XFEM-based Adaptive Contact Model for Telepresence Systems: Time Delay Compensation and Stability Improvement during Medical Incision - Couverture souple

Ono, Keita

9783838133645: XFEM-based Adaptive Contact Model for Telepresence Systems: Time Delay Compensation and Stability Improvement during Medical Incision

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ISBN 10 : 3838133641 ISBN 13 : 9783838133645

Editeur : Sudwestdeutscher Verlag Fur Hochschulschriften AG, 2012

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An incision is a common process in medical telepresence applications. When a large distance between the human operator and the teleoperator is presented, it can lead to a time delay in communication channel which causes the hand's movement and the force feedback perception not to synchronize. This research work proposed an adaptive contact model based on the Extended Finite Element Method (XFEM). The proposed contact model compensates the time delay using the real-time dynamic geometry deformation simulation and the calculation of the corresponding incision force between the scalpel at the end-effector of the teleoperator and the remote environment. An adaptive parameter identification algorithm is also developed allowing online model verification during the actual incision. The experimental results demonstrate a stability improvement during the incision with the experimental telepresence system.

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� propos de l?auteur

was born in Tokyo Japan. He studied B.Sc. mechanical engineering at Chulalongkorn University, Thailand and M.Sc. mechatronics at Leibniz Universit�t Hannover, Germany. As a researcher, he joined Institute of Applied Mechanics, Technische Universit�t M�nchen, Munich Germany, where he also received his Ph.D. in robotic and mechatronics in 2011.

Les informations fournies dans la section � A propos du livre � peuvent faire r�f�rence � une autre �dition de ce titre.

�diteur: Sudwestdeutscher Verlag Fur Hochschulschriften AG
Date d'�dition: 2012
Langue: anglais
ISBN 10: 3838133641
ISBN 13: 9783838133645
Reliure: Broch�
Nombre de pages: 116
Coordonn�es du fabricant: non disponible
Personne responsable: info@bod.de
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XFEM-based Adaptive Contact Model for Telepresence Systems

Keita Ono

Edit� par S�dwestdeutscher Verlag F�r Hochschulschriften Jun 2012, 2012

ISBN 10 : 3838133641 ISBN 13 : 9783838133645

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Taschenbuch. Etat : Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -An incision is a common process in medical telepresence applications. When a large distance between the human operator and the teleoperator is presented, it can lead to a time delay in communication channel which causes the hand's movement and the force feedback perception not to synchronize. This research work proposed an adaptive contact model based on the Extended Finite Element Method (XFEM). The proposed contact model compensates the time delay using the real-time dynamic geometry deformation simulation and the calculation of the corresponding incision force between the scalpel at the end-effector of the teleoperator and the remote environment. An adaptive parameter identification algorithm is also developed allowing online model verification during the actual incision. The experimental results demonstrate a stability improvement during the incision with the experimental telepresence system. 116 pp. Englisch. N� de r�f. du vendeur 9783838133645

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XFEM-based Adaptive Contact Model for Telepresence Systems

Keita Ono

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ISBN 10 : 3838133641 ISBN 13 : 9783838133645

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Etat : New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. Autor/Autorin: Ono Keitawas born in Tokyo Japan. He studied B.Sc. mechanical engineering at Chulalongkorn University, Thailand and M.Sc. mechatronics at Leibniz Universitaet Hannover, Germany. As a researcher, he joined Institute of Applied Mechanic. N� de r�f. du vendeur 5407645

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XFEM-based Adaptive Contact Model for Telepresence Systems

Keita Ono

Edit� par S�dwestdeutscher Verlag F�r Hochschulschriften Jun 2012, 2012

ISBN 10 : 3838133641 ISBN 13 : 9783838133645

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Taschenbuch. Etat : Neu. This item is printed on demand - Print on Demand Titel. Neuware -An incision is a common process in medical telepresence applications. When a large distance between the human operator and the teleoperator is presented, it can lead to a time delay in communication channel which causes the hand's movement and the force feedback perception not to synchronize. This research work proposed an adaptive contact model based on the Extended Finite Element Method (XFEM). The proposed contact model compensates the time delay using the real-time dynamic geometry deformation simulation and the calculation of the corresponding incision force between the scalpel at the end-effector of the teleoperator and the remote environment. An adaptive parameter identification algorithm is also developed allowing online model verification during the actual incision. The experimental results demonstrate a stability improvement during the incision with the experimental telepresence system.VDM Verlag, Dudweiler Landstra�e 99, 66123 Saarbr�cken 116 pp. Englisch. N� de r�f. du vendeur 9783838133645

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XFEM-based Adaptive Contact Model for Telepresence Systems : Time Delay Compensation and Stability Improvement during Medical Incision

Keita Ono

Edit� par S�dwestdeutscher Verlag F�r Hochschulschriften, 2012

ISBN 10 : 3838133641 ISBN 13 : 9783838133645

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Vendeur : AHA-BUCH GmbH, Einbeck, Allemagne

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Taschenbuch. Etat : Neu. nach der Bestellung gedruckt Neuware - Printed after ordering - An incision is a common process in medical telepresence applications. When a large distance between the human operator and the teleoperator is presented, it can lead to a time delay in communication channel which causes the hand's movement and the force feedback perception not to synchronize. This research work proposed an adaptive contact model based on the Extended Finite Element Method (XFEM). The proposed contact model compensates the time delay using the real-time dynamic geometry deformation simulation and the calculation of the corresponding incision force between the scalpel at the end-effector of the teleoperator and the remote environment. An adaptive parameter identification algorithm is also developed allowing online model verification during the actual incision. The experimental results demonstrate a stability improvement during the incision with the experimental telepresence system. N� de r�f. du vendeur 9783838133645

Contacter le vendeur