Force Control and Bilateral Teleoperation (EE 628)

2023 Fall
Faculty of Engineering and Natural Sciences
Electronics Engineering(EE)
3
10
Volkan Patoğlu vpatoglu@sabanciuniv.edu,
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English
Doctoral, Master
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Formal lecture
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CONTENT

This course is designed to equip students with fundamental theories and computational methodologies that are used in (computer aided) analysis and synthesis of force controlled and bilaterally teleoperated systems. By the end of the course a solid understanding of the principles of force/bilateral control in the context of modern classical control and hands on experience with implementation of force/bilateral controllers on force feedback devices are aimed. Covered topics include fundamental limitations of feedback control, explicit force control, implicit force control, impedance control, admittance control, reaction force observers, scaled teleoperation architectures, trade-off between robust stability and transperancy, physics based simulation of virtual environments, haptics rendering, passivity of the human-in-the-loop sampled data system, destabilizing effects of communication/computation delays and approaches to compensate for these time delays, namely, time domain passivity and wave variable approaches. The course is appropriate for students in any engineering discipline with interests in robotics, nonlinear controls, and haptics.

OBJECTIVE

This course is designed to equip students with fundamental theories and computational methodologies that are used in human-machine interfaces and teleoperation systems. Students will learn how to analyze and synthesize controllers for human-machine interfaces as well as how to implement them in real time.

Students will be introduced to explicit and implicit force controllers, force observers, impedance/admittance control, haptic rendering, four/two-channel teleoperator architectures, scaling and time delay in teleoperation. Fundamental limitations of feedback control systems, robust stability and transperancy tradeoff of teleoperation systems will be studied.

Primary application areas of haptic interfaces and teleoperators include rehabilitation and manual task training (including flight and surgery training). Teleoperators are also commonly employed as interfaces of micro/nano manipulators. Addition of force feedback to these interfaces improve sense of immersion in virtual environments and render virtual assistance as well as human capability enhancements possible. "X-by-wire" type concepts are other motivating applications where traditional direct mechanical controllers are replaced by their enhanced electronic implementations.

The emphasis in this course is not on the excessive mathematical abstraction but rather on an integrated understanding of modeling, analysis, synthesis, and real time implementation. A solid understanding of the major concepts in the context of modern haptic interfaces and teleoperation systems is aimed.

LEARNING OUTCOMES

  • The goal of this course is to equip each student with an integrated understanding of fundamental theories and computational methodologies that are used in (computer aided) analysis and synthesis of force controlled and bilaterally teleoperated systems. By the end of the course, each student should be able to do the following: Linearize nonlinear systems using small signal (Taylor series) and feedback linearization techniques.
  • Identify phase margin, gain margin, and vector margin of LTI systems from Bode/Nyquist plots.
  • Derive sensitivity and complementary sensitivity functions of MIMO LTI systems and explain fundamental limitations of feedback control.
  • Check for internal stability of MIMO LTI systems.
  • List the major challenges in explicit force control and analytically demonstrate major reasons for chatter.
  • Synthesize (using root locus analysis) and implement explicit force controllers with guaranteed stability.
  • Design and implement reaction torque observers.
  • Derive and implement impedance controllers with and without force feedback.
  • Synthesize and implement admittance controllers.
  • Compare several force control architectures, discuss the mechanical properties of the plant favored by each controller, and select the appropriate controller for any given plant.
  • Construct and formulate physics based simulations of virtual environments.
  • List the sources of energy leaks in haptics rendering and discuss the compensation approaches.
  • Implement passive haptics renderings of physics based simulation of virtual environments
  • Construct the 4-channel bilateral teleoperator architecture with local force feedback and demonstrate the fundamental trade-off between stability and transparency.
  • Compare approaches to scaled bilateral teleoperation and discuss their advantages/disadvantages.
  • Identify the differences between BIBO stability, Lyapunov stability, passivity, and unconditional stability.
  • Design and implement passivity based controllers for stable scaled teleoperator architectures.
  • Demonstrate destabilizing effects of time delay and discuss approaches to compensate for these effects.

