My researches could be counted as the first steps of getting into eye telesurgery in the ARAS. During these researches, I found out that interacting with soft tissues is the integral part in the eye telesurgery, although the accuracy of position tracking between master and slave have to be considered as well. Therefore, I decided to organize my thesis so that it can increase transparency in such eye surgeries. I have employed impedance control either master or slave robot in order to deal with this problem. In this structure, the parameters of the controllers have been determined by optimizing a problem whose cost function is fidelity criteria. To achieve robust stability of closed loop control, small gain constraints have been applied on the optimization problem. Additionally, the stability of closed loop in the presence of variable delay in communication channel has been guaranteed by input to state stability.
Finally, this structure has been evaluated by implementing it on the haptic Omni as master and a developed virtual reality SMOS robot as slave robot in the ARAS. The SMOS robot has been developed in C++ programming language. It used Ogre and Bullet libraries to form its graphic. The inspiration of this robot was our researches on eye robot surgeries which introduce the SMOS as the first robot has been utilized for this purpose. Different scenarios such as free and constrained motion with constant and variable delay have been designed to show the excellent performance of this structure.
- K.N.Toosi University, Tehran, Iran
M.S., Control Eng., Feb 2015
Topic: Extension and implementation of control methods to increase transparency in minimal invasive telesurgery systems
Advisor: H.D. Taghirad, Professor
GPA: 18.50/20 - K.N.Toosi University, Tehran, Iran
B.S., Control Eng., Aug 2012
Topic: Implementation and controle of teleoperated exible robot in virtual environment
Advisor: H.D. Taghirad, Professor
GPA: 18.30/20
- Khosravi, S. and Arjmandi, A. and Taghirad, H.D., “Sliding impedance control for improving transparency in telesurgery”, Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on, 209-214, 2014.
- Arjmandi, A and Khosravi, S. and Taghirad, H.D. “Robust peb controller design for teleoperation with variable time delay”, Control, Instrumentation, and Automation (ICCIA), 2013 3rd International Conference on, pp 328-333, 2013.
- Nayeri, M. R. and Khosravi, S. and Aliyari Sh, M. “Design and implementation double input fuzzy PI and fuzzy gain scheduling PI controller on hydraulic plant”, the 13th Iranian Conference on Fuzzy Systems (IFSC), 2013.
- Implementation Unilateral Eye Surgery Teleopration System (Master: Haptic Omni, Slave: SMOS formed as virtual in Robotarium)
- Simulation Unilateral Eye Surgery Teleopration System in MATLAB (Master: Haptic Omni, Slave: SMOS)
- Design and Simulation of Sliding Observer used in Eye surgery Teleoperation System
- Set a Cartesian CNC Robot up for Online Control through MATLAB
- Simulation and Control on SMOS (First Eye Surgery Robot)
- Robust Control on Flexible link
- Simulation and Hybrid Control of Mobile Robot
- Fault Diagnosis and Identification in Hydraulic System
- Implementation Unilateral Teleopration System (Master: Haptic Omni, Slave: 3 DOF Robot with Flexible link formed as virtual in Microsoft Robotics Developer)