List of Titles

Authors: Saafi, Hadi , Laribi, Med Amine , Zeghoul, Said , Ibrahim, Yousef
Date: 2013
Type: Text , Conference proceedings
Relation: IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, Nov. 2013, Vienna, Austria p. 4097-4102
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Reviewed:
Description: In tele-operation applications, especially in surgery, haptic devices need to exhibit a high degree of rigidity and accuracy. This paper deals with the development of a spherical parallel manipulator (SPM) that enables the satisfaction of those characteristics. The parallel architecture enables the use of this kind of robot as master in a tele-operation system. Moreover, the SPM has a center of rotation that makes it a natural candidate and more adapted to minimally invasive surgery application. However, the parallel manipulator presents a poor behavior in singular configuration. In this paper we discuss the technique we used to overcome the singularity effects. We also present the methodology of using additional sensor to avoid kinematic structure problem without design changes. The investigation of the developed solution is detailed in this paper. Also, the experimental results of the newly developed haptic device are presented in this paper.

Authors: Kolek, Levente , Ibrahim, Yousef , Gunawan, Indra , Laribi, Med Amine , Zegloul, Said
Date: 2015
Type: Text , Conference proceedings
Full Text: false
Description: In this paper, dynamic simulation methods for reliability evaluation of common industry-based control system architectures are investigated. Control system design often employs complex reliability structures in the forms of several levels of software and hardware redundancies, hot and cold standby systems. This is required in order to achieve certain plant availability and safety functions. Control system maintenance requires expert knowledge due to the complexity of troubleshooting steps involved with a hardware or software failures of a large system. Hence, it is crucial to understand the effect of recovery time on reliability and on overall availability in a critical control system. Dynamic Fault Tree Analysis (DFTA), Markov Chains and Reliability Block Diagrams (RBD) are presented and a block library is introduced for addressing the aforementioned modelling problems. In order to be able to evaluate dynamic fault trees and Markov Chains, Monte Carlo simulation has been used. An industry-based case study is presented, where critical failures of a redundant Programmable Logic Controller (PLC) system are identified by a Failure Mode and Effect Analysis (FMEA). The bottom up process of modelling control system reliability is discussed. © 2015 IEEE.

Authors: Saafi, Houssem , Laribi, Med Amine , Zeghloul, Saïd , Ibrahim, Yousef
Date: 2014
Type: Text , Conference paper
Relation: 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE) p. 1233-1238
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Description: Abstract: The overall objective of this work is to develop a system composed of master, slave and a control system for special medical applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed to be cost-effective with a less complication of use and an application-specific for collaborative operations between the surgeon and the robot. This paper focuses on the introduction of a motion safety control methodology for a haptic device. The haptic device is used as a master with a parallel spherical architecture (SPM). The introduced control methodology is based on the workspace of the medical application. Three areas of the workspace are defined with a consideration of the degree of security. An algorithm that constantly keeps the mobile platform in a safe region, when the surgeon moves it, is presented and explained. The developed algorithm runs in real-time using a programmable logic controller (PLC). The control strategy of the haptic device was successfully tested and validated experimentally.

Authors: Saafi, Houssem , Laribi, Med Amine , Zeghloul, Said , Ibrahim, Yousef
Date: 2017
Type: Text , Conference proceedings , Conference paper
Relation: 2017 IEEE International Conference on Mechatronics, ICM 2017; Gippsland, Australia;13th-15th February 2017 p. 290-296
Full Text: false
Reviewed:
Description: Tele-operation systems offer more security and comfort to the surgeon in Minimally Invasive Surgery (MIS). This paper presents a new tele-operation system for MIS. This system was designed to be efficient, portable, compact and affordable. The developments of master and slave robots of the teleoperation system are presented. Some issues encountered in the development of these robots are studied here. The main issues are as follows: the presence of the singularities in the workspace of the master robot, the complexity of the master forward kinematic model due to its parallel structure and the difference between the kinematics of the master and the slave robots. Those issues are solved using different techniques which are presented in this paper. Finally, experimental validations of the developed teleoperation system were carried out successfully. © 2017 IEEE.
Description: Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017

Authors: Houssem Saafi , Laribi, Med Amine , Zeghloul, Said , Ibrahim, Yousef
Date: 2013
Type: Text , Conference paper
Relation: IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, Vienna, Austria 10-13 Nov. 2013 p.3798-3803
Full Text: false
Reviewed:
Description: The current objective of this robotics research study is mainly to develop a cheap and not cumbersome systems for special applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed with this philosophy. The developed system is composed of master, slave and control system for collaborative operation between the surgeon and the robot. A parallel robot haptic device is used as master to teleoperate a serial robot with three degrees of freedom (dof). The advantage of this method is the possibility of coupling master and slave with non-matching kinematics through a kinematic transformation. The developed control system architecture is presented in this paper. The control architecture was designed to control the teleoperation system where the master and slave robots do not have homothetic kinematics. Finally, the viability of the developed control is demonstrated by the experimental results.

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