Presentations (Electrical and Computer Engineering)
Items in this Collection
- 13Mahdi Tavakoli
- 6Ali Jazayeri
- 3Abed Soleymani
- 3Hadis Karimipour, Venkata Dinavahi
- 3Shengjun Huang, Venkata Dinavahi
- 3Teng Li
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Revisiting Llewellyn's Absolute Stability Criterion for Bilateral Teleoperation Systems under Non-passive Operator or Environment
Download2012-10-07
Stability of a haptic teleoperation system is influenced by the typically uncertain, time-varying and/or unknown dynamics of the operator and the environment. For a stability analysis that is independent of the operator and the environment dynamics, Llewellyn's absolute stability criterion...
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2019-01-01
Lingbo Cheng, Jason Fong, Mahdi Tavakoli
— In this paper, a semi-autonomous robot control system is developed for 3D robotic tracking of the complex physiological organ motion introduced by respiration and heartbeat in cardiac surgery. The same control system enables the surgeon’s hand to perceive the non-oscillatory portion of...
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2010-12-15
In a haptic teleoperation system, closed-loop stability is influenced by the human operator and the environment dynamics, which are typically uncertain, time-varying or unknown. Therefore, in lieu of stability, the passivity of a teleoperation system as a sufficient condition for stability is...
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2021-01-01
Abed Soleymani, Ali Akbar Sadat Asl, Mojtaba Yeganejou, Scott Dick, Mahdi Tavakoli, Xingyu Li
Quality and safety are critical elements in the performance of surgeries. Therefore, surgical trainees need to obtain the required degrees of expertise before operating on patients. Conventionally, a trainee’s performance is evaluated by qualitative methods that are time-consuming and prone...