Projects funded by the NCN

Information on the principal investigator and host institution

Information of the project and the call

Keywords

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Development and test on active (force) operator feedback algorithms used for controlling a 6 DoF telemanipulator with motion stereotypes assistance.

2011/01/B/ST7/04011

Keywords:

control algorithms telemanipulator motion stereotype

Descriptors:

  • ST7_10: Hardware implementation of algorithms
  • ST7_1: Control engineering in automation and robotics
  • ST7_9: Man-machine interfaces

Panel:

ST7 - Systems and communication engineering: electronics, communication, optoelectronics

Host institution :

Politechnika Łódzka, Wydział Mechaniczny

woj. łódzkie

Other projects carried out by the institution 

Principal investigator (from the host institution):

prof. Leszek Podsędkowski 

Number of co-investigators in the project: 10

Call: OPUS 1 - announced on 2011-03-15

Amount awarded: 341 000 PLN

Project start date (Y-m-d): 2011-12-27

Project end date (Y-m-d): 2015-09-26

Project duration:: 45 months (the same as in the proposal)

Project status: Project settled

Equipment purchased [PL]

  1. Serwonapędy i elementy do modyfikacji zadajnika położenia (9 588 PLN)
  2. System kamer do stereowizji wraz z komputerem do rejestracji i przetwarzania danych (8 000 PLN)
  3. System wyświetlania 3D (5 000 PLN)
  4. Komputer sterujący do telemanipulatora (39 000 PLN)
  5. Oprogramowanie Matlab – simulink (9 000 PLN)

Information in the final report

  • Publication in academic press/journals (7)
  • Articles in post-conference publications (4)
  1. Contactless measurement with use of the fuzzy logic data fusion
    Authors:
    L. Fracczak, L. Podsedkowski, A. Kobierska
    Academic press:
    Mechatronics (rok: 2015, ), Wydawca: Elsevier
    Status:
    Submitted
    DOI:
    brak - link to the publication
  2. Force Sensor for Laparoscopic Tool of RobIn Heart Robot
    Authors:
    A. Kobierska
    Academic press:
    Solid State Phenomena (rok: 2013, tom: 199, strony: 309-314), Wydawca: Trans Tech Publications
    Status:
    Published
    DOI:
    10.4028/www.scientific.net/SSP.199.309 - link to the publication
  3. Are the surgeon's movements repeatable? An analysis of the feasibility and expediency of implementing support procedures guiding the surgical tools and increasing motion accuracy during the performance of stereotypical movements by the surgeon.
    Authors:
    L. Podsędkowski, J. Moll, M. Moll, Ł. Frącczak
    Academic press:
    Kardiochirurgia i Torakochirurgia Polska (rok: 2014, tom: 11 (1), strony: 90-101), Wydawca: Termedia
    Status:
    Accepted for publication
    DOI:
    10.5114/kitp.2014.41941 - link to the publication
  4. Data fusion using Fuzzy Logic techniques supported by Modified Weighting factors (FLMW)
    Authors:
    Ł. Frącczak, L. Podsędkowski, A. Kobierska
    Academic press:
    International Journal of Fuzzy Systems (rok: 2016, tom: Brak, strony: brak), Wydawca: Chinese Fuzzy Systems Association
    Status:
    Accepted for publication
    DOI:
    10.1007/s40815-015-0095-3 - link to the publication
  5. Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results
    Authors:
    L. Fracczak
    Academic press:
    Solid State Phenomena (rok: 2013, tom: 198, strony: 15-20), Wydawca: Trans Tech Publications
    Status:
    Published
    DOI:
    10.4028/www.scientific.net/SSP.198.15 - link to the publication
  6. Selected aspects of robin heart robot control
    Authors:
    A. Niewola, L Podsędkowski P. Wróblewski P. Zawiasa M. Zawierucha
    Academic press:
    Archive of Mechanical Engineering (rok: 2013, tom: 60, strony: 575–593), Wydawca: Komitet Budowy Maszyn PAN
    Status:
    Published
    DOI:
    10.2478/meceng-2013-0035 - link to the publication
  7. Telemanipulator Control with Varying Camera Position
    Authors:
    L. Podsedkowski, P. Wróblewski, P. Zawierucha
    Academic press:
    Solid State Pheomena (rok: 2013, tom: 198, strony: 275-280), Wydawca: Trans Tech Publications
    Status:
    Published
    DOI:
    10.4028/www.scientific.net/SSP.198.275 - link to the publication
  1. The average 6 DOF path estimation with the use of initial approximation curve
    Authors:
    L. Fracczak, L. Podsedkowski, M. Moll
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On (rok: 2014, ), Wydawca: IEEE
    Data:
    konferencja 2-5 września 2014
    Status:
    Published
    DOI:
    link to the publication
  2. Off-line estimation of trajectory in discrete state space using the minimal-covariance adaptive FIR smoothing with extended output vector
    Authors:
    Podsedkowski L, Podsedkowska H
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on (rok: 2015, ), Wydawca: IEEE
    Data:
    konferencja 24-27 sierpień 2015
    Status:
    Published
    DOI:
    link to the publication
  3. Compliance force control for Polish cardiosurgical manipulator RobIn Heart
    Authors:
    Mazur, A. ; Podsedkowski, L. ; Szymanski, A. ; Zawierucha, M.
    Conference:
    Robot Motion and Control (RoMoCo), 2013 9th Workshop on (rok: 2013, ), Wydawca: IEEE Xplore Digital Library
    Data:
    konferencja 3-5 July 2013
    Status:
    Published
    DOI:
    link to the publication
  4. System narzędziowy i wybrane aspekty sterowania robota RobIn Heart
    Authors:
    L. Podsędkowski, P. Wróblewski, P. Zawiasa
    Conference:
    12 Krajowa Konferencja Robotyki (rok: 2012, ), Wydawca: Politechnika Wrocławska
    Data:
    konferencja 12-16 Września
    Status:
    Published
    DOI:
    link to the publication

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