1 Ocak 2009 Dergi makalesi Açık Erişim

Khan, Shahzad; Sabanovic, Asif; Nergiz, Ahmet Ozcan

JSON

{
  "conceptrecid": "43616", 
  "created": "2021-03-15T21:10:24.971761+00:00", 
  "doi": "10.1109/TIE.2009.2018538", 
  "files": [
    {
      "bucket": "9eb36870-d858-4fcb-8288-5cb36713ddb0", 
      "checksum": "md5:ee61f28779e2baba0a395987b635937f", 
      "key": "bib-a7806095-7498-4878-b9aa-2d20f254b49f.txt", 
      "links": {
        "self": "https://aperta.ulakbim.gov.tr/api/files/9eb36870-d858-4fcb-8288-5cb36713ddb0/bib-a7806095-7498-4878-b9aa-2d20f254b49f.txt"
      }, 
      "size": 183, 
      "type": "txt"
    }
  ], 
  "id": 43617, 
  "links": {
    "badge": "https://aperta.ulakbim.gov.tr/badge/doi/10.1109/TIE.2009.2018538.svg", 
    "bucket": "https://aperta.ulakbim.gov.tr/api/files/9eb36870-d858-4fcb-8288-5cb36713ddb0", 
    "doi": "https://doi.org/10.1109/TIE.2009.2018538", 
    "html": "https://aperta.ulakbim.gov.tr/record/43617", 
    "latest": "https://aperta.ulakbim.gov.tr/api/records/43617", 
    "latest_html": "https://aperta.ulakbim.gov.tr/record/43617"
  }, 
  "metadata": {
    "access_right": "open", 
    "access_right_category": "success", 
    "communities": [
      {
        "id": "tubitak-destekli-proje-yayinlari"
      }
    ], 
    "creators": [
      {
        "affiliation": "Delft Univ Technol, Dept Precis & Microsyst Engn, NL-2828 CD Delft, Netherlands", 
        "name": "Khan, Shahzad"
      }, 
      {
        "affiliation": "Sabanci Univ, TR-34956 Istanbul, Turkey", 
        "name": "Sabanovic, Asif"
      }, 
      {
        "affiliation": "Northeastern Univ, NSF Ctr High Rate Nanomfg, Boston, MA 02115 USA", 
        "name": "Nergiz, Ahmet Ozcan"
      }
    ], 
    "description": "In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewton-level interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scaling.", 
    "doi": "10.1109/TIE.2009.2018538", 
    "has_grant": false, 
    "journal": {
      "issue": "9", 
      "pages": "3609-3618", 
      "title": "IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS", 
      "volume": "56"
    }, 
    "license": {
      "id": "cc-by"
    }, 
    "publication_date": "2009-01-01", 
    "relations": {
      "version": [
        {
          "count": 1, 
          "index": 0, 
          "is_last": true, 
          "last_child": {
            "pid_type": "recid", 
            "pid_value": "43617"
          }, 
          "parent": {
            "pid_type": "recid", 
            "pid_value": "43616"
          }
        }
      ]
    }, 
    "resource_type": {
      "subtype": "article", 
      "title": "Dergi makalesi", 
      "type": "publication"
    }, 
    "title": "Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller"
  }, 
  "owners": [
    1
  ], 
  "revision": 1, 
  "stats": {
    "downloads": 9.0, 
    "unique_downloads": 9.0, 
    "unique_views": 20.0, 
    "version_downloads": 9.0, 
    "version_unique_downloads": 9.0, 
    "version_unique_views": 20.0, 
    "version_views": 20.0, 
    "version_volume": 1647.0, 
    "views": 20.0, 
    "volume": 1647.0
  }, 
  "updated": "2021-03-15T21:10:25.020759+00:00"
}