Master-slave System Research Articles

Design and realization of an isomorphic master-slave robotic system for precise sub-micrometer manipulations in ophthalmic surgery

Design and realization of an isomorphic master-slave robotic system for precise sub-micrometer manipulations in ophthalmic surgery

RBFNN-PSO Intelligent Synchronisation Method for Sprott B Chaotic Systems with External Noise and Its Application in an Image Encryption System.

In the past two decades, research in the field of chaotic synchronization has attracted extensive attention from scholars, and at the same time, more synchronization methods, such as chaotic master-slave synchronization, projection synchronization, sliding film synchronization, fractional-order synchronization and so on, have been proposed and applied to chaotic secure communication. In this paper, based on radial basis function neural network theory and the particle swarm optimisation algorithm, the RBFNN-PSO synchronisation method is proposed for the Sprott B chaotic system with external noise. The RBFNN controller is constructed, and its parameters are used as the particle swarm particle optimisation parameters, and the optimal values of the controller parameters are obtained by the PSO training method, which overcomes the influence of external noise and achieves the synchronisation of the master-slave system. Then, it is shown by numerical simulation and analysis that the scheme has a good performance against external noise. Because the Sprott B system has multiple chaotic attractors with richer dynamics, the synchronization system based on Sprott B chaos is applied to the image encryption system. In particular, the Zigzag disambiguation method for top corner rotation and RGB channel selection is proposed, and the master-slave chaotic system synchronisation sequences are diffused to the disambiguated data streams, respectively. Therefore, the encryption and decryption of image transmission are implemented and the numerical simulation results are given, the random distribution characteristics of encrypted images are analysed using histogram and Shannon entropy methods, and the final results achieve the expected results.

Intuitive teleoperation with hand-tracking in VR: a study on master–slave system virtualization and 3D workspace visualization

Intuitive teleoperation with hand-tracking in VR: a study on master–slave system virtualization and 3D workspace visualization

Design and Motion Control of Master-Slave Control Endotracheal Intubation Robot.

Master-slave remote control technology allows patients to be treated promptly during transport and also reduces the risk of contagious infections. Endotracheal intubation, guided by endoscopy and a master-slave system, enables doctors to perform the procedure efficiently and accurately. In this paper, we present the development of a master-slave controlled endotracheal intubation robot (EIR). It is based on operation incremental mapping, a weighted recursive average filtering method to reduce vibration, and a virtual fixture designed to reduce mishandling in minimally invasive surgery. Simulation analysis of the master-slave control demonstrates that the weighted recursive average filtering method effectively reduces vibration, while the virtual fixture assists in confining the operator's movement within a delimited area. Experimental validation confirms the validity of the robot's structural design and control method. The developed robot successfully achieves the necessary motion for endotracheal intubation surgery through master-slave control.

An unsupervised learning-based guidewire shape registration for vascular intervention surgery robot

In a vascular interventional surgery robot(VISR), a high transparency master-slave system can aid physicians in the more precise manipulation of guidewires for navigation and operation within blood vessels. However, deformations arising from the movement of the guidewire can affect the accuracy of the registration, thus reducing the transparency of the master-slave system. In this study, the degree of the guidewire’s deformation is analyzed based on the Kirchhoff model. An unsupervised learning-based guidewire shape registration method(UL-GSR) is proposed to estimate geometric transformations by learning displacement field functions. It can effectively achieve precise registration of flexible bodies. This method not only demonstrates high registration accuracy but also performs robustly under different complexity degrees of guidewire shapes. The experiments have demonstrated that the UL-GSR method significantly improves the accuracy of shape point set registration between the master and slave sides, thus enhancing the transparency and operational reliability of the VISR system.

A master-slave teleoperation system control model based on model predictive control with fast dynamic response

Robot technology is advancing with constantly expanding applications. Teleoperation system demonstrates its potential to extend human capabilities in unstructured and hazardous environments as an important branch of robotics. However, there are still issues involving insufficient position tracking accuracy and dynamic response capabilities. This article proposes a master-slave teleoperation system control model based on model predictive control (MPC) with a real-time dynamic adaptive parameter adjustment algorithm. We establish a model based on the integral barrier Lyapunov function and construct a dynamic optimization model based on MPC. Then we carry out rolling optimization and feedback correction at each moment to feed the predicted values generated by MPC back to correct the actual tracking trajectories in real-time. Additionally, we utilize an adaptive neural network and robust term compensation to adjust dynamic parameters and eliminate the effects of time delays, external disturbances, and model uncertainties. Theoretical simulation experiments are conducted on the Simulink platform, analyzing position tracking error and dynamic response capabilities of the master-slave robot respectively to verify the proposed model. The results indicate a reduction in the position tracking errors of the master with 10% and slave with 11%, while also showing an improvement in their dynamic response capabilities. The speed error ranges of the master and slave are shortened with 6% and 7% respectively.

