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Performance evaluation of real-time bilateral teleoperation systems with wired and wireless network simulation

This thesis presents a general simulation framework used for evaluating the performance of bilateral teleoperation systems under consistent and controllable network conditions. A teleoperation system is where an operator uses a master device to control a slave robot through a communication link. The communication link between the master and slave has an important impact on the system performance. Network emulation using ns-2 has been proposed as a way of simulating the communication link. It allows for the network conditions to be controlled and for repeatable results. The proposed setup was used to test the performance of a hydraulic actuator under various conditions of wired and wireless networks. Three control schemes were evaluated using various combinations of time delay and packet loss. The system was also tested simulating wireless communication between the master and slave to determine the effects of transmission power and distance on the performance of the system.

Identiferoai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:MWU.1993/14166
Date20 December 2012
CreatorsLiao, Stephen
ContributorsFung, Wai-keung (Electrical and Computer Engineering), Cai, Jun (Electrical and Computer Engineering) Sepehri, Nariman (Mechanical and Manufacturing Engineering)
Source SetsLibrary and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada
Detected LanguageEnglish

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