OPEN ARCHITECTURE FOR INTERNET BASED TELE-ROBOTIC SYSTEM

Building an Internet based tele-robotic system requires the developers beingproficient in computer theory, network technology, control theory, etc. A flexible, open structuredand module based framework for tele-control system is proposed on the basis of abstraction andanalysis of existing Internet-based control systems. This framework is designed following the peerto peer (P2P) distributed computing model. As a key to the system, the XML based ontology ofresources/modules/peers is discussed, so do the model for dynamically allocating of resources, basedon which the coordination among modules or peers can then be implemented. The experiment system andits experimental results prove the feasibility of the framework and its ease to use.

A novel control framework for internet based tele-robotics

Aiming at the tele-operation instability caused by time delay of interuet information transfer for internet based tele-robotics, this paper proposes a novel control framework for internet based tele-roboties, which can guarantee the non-distortion-transfer of control information and reduce the difference of action time between the local simulated virtual robot and the remote real robot. This framework is insensitive to the inherent interact time delay, and differs from other tele-robotics systems that try to use some mathematic models to describe the internet delay or take some assumptions. In order to verify the framework, a 4-DOF fischertechnik industry robot tele-operation system has been developed using the new proposed framework. Experimental results demonstrate the applicable performance of the new framework. The framework is open structured and can be applied to other general purposed tele-operation systems.

Hybrid event based control architecture for tele-robotic systems controlled through Internet

A new hybrid event based control architecture for tele-robotic systems controlled through the Internet is pro-posed in this paper. Different from the traditional event based control method, the new framework does not require every part of the system to be strictly event synchronized. Instead, it allows time referenced control components to be integrated into this framework, which makes it more convenient to develop Internet based control systems. Since there are two reference variables, time and event, in this architecture, how to coordinate these components with different references to keep the stability of the whole system is discussed in detail in this paper. To verify this new idea, an experiment was conducted to control the end effector of a PUMA robot tracking a continuous state trajectory given on-line by the remote operator. Ex-perimental results confirmed the stability of such systems being controlled through the Internet in real-time.

Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery

In this paper the design of a novel modular hydraulic/pneumatic actuated tele-robotic system and a new infrastructure for MRI-guided intervention for closed-bore MRI-guided neurosurgery are presented. Candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The major focus is the application of the designed MR-compatible robotic system to MRI-guided brain biopsy. Navigation and operating modules were designed to undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported.