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Journal Articles (Electrical and Computer Engineering)
Items in this Collection
- 8Electrical and Computer Engineering, Department of
- 8Electrical and Computer Engineering, Department of/Journal Articles (Electrical and Computer Engineering)
- 1Civil and Environmental Engineering, Department of
- 1Civil and Environmental Engineering, Department of/Research Materials (Civil & Environmental Engineering)
- 2Bilateral Teleoperation
- 2Passivity
- 2Telerobotics
- 1Absolute Stability
- 1Admittance Control
- 1Communication Topology
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A Domain-Adapted Machine Learning Approach for Visual Evaluation and Interpretation of Robot-Assisted Surgery Skills
Download2022-01-01
Abed Soleymani, Xingyu Li, Mahdi Tavakoli
In this study, we present an intuitive machine learningbased approach to evaluate and interpret surgical skills level of a participant working with robotic platforms. The proposed method is domain-adapted, i.e., jointly utilizes an end-to-end learning approach for smoothness detection and domain...
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2013-01-01
A teleoperation system consists of a teleoperator, a human operator, and a remote environment. Conditions involving system and controller parameters that ensure the teleoperator passivity can serve as control design guidelines to attain maximum teleoperation transparency while maintaining system...
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2013-01-01
Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time...
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Bilateral Teleoperation System Stability with Non-passive and Strictly-Passive Operator or Environment
Download2015-01-01
A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. Without exact models for the teleoperator’s terminations (i.e., human operator and the environment), it is typically assumed that they are passive but otherwise arbitrary. Based on this assumption,...
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Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
Download2022-11-03
Teng Li, Xiao Meng, Mahdi Tavakoli
ABSTRACT: The COVID-19 pandemic has brought unprecedented extreme pressure on the medical system due to the physical distance policy, especially for procedures such as ultrasound (US) imaging, which are usually carried out in person. Tele-operation systems are a promising way to avoid physical...
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2020-01-01
Ran Tao, Renz Ocampo, Jason Fong, Abed Soleymani, Mahdi Tavakoli
Ran Tao, Renz Ocampo, Jason Fong, Abed Soleymani, and Mahdi Tavakoli
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Stability and Intervehicle Distance Analysis of Vehicular Platoons: Highlighting the Impact of Bidirectional Communication Topologies
Download2024-02-18
Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli
Vehicular platooning, a configuration comprising a leading vehicle and multiple follower vehicles (FVs) seeks to achieve and maintain specific intervehicle distances (IDs) while synchronizing FVs with the velocity and acceleration of the leading vehicle. Before attaining a desired stable state,...
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Surgical Procedure Understanding, Evaluation, and Interpretation: A Dictionary Factorization Approach
Download2022-01-01
Abed Soleymani, Xingyu Li, Mahdi Tavakoli
In this study, we present a novel machine learning-based technique to help surgical mentors assess surgical motion trajectories and corresponding surgical skills levels in surgical training programs. The proposed method is a variation of sparse coding and dictionary learning that is...