A master-slave teleoperation system control model based on model predictive control with fast dynamic response

A master-slave teleoperation system control model based on model predictive control with fast dynamic response

An integral of motion for a Master–Slave system of damped Duffing oscillators with variable coefficients: Nonlinear dynamics and computer simulations

In this work, a master–slave system composed by a pair of damped Duffing oscillators with variable coefficients and nonlinear coupling is investigated. An integral of motion for the system is obtained using a symmetry transformation and Noether’s theorem. Some numerical examples are presented for different cases of damping and oscillation frequency, for a varying coupling constant. The system dynamics is studied by means of space-time surfaces, time series and phase portraits. For a constant oscillation frequency, the slave presents envelopes that tend to become chaotic as the coupling constant increases. Meanwhile, as the frequency increases with time, the slave has higher amplitudes and speeds than the master oscillator.

See farther and more: a master-slave UAVs based synthetic optical aperture imaging system with wide and dynamic baseline.

An open challenge remained in designing an optical system to capture the aerial image with a wide field of view (FoV) and high resolution. The optical system of one camera from a single unmanned aerial vehicle (UAV) can hardly promise the FoV and resolution. The conventional swarm UAVs can form the camera array with a short or fixed baseline. They can capture the images with a wide FoV and high resolution, but the cost is the requirement of many UAVs. We aim to design a camera array with a wide and dynamic baseline to reduce the demand for UAVs to organize a synthetic optical aperture. In this thought, we propose a master-slave UAVs-based synthetic optical aperture imaging system with a wide and dynamic baseline. The system consists of one master UAV and multiple slave UAVs. Master and slave UAVs provide the global and local FoVs, respectively, and improve the efficiency of image acquisition. In such a system, fusing UAV images becomes a new challenge due to two factors: (i) the small FoV overlap of slave UAVs and (ii) the gap in resolution scale from slave to master UAV images. To deal with it, a coarse-to-fine stitching method is proposed to stitch up the multi-view images into one to obtain a wide FoV with high resolution. A video stabilization method has also been designed for the proposed imaging system. Challenges caused by wide and dynamic baselines can thus be solved by the above methods. Actual data experiments demonstrate that the proposed imaging system achieves high-quality imaging results.

Fuzzy sliding mode control based-fast finite-time projective synchronization for fractional-order chaotic systems

This study explores the challenge of achieving a fast finite-time projective synchronization (FFTPS) in chaotic systems characterized by incommensurate fractional orders, unknown master-slave models, and uncertain external disturbances. Utilizing the principles of Lyapunov stability theory, two fuzzy sliding mode control (FSMC) schemes are proposed. Accordingly, two novel non-singular finite-time sliding surfaces are constructed. Fuzzy logic systems are utilized to provide an approximation of the continuous uncertain dynamics within the master-slave system. The sufficient conditions for both controllers are derived to ensure this robust FFTPS. Finally, the proposed controllers are validated through numerical simulations on two projective synchronization examples of fractional-order chaotic systems, demonstrating their feasibility.

Predefined-time sliding mode control for synchronization of uncertain hyperchaotic system and application

The main goal of this paper is to investigate the predefined-time sliding mode control and synchronization of uncertain hyperchaotic systems and its application in secure communication. Firstly, a novel predefined-time sliding surface is designed. Then a predefined-time sliding mode controller is proposed for uncertain hyperchaotic systems, which can guarantee synchronization of the master-slave system within a predefined time in the presence of parameter uncertain and external disturbance. Specially, the settling time, as a part of control parameters, can be predefined as needed independent of initial conditions. Furthermore, the validity of the proposed approach is proved by Lyapunov stability theory. Finally, comparative tests and image encryption application are given to show advantages of the proposed method.

Development of a master–slave 3D printed robotic surgical finger with haptic feedback

