Closed loop control for a tele-echography system with communication delays

A closed loop control scheme for a tele-echography system with communication delays is here experimentally developed. Nowadays, available tele-echography systems work in an open loop manner, without taking into account the communication delays.We propose here to apply the closed loop approach we previously theoretically developed. First, we briefly recall the key steps of this approach, which use partial differential equations (PDE) modeling of the delays, leading to an infinite dimensional model of the overall tele-operation system that we incorporate in an Internal Model Control (IMC) closed loop structure. We apply it in real-time thanks to a tele-operation testing platform which has been built, so various network and physical parameters are adjustable. It is composed of a master PC and a slave PC, communicating on a WLAN, and of a Phantom device which must track the positions given by a joystick. Finally, this paper shows the results obtained with a basic predictive control tested on the platform.