Search
Skip to Search Results- 4Ali Jazayeri
- 4Mahdi Tavakoli
- 1Alireza Mohammadi
- 1Cheng, Lingbo
- 1Hernandez Herdocia, Alejandro
- 1Hodgson, Sean E
- 6Graduate and Postdoctoral Studies (GPS), Faculty of
- 6Graduate and Postdoctoral Studies (GPS), Faculty of/Theses and Dissertations
- 4Electrical and Computer Engineering, Department of
- 3Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
- 1Electrical and Computer Engineering, Department of/Journal Articles (Electrical and Computer Engineering)
- 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)
-
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...
-
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...
-
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...
-
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...
-
2011-06-05
Alireza Mohammadi, Mahdi Tavakoli, Ali Jazayeri
The PHANToM R devices (SensAble Technologies Inc., MA, USA) provide the users in industry and academia with an opportunity for research and education in virtual reality, haptics, robot motion control and teleoperation. Traditionally, one has to develop C/C++ codes using the OpenHaptics R software...
-
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...
-
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...
-
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 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...
-
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...