Master Robotic Net

Petri Net Models of Robotic Tasks

Petri Net Controllers for Distributed Robotic Systems

Petri nets are a well established modelling technique for analyzing parallel systems. When coupled with an event-driven operating system, Petri nets can provide an effective means for integrating and controlling the functions of distributed robotic applications. Recent work has shown that Petri net graphs can also serve as remarkably intuitive operator interfaces. In this paper the advantages f...

Portable surgery master station for mobile robotic telesurgery

We describe a system that provides a low-cost, portable control station for experimentation in mobile robotic telesurgery. The software and hardware implementation of our system are described in detail. The device mapping between the Haptic Interface Devices (HID) and the surgical robot that enable the surgeon to effectively teleoperate the surgical robot are explained along with our communicat...

A Haptic Navigation System for Supporting Master-Slave Robotic Surgery

Conventional display in robotic surgery such as flat displays or stereoscopic displays decreases obtainable information around target tissue. For supporting manipulation and performing safe surgery, this paper proposes a haptic navigation method, which enables surgeons to avoid collision with untouchable regions around target tissue by producing force feedback through a master manipulator. This...

Petri Net Robotic Task Plan Representation: Modelling, Analysis and Execution

As the usage of robots in everyday tasks increases, there is a need to improve our knowledge concerning the execution of those robotic tasks. Robotic task models are usually not based on formal approaches but tailored to the task at hand. Applying discrete event system concepts to model robotic tasks provides a systematic approach to modelling, analysis and design, scaling up to realistic appli...