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Permanent link (DOI): https://doi.org/10.7939/R3PR7N151

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Stability of Haptic Virtual Environments and Teleoperation Systems : Effect of Sampled-Data Control, Communication Delay and Active Operator Open Access

Descriptions

Other title
Subject/Keyword
Sampled-Data
Teleoperation
HVE
Type of item
Thesis
Degree grantor
University of Alberta
Author or creator
Miandashti, Noushin
Supervisor and department
Tavakoli, Mahdi (Electrical and Computer Engineering)
Examining committee member and department
Dubljevic, Stevan (Chemical Engineering)
Zhao, Qing (Electrical and Computer Engineering)
Department
Department of Electrical and Computer Engineering
Specialization
Biomedical Engineering
Date accepted
2013-08-28T14:40:05Z
Graduation date
2013-11
Degree
Master of Science
Degree level
Master's
Abstract
Three factors can jeopardize the stability of haptic virtual environments (HVE)s and teleoperation systems: (a) delayed communication channel, (b) controller discretization and (c) active operator intervention. This thesis studies the stability of these systems and investigates the simultaneous effect of all three de-stabilizing factors via a proposed unified framework. The conditions that ensure the stability of these systems are derived and reported. This thesis also addresses the stability problem in the context of teleoperation systems in the four-channel architecture in a passivity-based framework. While it is assumed that the teleoperation system operates in continuous-time and the terminations are passive, the communication delay is compensated for and the stability conditions are derived.
Language
English
DOI
doi:10.7939/R3PR7N151
Rights
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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File title: Dedication
File title: Stability of Haptic Virtual Environments and Teleoperation Systems : Effect of Sampled-data Control, Communication Delay and Active Operator
File author: �� Noushin Miandashti, University of Alberta,
File author: ?? Noushin Miandashti, University of Alberta,
File author: Noushin Miandashti, University of Alberta,
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