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Full-Text Articles in Engineering
Three-Channel Control Architecture For Multilateral Teleoperation Under Time Delay, Uğur Tümerdem
Three-Channel Control Architecture For Multilateral Teleoperation Under Time Delay, Uğur Tümerdem
Turkish Journal of Electrical Engineering and Computer Sciences
Multilateral teleoperation is an extension of bilateral/haptic teleoperation framework to multiple operators/robots and finds applications in haptic training. As in bilateral teleoperation, time delay is an important problem, and stability and transparency, which quantifies the performance of the teleoperation system, are critical in the design of multilateral control systems. This paper proposes a novel three-channel-based multilateral control architecture with damping injection to guarantee delay-independent L2 stability and high transparency in multilateral teleoperation systems. The theoretical and computational analyses are verified with experiment results.
Contribution Of Artificial Proprioception On A Dynamic Finger Flexion Task, Mehdi Hojatmadani, Evren Samur
Contribution Of Artificial Proprioception On A Dynamic Finger Flexion Task, Mehdi Hojatmadani, Evren Samur
Turkish Journal of Electrical Engineering and Computer Sciences
There has been a considerable effort to provide sensory feedback for myoelectric prostheses. Among the solutions provided in the literature, sensory substitution is an easy and cost-effective way to provide feedback through different sensory modalities at different locations on the body. In this study, we evaluate the effect of sensory substitution of force and position feedback on a two-degree-of-freedom dynamic finger flexion task. For this purpose, a new methodology and an experimental setup are developed. The experimental methodology is based on the "strength-dexterity test", working on the principle of buckling of compression springs. The experimental setup comprises a haptic interface, …
Satellite Maintenance: An Opportunity To Minimize The Kessler Effect, Bettina M. Mrusek Dr.
Satellite Maintenance: An Opportunity To Minimize The Kessler Effect, Bettina M. Mrusek Dr.
International Journal of Aviation, Aeronautics, and Aerospace
Recently, there has been an emphasis on the growing problem of orbital debris. While the advantages of placing satellites into space are numerous, advances in satellite technology combined with the growth of the industry have resulted with a significant amount of debris in the orbits surrounding our planet. The harshness of the space environment has also contributed to the debris, as evidenced by the number of objects currently in orbit which are not operational. As the amount of debris grows, so too does the likelihood of collisions, ultimately culminating in the Kessler Effect. However, recent advances in propulsion, advanced navigation, …