TechnoFusión remote handling laboratory: Contributions to nuclear fusion facilities maintenance tasks

Garcia-Borras, Patricia; García-Robledo, Pablo; Barrio, Jorge; Ferré, Manuel; Aracil, Rafaél

doi:10.1109/carpi.2010.5624433

Cited by 5 publications

(3 citation statements)

References 5 publications

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“…These include time domain passivity control to make teleoperation system work in a wide variety of environments [9], adaptive control to estimate operator or environment models and teleoperation system uncertainties [10]- [12], sliding mode control for robustness against disturbances during task execution [13], [14], model-mediated control to reconstruct the slave environment at master site [15]- [17], gain scheduling to cope with uncertainties [18], model predictive control for constrained teleoperation with poorly known time delays [19], [20], H∞ control for multi-objective optimization [21], [22], frequency domain techniques to analyze stability of teleoperation system [23], [24], disturbance observes to lessen measurements [25], [26]. The developments in the control schemes have contributed to the enormous increase in the applications of teleoperation systems being developed for nuclear plants [27]- [29], underwater exploration [30]- [32], space missions [33]- [36], surgical procedures [37]- [41] and other industrial problems [42]- [46].…”

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confidence: 99%

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

et al. 2016

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This paper presents the design of a state convergence (SC) based bilateral controller for a nonlinear teleoperation system which has been approximated by a Takagi-Sugeno (TS) fuzzy model. The selection of SC is made due to the advantages offered by this scheme both in the modeling and control design stages. The modeling stage considers master/slave systems which can be represented by n th order differential equations while the control design stage offers an easy way to determine the control gains required for assigning desired closed loop dynamics to teleoperation system. After the master/slave systems are represented by TS fuzzy models, a stabilizing fuzzy law is adopted which allows deploying the SC scheme with all its benefits to design the fuzzy bilateral controller. In this way, not only the simplicity of the design scheme is ensured but also the existing SC scheme is able to control a nonlinear teleoperation system based on its TS fuzzy model description. As an additional advantage, the SC based existing linear bilateral controller can be easily derived from the SC based proposed fuzzy bilateral controller. Various cases of master/slave systems originally reported in terms of their linear model representation and communication in the absence/presence of time delay are all discussed in the corresponding fuzzy framework. MATLAB simulations considering a one-degree-of-freedom (DoF) teleoperation system are performed to validate the proposed methodology for controlling a nonlinear teleoperation system.

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confidence: 99%

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

et al. 2016

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“…In addition, CHAVIR can also simulate physical situation, confirm whether it is accessible or not [3] . In addition, Patricia Garcia and his staffs have focused their research on remote control platform needed by nuclear fueling facilities maintenance [4] .…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Remote Control Software for Nuclear Inspecting Devices

Liu

Zhang

Cheng

et al. 2013

AMR

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Remote control systems are usually adopted in nuclear facilities inspecting activities due to radioactive environments. Analysis on requirements and structural design are made, and functional modules are described in detail. Remote control software for nuclear equipment inspection is developed with combination of OpenGL 3-dimensional graphics and virtual reality technologies. Operators may try offline simulation before sending commands to control hardware, which improves accuracy and reliability of remote control system.

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“…[1][2][3] Handling of hazardous materials is also a well-known traditional use. 4 Recent developments, like microsurgery, have created new prospects for the field. 5 These applications are likely to elevate teleoperation to one of the major future fields of technology.…”

Section: Introductionmentioning

confidence: 99%

Stability of delayed passivity-based teleoperation systems in transition

Jafari

Zareinejad

Rezaei

et al. 2012

Proceedings of the Institution of Mechanical Engineers, Part I:

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Many robotics researchers have focused on stability in free and constrained motions, but only a few of them have considered system stability in the transition between these phases. For a teleoperation system, due to delay effects, studying this concept is even more crucial. Recently, passivity-based controller stability has been studied in free motion and constrained mode of a teleoperation system in the presence of constant time delay. However, the controller does not guarantee arbitrary switching between these modes. In this paper, a hybrid system theorem was employed to treat delayed teleoperative tasks that involve phase transition or switching. Applying this theorem, the stability of passivity-based architecture in transition was studied. It was proved that this type of controller is stable even with arbitrary switching. Experiments on a two-degrees-of-freedom nonlinear teleoperation system were conducted to verify the approach. Experimental results have shown that passivity-based architecture, as expected in controller design, is well suited for delayed teleoperation in transition. Moreover, even without force sensing, the system’s force tracking in dealing with a hard environment is admissible.

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TechnoFusión remote handling laboratory: Contributions to nuclear fusion facilities maintenance tasks

Cited by 5 publications

References 5 publications

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

Design and Implementation of Remote Control Software for Nuclear Inspecting Devices

Stability of delayed passivity-based teleoperation systems in transition

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