Search
Skip to Search Results- 9Passivity
- 4Bilateral Teleoperation
- 3Absolute Stability
- 2Stability Analysis
- 2Teleoperation
- 2Telerobotics
- 7Ali Jazayeri
- 7Mahdi Tavakoli
- 2Matthew Dyck
- 1Dyck, Matthew D.
- 1Jazayeri Moghadas, Seyed Ali
- 1Kulandaivel, Santhoshkumar
- 7Electrical and Computer Engineering, Department of
- 4Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
- 4Graduate and Postdoctoral Studies (GPS), Faculty of
- 4Graduate and Postdoctoral Studies (GPS), Faculty of /Theses and Dissertations
- 3Electrical and Computer Engineering, Department of/Journal Articles (Electrical and Computer Engineering)
-
2011-06-21
In a bilateral teleoperation system, conditions involving open-loop model parameters and controller parameters for ensuring teleoperator passivity are useful as control design guidelines to attain maximum teleoperation transparency (due to passivity/transparency tradeoffs). By teleoperator, we...
-
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...
-
A study of passivity and stress corrosion cracking (SCC) of alloy 800 in simulated steam generator crevice solution containing thiosulfate and sulphide species
DownloadFall 2011
The passivity and stress corrosion cracking (SCC) behavior of Alloy 800 was studied in test solution containing thiosulfate and sulphide species. Cyclic polarization experiments in thiosulfate containing solutions indicated that with an increase in the concentration of thiosulfate, both the...
-
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...
-
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,...
-
2013-01-01
Matthew Dyck, Ali Jazayeri, Mahdi Tavakoli
Conventional approaches for stability analysis of bilateral teleoperation systems assume that the human operator does not inject energy into the system and behaves in a passive manner. Does this assumption hold for various tasks the human operator may execute in a teleoperation context? To answer...
-
Fall 2013
This thesis presents techniques to measure the human arm's mechanical impedance using a rehabilitation robot, drawing applications to telerehabilitation and patient motor function assessment. Conventional teleoperation system stability analysis and control assumes the human operator remains...
-
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...
-
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...
-
Stability of Bilateral Teleoperation Systems: Effect of Sampled-data Control and Non-passivity or Strict-Passivity of Terminations
DownloadFall 2013
A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. The teleoperator consists of a master, a slave, their controllers, and a communication channel. Since the models of the terminations namely the human operator and the environment are unknown and/or...