Robotic surgery started nearly 30 years ago. It has achieved telepresence and the performance of repetitive, precise, and accurate tasks. The “master–slave” robotic system allows control of manipulators by surgeon at distant site. Robotic surgical fingers were developed to allow surgeons to move them with accuracy through sensors fixed on surgeon’s hand. Also, haptic sensors were developed to allow transmission of sensation from robotic finger to surgeon’s finger. A complete system of a, 3D printed by a stereolithography (SLA) 3D printer, robotic surgical finger with haptic feedback system is proposed. The developed system includes a master glove that controls the motion of a 3DOF robotic slave finger while getting haptic feedback of force/pressure exerted on it. The precise control of the slave robotic finger was achieved by applying a Proportional Integral and Derivative (PID), fast and robust, control algorithm using an Arduino based hardware and software module. The individual joint angles, metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP), and wrist were measured using rotatory and inertial sensors respectively. The degree of movement for MCP, PIP, and Wrist joints were measured to be 0–86°, 0–71°, and 0–89° respectively. Motion to the robotic finger is mimicked by a glove motion requiring minimal learning curve for the device. The collected data for the slave motion is in good agreement with the master-glove motion data. The vibro-tactile haptic feedback system was developed to distinguish between three different materials to mimic human flesh, tumor, and bone. The master–slave system using robotic surgical finger with good simultaneous movement to surgeon’s finger and good haptic sensation will provide the surgeon with the opportunity to perform finger dissection in laparoscopic and robotic surgery, as it used to be in open surgery. 3D bio printing will make this process even cheaper with the added advantage of making surgical tools locally according to the need of the surgery. An ongoing work is to develop silicone based 8 mm robotic surgical finger with multiple type haptic feedback.

Design Modeling and Analysis of Clamping Force Feedback Mechanism Based on Master-Slave Micro-Operating System

Design Modeling and Analysis of Clamping Force Feedback Mechanism Based on Master-Slave Micro-Operating System

Energy Harvesting and Nonlinear Dynamics of a Two-Degree of Freedom Master-Slave System Integrated with a Piezoelectric Actuator

Energy Harvesting and Nonlinear Dynamics of a Two-Degree of Freedom Master-Slave System Integrated with a Piezoelectric Actuator

Maximizing photovoltaic system power output with a master-slave strategy for parallel inverters

Parallel inverters are commonly used for connecting photovoltaic (PV) and other renewable energy sources to Microgrids (MGs). One of the greatest challenges in MG operation is maximizing the PV system's performance while also enhancing the MG's reliability and efficiency. The PV inverters waste power if the shared load power is less than their maximum output power. When shared load power surpasses the PV inverter's maximum output power, the system may become unstable since PV sources are intermittent. This study proposes a master-slave control system for controlling parallel inverters connected to a PV system. The master inverter is connected to Energy Storage Devices (ESDs) and is responsible for maintaining stable voltage on the load bus. The PV units are connected via slave inverters and are managed using a dual-loop Proportional Integrator Derivative (PID) control approach, with the outer loop maximizing solar panel output. The system is built on a Direct-Quadrature-Zero (d-q-0) inverter architecture, and the controller guarantees that all inverter currents remain in phase to reduce circulating current and enhance overall system efficiency. The simulation model evaluates a system comprising three inverters, with the master inverter powered by ESDs. The PV Units power the other two Slave Inverters. The system is evaluated using four case studies featuring various load and radiation change scenarios. The results demonstrate that the system is highly reliable and operationally efficient, with the absence of circulating currents among the inverters. Moreover, the system is capable of precisely monitoring the MPPs of PV modules with 100% efficiency and a minimal 0.002% fluctuation, while also responding to changes in under 50 ms.

Electronic Prototype of Autonomous Learning for the Crossing of Pedestrians with Visual Disabilities in Lima

Difficulties related to vehicular chaos and obstacles in public spaces hinder the orientation of visually impaired individuals, limiting their autonomy and exposing them to potential accidents. Considering these factors, the objective was to develop a prototype that facilitates autonomous learning by utilizing different electronic components. The aim is to ensure the safe movement of blind pedestrians, promote self-reliance, and minimize the risk of accidents. The proposed prototype is based on the concept of implementing intelligent traffic lights that detect the presence of pedestrians, allowing for safe crossing for both pedestrians and vehicles. The proposed circuit utilizes two ESP32 modules. One module is placed in the traffic light and configured as a Bluetooth master to transmit signals. It is also equipped with an ultrasonic sensor. The other module is located in the user’s wristband and configured as a Bluetooth slave to receive signals. It is also equipped with a horn. The communication between the modules has been developed using the C programming language for microcontrollers in the Arduino IDE development environment. A master-slave communication system was implemented, resulting in the constant reporting of the distance between the pedestrian and the sidewalk within the pedestrian crossing by the ultrasonic sensor. This system controls the safe crossing by regulating the traffic lights. The HC-SR04 ultrasonic sensor can detect distances ranging from 2 cm to 450 cm. Therefore, the prototype can be used as a foundation for future advancements in various cities and contexts, ultimately benefiting blind pedestrians by improving their mobility.

