Thermal bilateral control with scaled thermal information using peltier device

This research focuses on a thermal bilateral control system with scaled thermal information. Considering that the phenomena of heat transfer that occur between contacted objects depend on thermal admittance of each object, this research mentions the effect of scaling on the admittance rendered at the operator side. By changing the structure of temperature and heat flow controller, it becomes possible to alter the sensitivity of remote thermal system against external environment. The thermal control itself is conducted by using two kinds of observers which compensate for the disturbance heat flows and estimate the amount of heat flowing into the system. Experimental results show the validity of proposed control system.