Share / Export Citation / Email / Print / Text size:

International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic


eISSN: 1178-5608



VOLUME 6 , ISSUE 4 (September 2013) > List of articles


J. K. Mukherjee *

Keywords : proximity, telemanipulator, virtual transducer, force feedback, servo motor, active joy-stick, remote-perception, operator interface, intelligent sensing

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 6, Issue 4, Pages 1,479-1,498, DOI:

License : (CC BY-NC-ND 4.0)

Received Date : 25-May-2013 / Accepted: 31-July-2013 / Published Online: 05-September-2013



A virtual transducer forming technique has been developed with an objective to enhance remote environment perception in tele-robotic systems by adding proximity feel in pre-contact phase during remote manipulation tasks. A fluidics inspired transducer model has been conceived and designed to serve for master side perception creation based on remote robot’s proximity with workspace objects and its dynamics. Robot’s native joint sensors function as primary sensors and active joystick forms the output stage. It induces proximity feel around approachable and unapproachable parts in distinctly different manner. The paper delves in aspects like building re-configurability for varied transducer characteristics formation and tunable force exertion on operator hand for suiting application context and operator choice.

Content not available PDF Share



[1] Blake Hanford , “A design frame work for Teleoperators with kinaesthetic feedback”. IEEE Transactions on robotics and automation, Vol 5 no. 4, August 1989.
[2] D. A. Lawrence, “Stability and Transparency in Bilateral Teleoperation”. IEEE Trans. Robotics and Automation, 9(5):624-637, 1993.
[3] Zhuxin Zhang; Dingxuan Zhao; Tiehua Chen, "Master-slave manipulators bilateral control system with force tele-presence,". IEEE Int. Con. on Robotics and Biomimetics, ROBIO 2007, 15-18 Dec. 2007
[4] Harsha, A. M., Abeykoon, S.; Ohnishi, K., "Realization of Virtual Master Manipulator Using Bilateral Control," Industrial Informatics, IEEE International Conference on , vol., no., pp.833,838, 16-18 Aug. 2006
[5] Tao Ni, Hongyan Zhang; Songyue Liu; Yamada, H., "Teleoperation system with virtual reality based on stereo vision," International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE), 2011 , vol., no., pp.494,497, 16-18 Dec. 2011
[6] Natonek. E., Zimmerman, T.; Fluckiger, L., "Model based vision as feedback for virtual reality robotics environments," Virtual Reality Annual In. Symp, 1995. Proceedings. , vol., no., pp.110,117, 11-15 Mar 1995
[7] S. Payandeh and Z. Stanisic.”On Application of Virtual Fixtures as an Aid for Telemanipulation and Training.” 10th International Symp. On Haptic Interfaces For Virtual Envir: and Teleoperator Systs., 2002.
[8] S. Park, R.D. Howe, D. F. Torchiana. Virtual fixtures for robotic cardiac surgery. Fourth intl. Conf on Medical Image Computing and Computer-Assisted Intervention, 2001.
[9] Sanchez, E., Rubio, A., Avello, A., "An intuitive force feed-back to avoid singularity proximity and workspace boundaries in bilateral controlled systems with virtual springs,". IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002 , vol.2pp.1302,1307
[10] A. Rubio, A. Avello, J. Florez, “On the use of virtual Springs to avoid Singularities and Workspace Boundaries in Force-Feedback Teleoperation”. IEEE Proceedings of the International Conference on Robotics and Automation, Vol. 3, pp 2690-2695.2000
[11] J. K. Mukherjee et al, “An Observer Based Safety Implementation in Tele-Robotics” Proceedings of International Conference TIMA-2011, Jan 2011, Chennai , India.
[12] B. Hannaford and J.H. Ryu, “Time domain passivity control of haptic interfaces,” in Proc. IEEE Int. Conf. Robotics Automation, vol. 2, 2001, pp. 1863–1869.
[13] Li, P.Y., "Passive control of bilateral teleoperated manipulators," Proceedings of the American Control Conference, 1998. vol.6, no., pp.3838,3842 vol.6, 21-26 Jun 1998
[14] C.O. Bennett, J.E. Myres, ‘Momentum, Heat and Mass Transfer’ McGraw Hill (1962)
