Thesis (M.Eng.) - Asian Institute of Technology, 2003

A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies

The bilateral control architecture must provides users not only in local operator; called doctor side, but also in remote operator; called patient side, with three main parts: Automation control system, configuration and data collection. Configuration capabilities are required to .establish and maintain the automation system. Control services, the important component, also include and involve the exchange of mission-critical data between control applications in both sides. Moreover, the bilateral control architecture allows data acquisition and collection for analysis, troubleshooting, and maintenance. For interoperability, a common application is needed to exchange data for control loop system both force and position control. In this application system, the transmission via port 8255 of MCS-51 parallel communication is provided to support exchange data system in bilateral control application of doctor and patient part. In the remote system DC motor on the patient part, which follows the displacement commands of the local operator or doctor. Information of the resultant forces on the displacement actuators of remote system are detected by sensors made by potentiometer equipped on the steel bar or ingot. The force information is then forwarded to the doctor side via parallel communication cable wire to port 8255. Finally, the force actuator generates force following the sent 'data and makes doctor sense it. Local operator or patient side consists of sensors (potentiometers) and DC motor as actuator. PID control algorithm is selected for force and displacement control. Furthermore, varying the speed of actuator is used in some situation, for example, doctor press his finger suddenly. This makes tremendously changing in acceleration and force.