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Arbab Nighat Khizer
Beijing Institute of Technology

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Design and Implementation of Probe Driver Teleoperative Force Feedback System Amjad Ali Syed; Xing-guang Duan; Arbab Nighat Khizer; Mengli Mengli; Xiangzhan Kong; Qiang Huang
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 6: June 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

The basic need of neurosurgery is to insert the probe into the key hole linearly for performing functional neurosurgery, trigeminal neuralgia surgery, biopsies, deep brain stimulation, and stereo-EEG. Recently, tele-robotic systems have been introduced to assist surgeon during invasive procedures to obtain desired results. In this paper, a linear probe driving tele-operative system with force feedback is proposed. The proposed system is highly accurate, stable, and safe and provides haptic transparency to the surgeon during its operation. The master slave architecture, control system and software application are designed to inject and eject probe driving trials. The experiments are performed on a piecewise linear Plasticine model. The accuracy, stability, repeatability of the system and haptic force feedback fidelity are discussed in the results.  DOI : http://dx.doi.org/10.11591/telkomnika.v12i6.5277
Takagi-Sugeno Fuzzy Model Identification for Small Scale Unmanned Helicopter Arbab Nighat Khizer; Dai Yaping; Syed Amjad Ali; Xu Xiang Yang
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 1: January 2014
Publisher : Institute of Advanced Engineering and Science

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This paper presents system identification method for small unmanned helicopter based on Takagi Sugeno fuzzy models under hover. Firstly,the nonlinear discrete model of small unmanned helicopter with unknown parametersis determined by Takagi Sugeno system. Secondly, derivative based gradientmethod is used to identify unknown parameters of TS fuzzy model because in gradientadaptation, fuzzy system is not supposed to be linear in the parameters, so allfuzzy sets for input and output could be adjusted. The proposed method showedits effectiveness in terms of data matching obtained by the X-Plane©flight simulator. Obtained simulation results show high accuracy of themodeling method and better justification for real time applicability of theapproach DOI : http://dx.doi.org/10.11591/telkomnika.v12i1.3577
Co-Authors Amjad Ali Syed Dai Yaping Mengli Mengli Qiang Huang Syed Amjad Ali Xiangzhan Kong Xing-guang Duan Xu Xiang Yang