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- 5Bilateral Teleoperation
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- 13Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
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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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Robotics, Smart Wearable Technologies, and Autonomous Intelligent Systems for Healthcare During the COVID‐19 Pandemic: An Analysis of the State of the Art and Future Vision
Download2020-05-05
Mahdi Tavakoli, Jay Carriere, Ali Torabi
Herein, how robotic and autonomous systems and smart wearables complement and support healthcare delivery and the healthcare staff during the COVID‐19 pandemic are presented. For instance, robotic and telerobotic systems significantly reduce the risk of infectious disease transmission to...
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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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Stability Analysis of Teleoperation Systems under Strictly Passive and Non-passive Operator
Download2013-04-14
Ali Jazayeri, Matthew Dyck, Mahdi Tavakoli
A bilateral teleoperation system includes a human operator and an environment, which make the system stability analysis complicated due to their unknown, time-varying and nonlinear nature. Unable to have exact models for the human operator and the environment, it is typically assumed that they...
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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...
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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...