Power scaling in port-Hamiltonian telemanipulation over packet switched networks

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

4 Citations (Scopus)

Abstract

In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.
Original languageUndefined
Title of host publicationAdvances in Telerobotics
EditorsM. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balaguer
Place of PublicationHeidelberg
PublisherSpringer
Pages233-256
Number of pages24
ISBN (Print)978-3-540-71363-0
DOIs
Publication statusPublished - Jan 2007

Publication series

NameSpringer tracts in advanced robotics
PublisherSpringer Verlag
NumberLNCS4549/31
Volume31
ISSN (Print)1610-7438

Keywords

  • EWI-11053
  • IR-61914
  • METIS-241909

Cite this

Secchi, C., Stramigioli, S., & Fantuzzi, C. (2007). Power scaling in port-Hamiltonian telemanipulation over packet switched networks. In M. Ferre, M. Buss, R. Aracil, C. Melchiorri, & C. Balaguer (Eds.), Advances in Telerobotics (pp. 233-256). (Springer tracts in advanced robotics; Vol. 31, No. LNCS4549/31). Heidelberg: Springer. https://doi.org/10.1007/978-3-540-71364-7_15
Secchi, Cristian ; Stramigioli, Stefano ; Fantuzzi, Cesare. / Power scaling in port-Hamiltonian telemanipulation over packet switched networks. Advances in Telerobotics. editor / M. Ferre ; M. Buss ; R. Aracil ; C. Melchiorri ; C. Balaguer. Heidelberg : Springer, 2007. pp. 233-256 (Springer tracts in advanced robotics; LNCS4549/31).
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Secchi, C, Stramigioli, S & Fantuzzi, C 2007, Power scaling in port-Hamiltonian telemanipulation over packet switched networks. in M Ferre, M Buss, R Aracil, C Melchiorri & C Balaguer (eds), Advances in Telerobotics. Springer tracts in advanced robotics, no. LNCS4549/31, vol. 31, Springer, Heidelberg, pp. 233-256. https://doi.org/10.1007/978-3-540-71364-7_15

Power scaling in port-Hamiltonian telemanipulation over packet switched networks. / Secchi, Cristian; Stramigioli, Stefano; Fantuzzi, Cesare.

Advances in Telerobotics. ed. / M. Ferre; M. Buss; R. Aracil; C. Melchiorri; C. Balaguer. Heidelberg : Springer, 2007. p. 233-256 (Springer tracts in advanced robotics; Vol. 31, No. LNCS4549/31).

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

TY - CHAP

T1 - Power scaling in port-Hamiltonian telemanipulation over packet switched networks

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AU - Stramigioli, Stefano

AU - Fantuzzi, Cesare

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N2 - In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.

AB - In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.

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T3 - Springer tracts in advanced robotics

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BT - Advances in Telerobotics

A2 - Ferre, M.

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Secchi C, Stramigioli S, Fantuzzi C. Power scaling in port-Hamiltonian telemanipulation over packet switched networks. In Ferre M, Buss M, Aracil R, Melchiorri C, Balaguer C, editors, Advances in Telerobotics. Heidelberg: Springer. 2007. p. 233-256. (Springer tracts in advanced robotics; LNCS4549/31). https://doi.org/10.1007/978-3-540-71364-7_15