PROGRAMME OUTCOMES


1. Develop and deepen the current and advanced knowledge in the field with original thought and/or research and come up with innovative definitions based on Master's degree qualifications 5

2. Conceive the interdisciplinary interaction which the field is related with ; come up with original solutions by using knowledge requiring proficiency on analysis, synthesis and assessment of new and complex ideas. 5

3. Evaluate and use new information within the field in a systematic approach. 5

4. Develop an innovative knowledge, method, design and/or practice or adapt an already known knowledge, method, design and/or practice to another field; research, conceive, design, adapt and implement an original subject. 4

5. Critical analysis, synthesis and evaluation of new and complex ideas. 5

6. Gain advanced level skills in the use of research methods in the field of study. 5

7. Contribute the progression in the field by producing an innovative idea, skill, design and/or practice or by adapting an already known idea, skill, design, and/or practice to a different field independently. 4

8. Broaden the borders of the knowledge in the field by producing or interpreting an original work or publishing at least one scientific paper in the field in national and/or international refereed journals. 3

9. Demonstrate leadership in contexts requiring innovative and interdisciplinary problem solving. 3

10. Develop new ideas and methods in the field by using high level mental processes such as creative and critical thinking, problem solving and decision making. 4

11. Investigate and improve social connections and their conducting norms and manage the actions to change them when necessary. 2

12. Defend original views when exchanging ideas in the field with professionals and communicate effectively by showing competence in the field. 2

13. Ability to communicate and discuss orally, in written and visually with peers by using a foreign language at least at a level of European Language Portfolio C1 General Level. 4

14. Contribute to the transition of the community to an information society and its sustainability process by introducing scientific, technological, social or cultural improvements. 3

15. Demonstrate functional interaction by using strategic decision making processes in solving problems encountered in the field. 3

16. Contribute to the solution finding process regarding social, scientific, cultural and ethical problems in the field and support the development of these values. 3


1. Develop the ability to use critical, analytical, and reflective thinking and reasoning 5

2. Reflect on social and ethical responsibilities in his/her professional life. 3

3. Gain experience and confidence in the dissemination of project/research outputs 5

4. Work responsibly and creatively as an individual or as a member or leader of a team and in multidisciplinary environments. 4

5. Communicate effectively by oral, written, graphical and technological means and have competency in English. 4

6. Independently reach and acquire information, and develop appreciation of the need for continuously learning and updating. 5


1. Design and model engineering systems and processes and solve engineering problems with an innovative approach. 5

2. Establish experimental setups, conduct experiments and/or simulations. 5

3. Analytically acquire and interpret data. 5


1. Display knowledge of contemporary issues in molecular biology, genetics and bioengineering and apply them to a particular problem. 1

2. To develop knowledge and theory by using data and scientific methods in molecular biology, genetics and bioengineering. 1

3. Display a good command of scientific literature in biology, genetics and bioengineering for developing novel projects, improving the quality of research and products 1


1. Apply knowledge of mathematics, science, and engineering in computer science and engineering related problems. 3

2. Display knowledge of contemporary issues in computer science and engineering and apply to a particular problem. 1

3. Demonstrate the use of results from interpreted data to improve the quality of research or a product in computer science and engineering. 1


1. To have acquired basic theoretical knowledge and technical infrastructure in the field of cyber security, 1

2. To have developed a deep experience and understanding on the basic methods and human-induced and techinal weaknesses followed by the existing and future cyber attacks, threats and counterfeiting, 1

3. To be able to analyze an IT infrastructure comprehensively and to determine risk by monitoring the existing weaknesses and to determine a cyber security strategy, 1

4. To take the necessary measures to prevent possible costs and destruction during the occurrence of cyber attacks, 1

5. To be able to use current cyber security software tools and related software for professional purposes 1


1. Understand the conceptual foundations of analytical methods and techniques for data science 1

2. Understand the theory and practice of applied information systems by developing the necessary computer software skills 2

3. Transform high-volume data sets into actionable information format and use statistical data analysis tools to support decision making within the corporate structure 1

4. Understand and apply quantitative modeling and data analysis techniques to extract information from big data and use these findings to analyze business problems, present results using data visualization tools and report findings 1

5. Understand data quality, data integrity and data veracity, recognize ethical aspects of business related to intellectual property and data privacy 1


1. Use advanced Math (including probability and/or statistics), advanced sciences, advanced computer and programming, and advanced Electronics engineering knowledge to design and analyze complex electronics circuits, instruments, software and electronic systems with hardware/software. 5

