主 講 人：潘亞君教授

地　　點：機械北樓415

主 辦 方：福州大學機械學院

開始時間：2017-04-24 10:00

Abstract
 Haptic systems in surgical training applications require highly accurate force feedback. However, high-resolution models of the virtual environment (VE) can be very computationally intensive, lowering the force feedback update rate. The objective of this work is to improve transparency by developing a predictor that approximates the complex nonlinear VE as a linear VE with a much higher update rate. By using feedback from the more accurate but slower VE, the predictor can provide increased transparency to the operator. The full control design of the predictor and haptic controller is considered for a nonlinear haptic device. The predictor is designed using Lyapunov-based methods, by numerical solution of a linear matrix inequality. The predictor uses a projection-type adaptation law to estimate the unknown VE parameters. Simulation results are shown to demonstrate the effectiveness of the method assuming unknown and time-varying VE parameters. 

     Brief Biography
Dr. Ya-Jun Pan is currently a Professor in the Department of Mechanical Engineering at Dalhousie University, Canada. She received the B.E. degree in Mechanical Engineering from Yanshan University in 1996, the M.E. degree in Mechanical Engineering from Zhejiang University in 1999 and the Ph.D degree in Electrical and Computer Engineering from the National University of Singapore in 2003. She held post-doctoral positions of CNRS in the Laboratoire d’Automatique de Grenoble (Current Name: GPISA-Lab), France and the Department of Electrical and Computer Engineering at the University of Alberta, Canada, in 2003 and 2004 respectively. Her research interests are focused on the robust nonlinear control, cyber physical systems, robotics, intelligent transportation systems and collaborative multiple autonomous aerial/ground/underwater vehicles.    She is currently an Associate Editor of the IEEE/ASME Transactions on Mechatronics (2015Present), IEEE Transactions on Cybernetics (2016-Present), International Journal of Advanced Robotics Systems (2014-Present), and the International Journal of Information and Systems Sciences (2009-Present). She has been the Associate Editor for the Journal of Franklin Institute (2007-2013). She is a Senior Member of the Institute of Electrical and Electronics Engineers (IEEE), a member of the American Society of Mechanical Engineers (ASME) and a Registered Professional Engineer in the Province of Nova Scotia, Canada.