• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1039-1046
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• 2009

In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. By using modal analysis, the system model is reduced to guarantee the detectability which is a necessity for the static output feedback control design. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.976-979
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• 1996

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators generally can be modeled as linear transfer function indecently including modeling uncertainty. Modeling uncertainties can make the system unstable and its performance poor. Thus I'm studying about a design framework for a bilateral controller of teleoperator systems with modeling uncertainties. In this paper, a method based on the H$_{\infty}$-optimal control and .mu.-synthesis frameworks are introduced to design a controller for the teleoperator that achieves stability and performance in the presence of the modeling uncertainties..ties.inties.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1124-1129
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• 2008

Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused unstable behavior until the passivity controller is activated. Resetting scheme is introduced for solving this problem, and stable bilateral teleoperation can be guaranteed without worrying about the accumulated energy difference.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.552-557
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• 2011

This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.

• ICROS
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• v.17 no.2
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• pp.27-35
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• 2011

This paper presents the state of the art of control strategies for bilateral teleoperation systems under time delays. In the bilateral teleoperation that has force feedback, the time delay in the communication channel is the main source of instability. To cope with this problem. a number of control methods have been proposed. Among many control strategies. key aspects of the recent passivity-based methods are mainly summarized for approaches with wave variables. PO/PC (passivity observer/passivity controller), simple PD, and energy bounds.

• Clinical and Experimental Reproductive Medicine
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• v.46 no.1
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• pp.30-35
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• 2019

Objective: Bilateral uterine artery ligation (UAL) is a fertility-preserving procedure used in women experiencing postpartum hemorrhage (PPH). However, the long-term effects of this procedure on ovarian function remain unclear. The aim of this study was to investigate whether bilateral UAL compromised ovarian reserve and ovarian blood supply. Methods: This prospective study included 49 women aged between 21 and 36 years who had undergone a cesarean section for obstetric indications. Of these, 25 underwent uterine bilateral UAL to control intractable atonic PPH. The control group consisted of 24 women who had not undergone bilateral UAL. Standard clinical parameters, the results of color Doppler screening, and ovarian reserve markers were assessed in all participants at 6 months after surgery. The clinical parameters included age, parity, cycle history, body mass index, and previous medication and/or surgery. Color Doppler screening findings included the pulsatility index (PI) and resistance index (RI) for both the uterine and ovarian arteries. The ovarian reserve markers included day 3 follicle-stimulating hormone (FSH) levels, antral follicle count, and $anti-M\ddot{u}llerian$ hormone (AMH) levels. Results: There were no significant differences in the ovarian reserve markers of day 3 FSH levels, antral follicle count, and AMH levels between the study and control groups (p> 0.05 for all). In addition, no significant differences were observed in the PI and RI indices of the uterine and ovarian arteries (p> 0.05 for all). Conclusion: In this study, we showed that bilateral UAL had no negative effects on ovarian reserve or ovarian blood supply, so this treatment should be used as a fertility preservation technique to avoid hysterectomy in patients experiencing PPH.

• Archives of Plastic Surgery
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• v.49 no.4
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• pp.510-516
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• 2022

Background Surgical correction of bilateral cleft lip deformities remains one of the most challenging areas in facial plastic surgery. Many surgical techniques and conservative devices have been offered for the early management of bilateral cleft lip in infants. The purpose of this study was to evaluate the effect of lip adhesion on the lip and nose of patients with bilateral cleft lip. Methods A retrospective review of 13 patients with bilateral cleft lip was performed and compared with age-matched noncleft children. Patients underwent lip adhesion at a mean age of 2.8 months, and cheiloplasty at 6.6 months of age using a modification the Mulliken method. Secondary rhinoplasty was performed at the age of 6 in 13 patients. The surgical results were analyzed using photographic records obtained at the age of 1 and 7 years. Twelve length measurements and one angle measurement were obtained. Results All measurements were not statistically different from those of the noncleft age-matched control group at the age of 1. At 7 years of age, upper lip height and vermilion mucosal height were shorter (p < 0.05) than in the control group. Nasal tip protrusion and the nasolabial angle were greater (p < 0.05) than in the control group. Conclusion Lip adhesion followed by secondary rhinoplasty resulted in an acceptable lip and nasal appearance. Although nasoalveolar molding is now widely used, lip adhesion can be an appropriate alternative if an orthodontist is not available due to geographical or economic constraints.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.11
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• pp.1967-1978
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• 2003

Transparency has been considered as a performance measure in bilateral teleoperation system. Therefore, many issues of transparency have been studied. This paper investigates the transparency in two-channel control architectures. At first, we show the feasibility using analytic transparency-conditions and present the two classes of two-channel control architecture, which are perfectly transparent under ideal situation. In addition, remedies to problems due to impedance model estimation errors under real situation are introduced. They are as fellows; design guideline of control parameters to reduce the effect of model estimation error effect and introduction of time delay estimation for unknown dynamics. From these analyses, the systematic control scheme, which is stable and well transparent under real implementation, is proposed in two-channel control architecture. Finally, the proposed scheme is applied to a 2 D.O.F master-slave system and the experimental results show the validity of the theoretical work.

• Archives of Reconstructive Microsurgery
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• v.14 no.2
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• pp.95-104
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• 2005

The aim of this study was to investigate the major vascular system to supply flap, flap survival rate and complications after flap elevation in order to evaluate possibility of the vascularized face/scalp allotransplantation. Forty New Zealand white rabbits were divided into two groups: control group and experimental group. Individuals of control group had a face/scalp composite unit which was composed of skin, subcutaneous tissue and platysma muscle, supplying by bilateral facial artery, temporal artery and auricular artery and draining by external jugular vein. After a flap was elevated, bilateral facial artery, temporal artery and auricular artery were ligated. On the other hand, those of experimental group had the same composite unit as control group with bilateral facial artery, temporal artery and auricular artery being not ligated. We had measured survival area of flaps of the sixteen individuals survived for four weeks in the control group and fourteen in the experimental group by Grid method. The mean survival durations of the flap were 3.7days in the control group, 20.0days in the experimental group. The significant differences in the mean survival durations and survival rate at the 28days were found between the control and experimental group (p<0.05). Mean values about the survival area's fractions of all were $1.3{\pm}4.%$ in the control group and $63.1{\pm}4.8%$ in the experimental group. Those of experimental group was significantly higher than control group statistically (p<0.05). The composite face/scalp flap which we have elevated, supplied by bilateral facial artery, temporal artery, auricular artery and drained by external jugular vein has flap viability enough to be transplanted after its elevation.