	`01`	`1`	`ENG`	`@1 Haptic tele-operation system control design for the ultrasound task: A loop-shaping approach`
A09	`01`	`1`	`ENG`	`@1 Special Issue on Design and Control Methodologies in Telerobotics`
A11	`01`	`1`		`@1 ZANDSTEEG (C. J.)`
A11	`02`	`1`		`@1 BRUIJNEN (D. J. H.)`
A11	`03`	`1`		`@1 VAN DE MOLENGRAFT (M. J. G.)`
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A14	`01`			`@1 Eindhoven University of Technology, Department of Mechanical Engineering, Postbus 513 @2 5600 MB Eindhoven @3 NLD @Z 1 aut. @Z 3 aut.`
A14	`02`			`@1 Philips Applied Technologies, High Tech Campus 7 @2 5656 AE Eindhoven @3 NLD @Z 2 aut.`
A15	`01`			`@1 University of Modena and Reggio Emilia, Via G. Amendola 2, Morselli Building @2 42122 Reggio Emilia @3 ITA @Z 1 aut.`
A15	`02`			`@1 Institute of Automatic Control Engineering, Technische Universität München @2 Munich @3 DEU @Z 3 aut.`
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C01	`01`		`ENG`	@0 This paper introduces a step-by-step frequency domain loop-shaping procedure for tele-operation system controllers, in particular for the three-channel Environment Force Compensation (EFC) control architecture. The framework is explained by designing a controller for a tele-operated 5-DOF probe for ultrasound echo-cardiography. Models of the tele-operation system components are created and performance requirements are specified. A control design procedure is proposed using a generic tele-operation block-scheme. In this procedure, the choice for the EFC control architecture is underpinned and guidelines for the loop-shaping of this tele-operation controller for performance and stability robustness are given. The designed controllers are tuned using the introduced procedure. Passivity, performance and stability robustness of the newly designed controller are evaluated using experiments.
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C03	`01`	`X`	`SPA`	`@0 Teleacción @5 06`
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C03	`07`	`X`	`FRE`	`@0 Application médicale @5 12`
C03	`07`	`X`	`ENG`	`@0 Medical application @5 12`
C03	`07`	`X`	`SPA`	`@0 Aplicación medical @5 12`
C03	`08`	`X`	`FRE`	`@0 Relation homme machine @5 13`
C03	`08`	`X`	`ENG`	`@0 Man machine relation @5 13`
C03	`08`	`X`	`SPA`	`@0 Relación hombre máquina @5 13`
C03	`09`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`09`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`09`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`10`	`X`	`FRE`	`@0 Ultrason @5 19`
C03	`10`	`X`	`ENG`	`@0 Ultrasound @5 19`
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C03	`14`	`X`	`FRE`	`@0 Méthode pas à pas @5 28`
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C03	`14`	`X`	`SPA`	`@0 Método paso a paso @5 28`
C03	`15`	`X`	`FRE`	`@0 Méthode domaine fréquence @5 29`
C03	`15`	`X`	`ENG`	`@0 Frequency domain method @5 29`
C03	`15`	`X`	`SPA`	`@0 Método dominio frecuencia @5 29`
C03	`16`	`X`	`FRE`	`@0 Filtrage fréquence @5 30`
C03	`16`	`X`	`ENG`	`@0 Frequency filtering @5 30`
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C03	`18`	`X`	`FRE`	`@0 Echocardiographie @5 33`
C03	`18`	`X`	`ENG`	`@0 Echocardiography @5 33`
C03	`18`	`X`	`SPA`	`@0 Ecocardiografía @5 33`
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C03	`19`	`X`	`SPA`	`@0 Estudio experimental @5 34`
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C03	`21`	`X`	`FRE`	`@0 Modelage de boucle @4 CD @5 96`
C03	`21`	`X`	`ENG`	`@0 Loop shaping @4 CD @5 96`
C03	`21`	`X`	`SPA`	`@0 Moldeo de la función de lazo @4 CD @5 96`
N21				`@1 003`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

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Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper introduces a step-by-step frequency domain loop-shaping procedure for tele-operation system controllers, in particular for the three-channel Environment Force Compensation (EFC) control architecture. The framework is explained by designing a controller for a tele-operated 5-DOF probe for ultrasound echo-cardiography. Models of the tele-operation system components are created and performance requirements are specified. A control design procedure is proposed using a generic tele-operation block-scheme. In this procedure, the choice for the EFC control architecture is underpinned and guidelines for the loop-shaping of this tele-operation controller for performance and stability robustness are given. The designed controllers are tuned using the introduced procedure. Passivity, performance and stability robustness of the newly designed controller are evaluated using experiments.</div>
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<fC03 i1="07" i2="X" l="FRE"><s0>Application médicale</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Medical application</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Aplicación medical</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Relation homme machine</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Man machine relation</s0>
<s5>13</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Relación hombre máquina</s0>
<s5>13</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>18</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>18</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Ultrason</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Ultrasound</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Ultrasonido</s0>
<s5>19</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Equilibrage</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Balancing</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Equilibrado</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Système 5 degrés liberté</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>System with five degrees of freedom</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Sistema 5 grados libertad</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Critère performance</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Performance requirement</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Criterio resultado</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Méthode pas à pas</s0>
<s5>28</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Step by step method</s0>
<s5>28</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Método paso a paso</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Méthode domaine fréquence</s0>
<s5>29</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Frequency domain method</s0>
<s5>29</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Método dominio frecuencia</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Filtrage fréquence</s0>
<s5>30</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Frequency filtering</s0>
<s5>30</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Filtrado frecuencia</s0>
<s5>30</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>31</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Modeling</s0>
<s5>31</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Modelización</s0>
<s5>31</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Echocardiographie</s0>
<s5>33</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Echocardiography</s0>
<s5>33</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Ecocardiografía</s0>
<s5>33</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>34</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>34</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>34</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Modelage de boucle</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Loop shaping</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Moldeo de la función de lazo</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fN21><s1>003</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
</record>

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Haptic tele-operation system control design for the ultrasound task: A loop-shaping approach

Haptic tele-operation system control design for the ultrasound task: A loop-shaping approach

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