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Skip to Search Results- 3Tavakoli, Mahdi (Electrical and Computer Engineering)
- 1Martin Jagersand (Computing Science)
- 1Tavakoli, Mahdi (Department of Electrical and Computer Engineering)
- 1Tavakoli, Mahdi Department of Electrical and Computer Engineering
- 1Zareinia, Kourosh ( Mechanical & Industrial Engineering, Ryerson University)
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Fall 2019
Cardiovascular disease is one of the leading causes of death worldwide. Conventional extra- and intra-cardiac surgeries need the heart to be arrested and involve connecting the patient to a cardiopulmonary bypass (CPB) machine. However, arrested-heart surgery has adverse effects such as the risk...
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Fall 2020
Haptic interaction is the human's most basic way to understand an environment and effect change in it. Haptic feedback provides humans who operate machines with a sense of touching objects they are not actually touching but are manipulating by the machines. Haptic feedback allows the human...
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Spring 2015
This thesis focuses on the analysis and implementation of haptic teleoperation systems for home-based remote rehabilitation therapies. The main objective is to link the hand of a hospital-based therapist to the hand of a home-based disabled patient haptically, in order to simulate conventional...
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Spring 2012
For robotic systems that use pneumatic actuators with on/off solenoid valves, sliding-mode control laws for precise position control and low switching (open/close) activity of the valves are presented. A pneumatic actuator has two chambers with a total of four on/off solenoid valves. Thus, there...
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Stability of Haptic Virtual Environments and Teleoperation Systems : Effect of Sampled-Data Control, Communication Delay and Active Operator
DownloadFall 2013
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...
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Towards Supervisory Control for Remote Mobile Manipulation: Designing, Building, and Testing a Mobile Telemanipulation Test-Bed
DownloadSpring 2012
This dissertation has two main contributions, a modular design of a mobile manipulator and a set of tele-operation performance experiments using this platform. To experimentally evaluate system performance and operator preferences, several tests were designed: 1) Which robot camera placement...