Reduced order indirect self-tuning regulator for a novel pneumatic tele-operation system

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dc.contributor.authorBaayoun, Mohamad Anwar
dc.contributor.authorDaher, Naseem A.
dc.contributor.authorLiermann, Matthias
dc.contributor.departmentDepartment of Electrical and Computer Engineering
dc.contributor.departmentDepartment of Mechanical Engineering
dc.contributor.facultyMaroun Semaan Faculty of Engineering and Architecture (MSFEA)
dc.contributor.institutionAmerican University of Beirut
dc.date.accessioned2025-01-24T11:30:01Z
dc.date.available2025-01-24T11:30:01Z
dc.date.issued2020
dc.description.abstractThis article presents a reduced order indirect self-tuning regulator for a passive pneumatic tele-operation system, which is intended for use in medical surgeries in magnetic resonance imaging environments with short transmission distances (≈10m), where force feedback is required. The novel tele-operation system uses less active components as compared to conventional systems and realizes a bilateral control without the use of a force or pressure sensor. The proposed adaptive control system is validated in simulation and experimentation on a test rig built for this purpose. Special attention is given to the notion of transparency of the system, which is the ratio between the resistance of the master device experienced by the operator and the actual resistance of the remote environment in contact with the slave device. The adaptive controller shows advantage over a previously designed non-adaptive control system design in terms of stiffness, damping, and transparency. © IMechE 2019.
dc.identifier.doihttps://doi.org/10.1177/0959651819854557
dc.identifier.eid2-s2.0-85067862405
dc.identifier.urihttp://hdl.handle.net/10938/27358
dc.language.isoen
dc.publisherSAGE Publications Ltd
dc.relation.ispartofProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
dc.sourceScopus
dc.subjectAdaptive control
dc.subjectMagnetic resonance imaging
dc.subjectPneumatic actuator
dc.subjectSelf-tuning regulator
dc.subjectTele-operation
dc.subjectTransparency
dc.subjectMagnetic actuators
dc.subjectMedical imaging
dc.subjectPneumatic actuators
dc.subjectPneumatics
dc.subjectAdaptive controllers
dc.subjectBilateral control
dc.subjectConventional systems
dc.subjectRemote environment
dc.subjectSelf tuning regulators
dc.subjectTeleoperation systems
dc.subjectTransmission distances
dc.subjectAdaptive control systems
dc.titleReduced order indirect self-tuning regulator for a novel pneumatic tele-operation system
dc.typeArticle

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