Mechanical Engineering / Makina Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/4129

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Subject: search.filters.subject.Bilateral teleoperationWoS Q: search.filters.wosQuartile.N/A

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  • Conference Object
    Applying Model Mediation Method To a Mobile Robot Bilateral Teleoperation System Experiencing Time Delays in Communication
    (Makina Teorisi Derneği, 2015) Taner, Barış; Dede, Mehmet İsmet Can; Uzunoğlu, Emre
    Teleoperation systems consist of two subsystems namely, the master and the slave. Master is used by the human operator to send commands to the slave to achieve a task. In bilateral teleoperation, the interaction forces acquired from the slave sub-system is sent to the master to increase the level of tele-presence. In this kind of a setting, data has to be transferred through a communication line in which package losses and time delays occur. Such deficiencies in the communication line results in stability problems in the system. In this paper, HIPHAD desktop haptic device as the master sub-system and an omni-directional mobile robot as the slave subsystem is used to develop an unlimited workspace teleoperation system. The system’s stability and tracking performance under a constant time delay is measured for direct teleoperation and when model mediation method is applied to ensure stability. The results of the tests are given and the conclusions are derived.
  • Conference Object
    A Study on Selecting the Method of Constructing the Information To Be Exchanged in Unlimited-Workspace Bilateral Teleoperation
    (Makina Teorisi Derneği, 2015) Karabulut, Mehmet Görkem; Dede, Mehmet İsmet Can; Taner, Barış
    In this paper, a study on selecting the mapping method for information exchange in unlimitedworkspace teleoperation is presented. In spite the fact that in most of the bilateral teleoperation systems, the master system sends motion demands and receives interaction force from the slave system, the information to be exchanged through the communication line between master and slave is selected to be force in both directions in this study. This approach is expected to ease the navigation of the user when a limited-workspace master system is used to control an unlimited-workspace slave system. As the unlimited-workspace slave system, a virtual flying scalpel is used and human skin is modeled to represent the environment around the slave system. Two methods of constructing force information, or in other words, information mapping between the two systems, are developed and evaluated via user studies. However, one of them comes out to provide acceptable results in the selected unlimited-workspace teleoperation task. Experimental results for the method that provides acceptable results are presented.