2. Analyze and design advanced communication networks and systems, advanced signal processing algorithms or software using advanced knowledge on diff. equations, linear algebra, complex variables and discrete math. 5


1. Design and model energy systems and processes that will increase efficiency, decrease costs and reduce environmental impact. 1

2. Develop a basic understanding of the multidisciplinary aspect of energy area and understand the interactions between technical, economic, social and policy aspects. 1

3. Develop the scientific and technical fundamentals to understand and communicate the working principles of energy systems such as wind turbines, energy storage and conversion devices, electrical power systems, etc. 1

4. Apply scientific and engineering principles to energy systems for creating innovative solutions to world's energy related problems such as scarce resources, sustainability, energy efficiency and climate change. 1

5. Interact with researchers from different disciplines to exchange ideas and identify areas of research collaboration to advance the frontiers of present knowledge and technology; determine relevant solution approaches and apply them by preparing a research strategy. 1

6. Take part in ambitious and highly challenging research to generate value for both the industry and society. 1


1. Establish a strong theoretical background in several of a broad range of subjects related to the discipline, such as manufacturing processes, service systems design and operation, production planning and control, modeling and optimization, stochastics, statistics. 1

2. Develop novel modeling and / or analytical solution strategies for problems in integrated production and service systems involving human capital, materials, information, equipment, and energy, also using an interdisciplinary approach whenever appropriate. 1

3. Implement solution strategies on a computer platform for decision-support purposes by employing effective computational and experimental tools. 1

4. Acquire skills to independently explore and tackle problems related to the discipline that were not encountered previously. Develop appropriate modeling, solution, implementation strategies, and assess the quality of the outcome. 1


1. Apply a broad knowledge of structure & microstructure of all classes of materials, and the ability to use this knowledge to determine the material properties. 1

2. Apply a broad understanding of the relationships between material properties, performance and processing. 1

3. Apply a broad understanding of thermodynamics, kinetics, transport phenomena, phase transformations and materials aspects of advanced technology. 1

4. Demonstrate hands-on experience using a wide range of materials characterization techniques. 1

5. Demonstrate the use of results from interpreted data to improve the quality of research, a product, or a product in materials science and engineering. 1


1. Develop abstract mathematical thinking and mathematical intuition. 2

2. Demonstrate a broad understanding of several areas of advanced mathematics and of their interrelations. 3

3. Have knowledge of the fundamental and advanced concepts, principles and techniques from a range of topics. 3

4. The ability to tackle complex problems, reveal structures and clarify problems, discover suitable analytical and/or numerical methods and interpret solutions. 3

5. Analyze problems of the area of specialization, plan strategies for their solution, and apply notions and methods of abstract and/or applied mathematics to solve them. 2


1. Apply software, modeling, instrumentation, and experimental techniques and their combinations in the design and integration of electrical, electronic, control and mechanical systems. 5

2. Interact with researchers from different disciplines to exchange ideas and identify areas of research collaboration to advance the frontiers of present knowledge and technology; determine relevant solution approaches and apply them by preparing a research strategy. 5

3. Take part in ambitious and highly challenging research to generate value for both the industry and society. 5


1. To have knowledge and experience in the research, design, analysis and development of advanced manufacturing and production systems and the machinery and equipment of these systems 2

2. Identify product performance and manufacturing processes relationship and optimize process parameters 1

3. Interpret the resultant data to improve the quality and performance of a product 1

4. Research and apply manufacturing engineering knowledge on industrial applications 1


1. Display knowledge of contemporary issues in physics and apply them to specific problems in the field of study. 1

2. Interpret and criticize newly developed theoretical models and experimental results in a particular field in physics 2

3. Display a good command of scientific literature in physics for developing novel projects, improving the quality of research and products 2

4. Apply knowledge of mathematics to analyze experimental results and to solve problems in physics 2


1. Employ mathematical methods to solve physical problems and understand relevant numerical techniques. 3

2. Conduct basic experiments or simulations. 3

3. Analytically acquire and interpret data. 3

4. Establish thorough understanding of the fundamental principles of physics. 3

ASSESSMENT METHODS and CRITERIA

  Percentage (%)
Final 25
Midterm 25
Term-Paper 25
Homework 25

RECOMENDED or REQUIRED READINGS

Readings

Research papers, book chapters, and supplementary material are assigned throughout the term.