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dc.contributor.supervisor Fung, Wai-keung (Electrical and Computer Engineering) en_US
dc.contributor.author Liao, Stephen
dc.date.accessioned 2012-12-20T18:13:46Z
dc.date.available 2012-12-20T18:13:46Z
dc.date.issued 2012-12-20
dc.identifier.uri http://hdl.handle.net/1993/14166
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.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.degree.discipline Electrical and Computer Engineering en_US
dc.contributor.examiningcommittee Cai, Jun (Electrical and Computer Engineering) Sepehri, Nariman (Mechanical and Manufacturing Engineering) en_US
dc.degree.level Master of Science (M.Sc.) en_US
dc.description.note February 2013 en_US


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