NDLI: Optimal Control for Autonomous Task Execution

Content Provider	IEEE Xplore Digital Library
Author	Botturi, D. Fiorini, P.
Copyright Year	2005
Description	Author affiliation: Department of Computer Science, University of Verona, Italy. botturi@metropolis.sci.univr.it (Botturi, D.)
Abstract	The research described in this paper addresses the problem of automatic execution of a robotic task. The objective is to develop a control methodology that can be used to give autonomy to a robotic device during the execution of a specific task. In particular we focus on the application domain of robotic surgery and we want to explore the possibility of adding autonomous capability to the robotic device performing the surgery, to be of help to the surgeon. In this context, by "task" we mean a small sequence of coded surgical gestures, that is well described in the medical literature and that can, potentially, be described in algorithmic form. We first model the task with a suitable Hybrid System, then we compute the nominal controls by minimizing various performance indices, and finally we define a quality measure to provide feedback during real time execution. We model a complex task with a hybrid automaton, whose elementary states represent distinct actions in the task, and we account for uncertainty with appropriate state transitions. The desired behavior is represented by the optimal trajectory computed off-line, whereas the on-line compensation aims at zeroing trajectory errors and the cost of the jumps between states. We conclude the paper with some simulation and experimental results proving the feasibility of this approach.
Starting Page	3525
Ending Page	3530
File Size	243829
Page Count	6
File Format	PDF
ISBN	0780395670
DOI	10.1109/CDC.2005.1582708
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	IEEE/EUCA
Subject Keyword	Optimal control Robotics and automation Surgery Automatic control Medical robotics Surges Medical control systems Feedback Real time systems Automata
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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