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).
    @inbook{a0523840d34e41538315e3500713ea65,
    title = "Power scaling in port-Hamiltonian telemanipulation over packet switched networks",
    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.",
    keywords = "EWI-11053, IR-61914, METIS-241909",
    author = "Cristian Secchi and Stefano Stramigioli and Cesare Fantuzzi",
    year = "2007",
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    doi = "10.1007/978-3-540-71364-7_15",
    language = "Undefined",
    isbn = "978-3-540-71363-0",
    series = "Springer tracts in advanced robotics",
    publisher = "Springer",
    number = "LNCS4549/31",
    pages = "233--256",
    editor = "M. Ferre and M. Buss and R. Aracil and C. Melchiorri and C. Balaguer",
    booktitle = "Advances in Telerobotics",

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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

    AU - Secchi, Cristian

    AU - Stramigioli, Stefano

    AU - Fantuzzi, Cesare

    PY - 2007/1

    Y1 - 2007/1

    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.

    KW - EWI-11053

    KW - IR-61914

    KW - METIS-241909

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    DO - 10.1007/978-3-540-71364-7_15

    M3 - Chapter

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    T3 - Springer tracts in advanced robotics

    SP - 233

    EP - 256

    BT - Advances in Telerobotics

    A2 - Ferre, M.

    A2 - Buss, M.

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    A2 - Melchiorri, C.

    A2 - Balaguer, C.

    PB - Springer

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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