[15] S. Shinnaka, “A New Norm-Based Current Control Method for Energy-Efficient/Wide-Speed-Range Drive of Salient-Pole Permanent-Magnet Synchronous Motors” Power Electronics Specialists Conference, 2006. PESC '06. 37th IEEE; 2006; Page(s): 1 – 7.
[16] He-song Huang,; Jing-peng Bi, Ya-nan Wang, Xiao-qi Zhang, The design and simulation of permanent-magnet synchronous motor's servo control system based on DSP; Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC), 2011 2nd Intl. Conference on; 2011; Page(s): 4439 – 4442.
[17] Yuping Huang, Guoping Zhao, Gang Bao, Zuwen Wang; Optimization design of the permanent magnent synchronous motor for electric actuator; Computer Science and Automation Engineering (CSAE), 2012 IEEE International Conference on; Volume: 1; 2012; Page(s): 682 – 686.
[18] Shinnaka, S., Sagawa, T.; A New Optimal Current Control Methods for Energy-Efficient and Wide Speed-Range Operation of Hybrid-Field Synchronous Motor; Industrial Electronics, IEEE Transactions on; Volume: 54 , Issue: 5; 2007; Page(s): 2443 – 2450.
[19] Li Hongmei, Wang Xichen, Zheng Shusong, Bao Zhengjie, Ni Xiaojun; Novel Controller for Energy-Efficient and Wide-Speed-Range Drive for Permanent Magnet Synchronous Motor Based on the Interconnection and Damping Assignment Passivity Based Control; Volume: 1; 2010; Page(s): 83 – 87.
[20] Chaudhari, B.N., Fernandes, B.G.; Permanent magnet synchronous motor for general purpose energy efficient drive; Power Engineering Society Winter Meeting, 2000. IEEE; Volume: 1; 2000; Pages 213 – 218.
[21] J. K. Mukherjee et al “Remote managed Teleprobing for nuclear Applications ”Proceedings- International conference-on Peaceful uses of Atomic Energy PEACEFUL ATOM (nuclear instrumentation-pg 154-169) Sept 29-Oct. 3, 2009 New Delhi
[22] J. K. Mukherjee et al , ‘Machine Intelligence Tools for supporting metrics on active structural elements and on-line inspection in Fuel Cycle Facilities”. Intl. conf. SMiRT 21, New Delhi, Nov. 6-21 2011
[23] Yanping Liu, et al; ‘DSP control implement of Permanent Magnet Synchronous AC servo motor based on vector control’ ; ICMA 2009. International Conference on Mechatronics and Automation, 2009; 2009; Page(s): 866 – 870.
[24] Xiaojun Ma, Liang Feng; ‘ Model reference adaptive control for permanent magnet synchronous motor servo system’ Int. Conference on Electrical Machines and Systems,. ICEMS 2008 ; Page(s): 1483 – 1487.
[25] J. K. Mukherjee , “ AI Based Tele-Operation Support Through Voxel Based workspace Modeling and Automated 3D Robot Path Determination ” IEEE International Conference TENCON-2003 Banglore
[26] J. K. Mukherjee, “A Bounded Time Impending Hit Detection Method for Tele-manipulator” International conference ICCA-2012 Jan27-31-Pondichery, India
[27] H. Samel “Design and analysis of spatial data structures in Computer graphics, Image processing and GIS”, Addison Wesley, Reading M. A. 1990
[28] Fakhreddine Karray et al., Human-Computer Interaction: Overview on State of the Art” Intl. Journal On Smart Sensing And Intelligent Systems, Vol. 1, No. 1, March 2008
[29] J. K. Mukherjee, “Synthesized Transduction for Proximity Sensing in Tele-operated Systems” 2012 Sixth International conference on Sensor Technology ICST, Dec 2012
[30] Rituparna M., K.Y.V.Krishna and J. K. Mukherjee “Intelligent Contextual Assistance for Visuals in Remote Campaign Operation” International Conference on Human Computer Interface IHCI , Dec 2012, Kharagpur India.
[31] Gladwin J, Umamahheswaran R, Sivan K , Mathias P.C. ”Performance Evaluation of a Vision Sensor” Sixth International conference on Sensor Technology ICST, Dec 2012
[32] S.P.S. Gill N.K.Suryadevara, S.C. Mukhopadhyay “Smart Power monitoring System using wireless sensor network” Sixth Intl. conf. on Sensor Technology ICST, Dec 2012.
[33] Hao-Li Wang, Rong-Guei Tsai, Long-Sheng Li, An Enhanced Scheme In Controlling Both Coverage And Quality Of Service In Wireless Sensor Networks International Journal On Smart Sensing And Intelligent Systems Vol. 6, No. 2, April 2013
[34] J. Micheal, M.F. Rahmat*, N. Abdul Wahab andW.K. Lai “Feed Forward Linear Quadratic Controller Design For An Industrial Electro Hydraulic Actuator System With Servo Valve” International Journal On Smart Sensing And Intelligent Systems Vol. 6, No. 1, February 2013