IN the past decades, teleoperation and telesurgery emerged as an independent research domain, then span out to various application areas. The first remote telesurgery system’s concept was born at NASA around 1973, and after many successful trials, the first ever trans-Atlantic surgical procedure was performed in 2001. With advanced control algorithms, and model predictive control, the stability and transparency of such systems can be assured. The fundamental task of the student is to model and simulate a time-delayed system for telesurgery, implement and test various control algorithms to guarantee the high quality of the teleoperation. Critical parameters of the system should be identified and tuned for optimized performance.
Detailed tasks:
- Understanding and reviewing the background of large distance teleoperation;
- Learning current methods for controller design and implementation, identify new possible approaches;
- Learning into Model Predictive Control
- Selecting and implementing a specific MPC algorithm
- Assessment of the simulation, evaluation of the results
Over the course of the project, the student will get involved with the various research project of the Antal Bejczy Center for Intelligent Robotics.