TY - GEN
T1 - Design and Implementation of the Electronic Domain of a 1 DOF Bilateral Teleoperation System Considering Submerged Environments
AU - Pauyac Estrada, Claudia R.
AU - Caceres, Pablo Cardenas
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Teleoperation systems are presented as solutions in research areas that focus on activities for which the human being is not physically prepared, due to the dangers that exist in the environment in which they are developed. However, in most of these systems, control algorithms lack a bilateral feature, i.e., the operator, who is in a remote space, is unaware of how much effort is being applied in the local environment, as no interaction with the environment is being perceived. In recent years, the need has arisen to design teleoperation systems that can be used in underwater environments, since underwater activities, such as underwater archaeology, flora and fauna exploration, and more, have several limitations in the execution of missions. In this work is presented the design methodology present in the development of the electronics involved in a 1 DOF (Degrees of Freedom) bilateral teleoperation platform that can be used in underwater environments; this allows the execution of bilateral control algorithms and considers the mechanical design of the system. The electronic design is validated so that it can be used in future research.
AB - Teleoperation systems are presented as solutions in research areas that focus on activities for which the human being is not physically prepared, due to the dangers that exist in the environment in which they are developed. However, in most of these systems, control algorithms lack a bilateral feature, i.e., the operator, who is in a remote space, is unaware of how much effort is being applied in the local environment, as no interaction with the environment is being perceived. In recent years, the need has arisen to design teleoperation systems that can be used in underwater environments, since underwater activities, such as underwater archaeology, flora and fauna exploration, and more, have several limitations in the execution of missions. In this work is presented the design methodology present in the development of the electronics involved in a 1 DOF (Degrees of Freedom) bilateral teleoperation platform that can be used in underwater environments; this allows the execution of bilateral control algorithms and considers the mechanical design of the system. The electronic design is validated so that it can be used in future research.
KW - Bilateral teleoperation
KW - FOC
KW - state convergence control
KW - underwater manipulator
UR - http://www.scopus.com/inward/record.url?scp=85179881095&partnerID=8YFLogxK
U2 - 10.1109/INTERCON59652.2023.10326030
DO - 10.1109/INTERCON59652.2023.10326030
M3 - Conference contribution
AN - SCOPUS:85179881095
T3 - Proceedings of the 2023 IEEE 30th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023
BT - Proceedings of the 2023 IEEE 30th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023
Y2 - 2 November 2023 through 4 November 2023
ER -
