Improving performance of a remote robotic teleoperation over the internet

Arslan, Mehmet Selçuk
In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered. The selected communication medium between the human operator and remote robot is the Internet. The variable time delays and nondeterministic characteristics of the Internet may lead to instability of the teleoperation system. Considering the disturbing effects of the Internet onto the transmission, an event-based control approach is used in order to improve the stability of the teleoperation system. Besides, a visual feedback system is developed and a force-feedback mouse is designed in order to improve synchronization between the human operator and robot during the command generation according to the feedback obtained from the control system. A client-server software application is developed to interface the human operator with remote environment. It is observed that, using the event-based control approach in the operation makes the teleoperation stable and improves the synchronization ability. Implementation of visual feedback and force-feedback mouse to the teleoperation system improves the human operator̕s ability to perform remote operation.


Modular embedded system design / implementation for mechatronic education and research
Nursal, Ali Özgü; Koku, Ahmet Buğra; Department of Mechanical Engineering (2007)
In this thesis a modular embedded system for Mechatronics education and research is designed and implemented. Four types of control boards are manufactured and related software is developed at board and PC level. A star like topology is used for boards architecture. One bridge board is responsible for handling communication between the PC and all the other boards that are connected independently to that bridge board. For PC communication Universal Seial Bus (USB), for inter peripheral communication serial p...
Design and construction of a folding mechanism for a radar system
Yurt, Hünkar Kemal; Turgut, Ali Emre; Department of Mechanical Engineering (2019)
In this thesis, a folding mechanism with 1 degrees of freedom is designed and constructed for a two-antenna radar system. The optimum mechanism for the problem is systematically selected among the conceptual mechanism alternatives. Then, a detailed synthesis and analysis study is performed on the selected mechanism, and the mechanism is implemented to the geometry of the radar system. By performing modal and strength analyses on the 3D model of the folding mechanism created during the implementation study, ...
Dynamic performances of kinematically and dynamically adjustable planar mechanisms
İyiay, Erdinç; Soylu, Reşit; Department of Mechanical Engineering (2003)
In this thesis, the dynamic performances of kinematically and dynamically adjustable planar mechanisms have been investigated. An adjustable mechanism is here defined to be a mechanism where some of the kinematic and/or dynamic parameters are changed in a controlled manner in order to optimize the dynamic behaviour of the mechanism in spite of variable operating conditions. Here, variable operating conditions refer to variable load(s) on the mechanism and/or variable desired input motion. The dynamic behavi...
Wireless speech recognition using fixed point mixed excitation linear prediction (MELP) vocoder
Acar, D; Karci, MH; Ilk, HG; Demirekler, Mübeccel (2002-07-19)
A bit stream based front-end for wireless speech recognition system that operates on fixed point mixed excitation linear prediction (MELP) vocoder is presented in this paper. Speaker dependent, isolated word recognition accuracies obtained from conventional and bit stream based front-end systems are obtained and their statistical significance is discussed. Feature parameters are extracted from original (wireline) and decoded speech (conventional) and from the quantized spectral information (bit stream) of t...
Simulation of turbulence induced sound generation inside stenosed femoral artery models with different severities and eccentricities
Ozden, Kamil; Yazıcıoğlu, Yiğit; Sert, Cüneyt (2021-09-01)
Background and objectives: Recent developments of low-cost, compact acoustic sensors, advanced signal processing tools and powerful computational resources allow researchers design new scoring systems for acoustic detection of arterial stenoses. In this study, numerical simulations of blood flow inside stenosed arteries are performed to understand the effect of stenosis severity and eccentricity on the turbulence induced wall pressure fluctuations and the generated sound. Methods: Axisymmetric and eccentric...
Citation Formats
M. S. Arslan, “Improving performance of a remote robotic teleoperation over the internet,” M.S. - Master of Science, Middle East Technical University, 2005.