Bilateral Teleoperation with a Shared Design of Master and Slave Devices for Robotic Excavators in Agricultural Applications

The main objective of this study is to develop a shared design of master and slave devices for bilateral teleoperation mechanisms used for robotic excavators in agricultural applications. In robot teleoperation research, many potential applications within controlled and hazardous environments come to light. Robots, with their capacity for remote control by human operators through master devices, often employ the master-slave teleoperation approach. This strategy finds frequent use across manufacturing, construction, and agriculture industries. The master-slave system necessitates two interdependent components that collaboratively steer the robot in real time. However, challenges arise when manipulating the robot arm proves challenging due to structural differences between the master device (such as a joystick) and the slave device (the robot arm). A stable operational framework must be established for the robot to function optimally. This teleoperation system employs a master device to govern the actions of the slave device, a dynamic that heavily influences the operational complexity. Hence, the focal point of this study is to enhance the master-slave algorithm for teleoperation applications that rely on controlling robot arm movements. Despite the differing dimensions of the master and slave devices, they both share a common structure. The kinematic model bridging these components must be intelligible to ensure user-friendliness, facilitating effortless robot control. Calculating the robot arm's end effector movement and positioning involves employing the forward kinematics of the arm, determined through Denavit-Hartenberg parameters and transformation matrices. By mitigating communication delays between the master and slave devices using a technique centered around the robot arm's end effector position, the effectiveness of teleoperation can be significantly improved. Our designed robot arm attains 80% to 100% precision across joints. In summary, streamlining the robot arm's structure and minimizing delays offers a route to bolstering both stability and efficiency in robotic movement.

Synchronization sampled-data control of uncertain neural networks under an asymmetric Lyapunov–Krasovskii functional method

This paper investigates the synchronization control of neural networks (NNs) considering parameter uncertainties by utilizing an improved asymmetric Lyapunov–Krasovskii functional (ALKF) method. Firstly, an uncertain NNs model with discrete and distributed delays is developed. To synchronize the master–slave system, a memory sampled-data controller is designed. Secondly, an improved ALKF is constructed, in which the positive-definite and symmetric restrictions of matrices are relaxed. Furthermore, improved synchronization criteria are established by linear matrix inequalities (LMIs), which are based on the ALKF method and the integral inequality technique. Finally, two simulation examples are conducted to demonstrate the feasibility and superiority of the established stability conditions in reaching a maximum sampling period.

Master-slave Control Strategy of Surgical Robots for Gastrointestinal Surgery

The precise construction of the master-slave control strategy is a fundamental requirement for robot-assisted surgery. In this study, we propose a master-slave control strategy for gastrointestinal surgical robots based on the natural orifice transluminal endoscopic surgery surgical robot developed by Tianjin University. The forward and inverse kinematics of the continuum mechanism at the slave manipulator are investigated. A master-slave coordinate mapping system for surgical robots is established by analyzing the kinematic characteristics of the master and slave manipulators. Additionally, an intuitive mapping algorithm and a control flowchart for the robot are developed. The proportional control and incremental control strategies tailored for natural orifice transluminal endoscopic surgery procedures are proposed based on intuitive mapping control. Finally, a master-slave trajectory tracking experiment is performed to validate the feasibility of the proposed master-slave control strategy.

Enhancing time-domain performance of vehicle cruise control system by using a multi-strategy improved RUN optimizer

This paper addresses the pressing concern of traffic safety by focusing on the optimization of vehicle cruise control systems. While traditional control techniques have been widely employed, their design procedures can be time-consuming and suboptimal. To overcome these limitations, metaheuristic algorithms have been introduced as promising solutions for complex optimization problems. In this study, an improved Runge Kutta optimizer (IRUN) is developed and applied to enhance the control performance of a real PID plus second-order derivative (RPIDD2) controller for vehicle cruise control systems. The IRUN optimizer incorporates advanced strategies such as quadratic interpolation, Laplacian segment mutation, Levy flight, and information-sharing-based local search mechanisms. By integrating these strategies, the IRUN algorithm demonstrates enhanced optimization capabilities, making it well-suited for tuning the controller. The proposed approach utilizes a master–slave system, where the ideal reference model sets the desired response and the RPIDD2 controller adjusts its parameters accordingly. The integral of the square error is employed as the objective function to evaluate the control system's performance. Statistical analyses, convergence analyses, and stability evaluations and robustness analysis are performed to demonstrate the effectiveness of the IRUN-based RPIDD2 controller. Comparative studies are conducted against established approaches using PID, fractional-order PID (FOPID), and RPIDD2 controllers, showcasing the superiority and effectiveness of the proposed approach. Overall, this paper presents a comprehensive study on enhancing the time-domain performance and stability of vehicle cruise control systems, providing significant improvements in control accuracy and efficiency. The subsequent sections delve into the proposed approach, experimental setup, and obtained results, further emphasizing the significance and potential impact of this research.