Transparency-enhanced observer-based adaptive backstepping torque-position control for teleoperation systems with position error constraint and time-varying delay

Effective simulation of nonlinear soft tissue deformation for interactive medical applications: An enhanced XPBD technique

A Novel Grasping Teleoperation Control for Dual-Handed System

Four-rotor UAV has the problem of being susceptible to wind disturbance and coupling of its own channel in the flight process, which will have a negative impact on its trajectory tracking. This paper focus on the trajectory tracking in the flight process of the four-rotor UAV, a super twisting sliding mode(STSM) composite controller based on the extended state observer(ESO) is designed for the position loop of the UAV, attitude loop adopts the traditional cascade PID controller. First, the ground coordinate system is established as a reference for trajectory tracking, and then the kinematics modeling of the UAV system is carried out by using Newton-Euler method, and the desired trajectory is entered into the position controller. At the same time, an ESO is established based on a general UAV model, and disturbances and internal channel coupling of the UAV are observed and fedback to the corresponding controller. Finally, the composite proposed controller is simulated to track a desired trajectory. Based on the simulation results,draw the conclusion of the composite controller this paper proposed improved the robustness of the four-rotor UAV in the trajectory tracking scenario.

A Super-Twisting-Sliding-Mode Controller for four-rotor UAV

With continuous development and progress of computer graphics, virtual reality and other technologies, it has gradually begun to use computers to make virtual objects with highly reductive properties to simulate the motion and posture of real objects. The simulation technology of rigid objects is becoming more and more mature. However, the flexible objects‘ modeling and simulation is still an active topic. Using virtual flexible object for preoperative training is an important application of flexible object modeling technology in the field of medical area. Before the surgery, doctors can use virtual flexible objects for teaching or training, which is great significant to improve the success rate of surgery and reduce errors. At present, the demand of soft object models realized by physical modeling method is increasing. In this paper, we construct a virtual spring using Hooke’ s law, updating the velocity and position of the masses using Euler’ s integral method. We also construct a spring mass model for a throat by generating the masses according to the model volume. The mass position information may be acquired from dynamic texture mapping so as to realize the deformation simulation of a flexible object.

Throat Modeling Based on Mass-Spring Method and Unity 3D for Surgery Traning

In many tele-operation tasks, the network communication delay caused by the distance between the master and the slave side make the time delay inevitably an important factor affecting the performance of the system. This paper addresses the problem of how to improve the transparency and stability of tele-operated manipulator systems under the influence of time delay, and designs a tele-operated system based on virtual predictive simulation to estimate the virtual force on the deformation region of the target surface by a spring-mass-model when the manipulator interacts with the target in the virtual environment, and finally verifies the effectiveness of the proposed method in weakening the influence of time delay through experiments.

Visual Prediction based Teleoperation Control

A rod-mass method of soft tissue modeling and three dimensional force vector estimation for tele-surgery training

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