Research Papers

Modeling Identification and Control of Peltier Thermoelectic Modules for Telepresence

[+] Author and Article Information
Mohamed Guiatni

Control Laboratory, Military Polytechnics Institute, Algiers 16111, Algeriamohamed.guiatni@gmail.com

Abderrahmane Kheddar

Joint Robotics Laboratory (JRL), CNRS-AIST UMI3218/CRT, Tsukuba 305-8568, Japan; Laboratoire d’Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), CNRS-UM2 UMR5506, CC 477, 34095 Montpellier Cedex 5, Francekheddar@lirmm.fr

url: www.dspace.com

J. Dyn. Sys., Meas., Control 133(3), 031010 (Mar 25, 2011) (8 pages) doi:10.1115/1.4003381 History: Received September 01, 2009; Revised December 23, 2010; Published March 25, 2011; Online March 25, 2011

This research deals with thermal rendering for telepresence applications. We present the modeling and identification of thermo-electric modules (TEMs) to be used either as part of a thermal display or a remote thermal probe. First, TEMs are modeled in steady- and unsteady-state dynamics using recursive nonlinear autoregressive moving average models for both temperature and heat flux. The proposed models are convenient for simulation, control, electronic, and thermal engineering. They allow understanding the functionality of the heat pumps and facilitate the solving of cooling/heating problems without the need for expertise in thermal theory. Then, these models are used in a novel thermal rendering approach that is based on the estimation of the temperature in contact for both the finger and the probed remote object in a telepresence setup. The thermal feedback is provided by a bilateral control between the master (thermal display) and the slave (thermal probe robotic finger). Experimental results validating the models and the proposed thermal rendering scheme are presented and discussed.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

Construction of a Peltier semiconductor element. In practice, several elements are generally connected in series electrically and in parallel thermally (Th denotes the temperature of the hot side and Tc denotes the temperature of the cold side).

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Figure 2

Master/slave thermal telepresence setup

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Figure 3

Estimated (line) and measured (points) heating capacities (left) and estimated (line) and measured (points) cooling capacities (right)

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Figure 4

Estimated (dashed) and measured (solid) temperatures of TEMs I (left) and II (right)

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Figure 5

Estimated (dashed) and measured (solid) heat fluxes of TEMs I (left) and II (right)

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Figure 6

Overview of the thermal telepresence control scheme

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Figure 7

Thermal contact modeling

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Figure 8

Temperature estimation scheme

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Figure 9

Overall bilateral controller of the thermal telepresence

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Figure 10

Remote robotic finger Peltier temperature controlled with the estimated finger temperature during consecutive contact (left). Thermal display Peltier temperature controlled with the estimated temperature of touched objects (right).



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