Performance evaluation of real-time bilateral teleoperation systems with wired and wireless network simulation
| dc.contributor.author | Liao, Stephen | |
| dc.contributor.examiningcommittee | Cai, Jun (Electrical and Computer Engineering) Sepehri, Nariman (Mechanical and Manufacturing Engineering) | en_US |
| dc.contributor.supervisor | Fung, Wai-keung (Electrical and Computer Engineering) | en_US |
| dc.date.accessioned | 2012-12-20T18:13:46Z | |
| dc.date.available | 2012-12-20T18:13:46Z | |
| dc.date.issued | 2012-12-20 | |
| dc.degree.discipline | Electrical and Computer Engineering | en_US |
| dc.degree.level | Master of Science (M.Sc.) | en_US |
| dc.description.abstract | 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. | en_US |
| dc.description.note | February 2013 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1993/14166 | |
| dc.language.iso | eng | en_US |
| dc.rights | open access | en_US |
| dc.subject | Teleoperation | en_US |
| dc.subject | Network Simulation | en_US |
| dc.subject | ns-2 | en_US |
| dc.subject | Network Emulation | en_US |
| dc.subject | Robotics | en_US |
| dc.subject | Hydraulic Actuators | en_US |
| dc.subject | Bilateral Teleoperation | en_US |
| dc.title | Performance evaluation of real-time bilateral teleoperation systems with wired and wireless network simulation | en_US |
| dc.type | master thesis | en_US |