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Assessing change in fish habitat and communities in coastal wetlands of Georgian Bay
appsOther research productkeyboard_double_arrow_right Other ORP type 2012 Canada
Authors: Midwood, Jonathan D.;
Midwood, Jonathan D.;
handle: 11375/11983
handle: 11375/11983
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Canada Research
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Modelling and Control of Cooperative Multi-Master/Multi-Slave Teleoperation Systems
appsOther research productkeyboard_double_arrow_right Other ORP type 2006 Canada English
Authors: Setoodeh, Peyman;
Setoodeh, Peyman;
handle: 11375/21907
handle: 11375/21907
Cooperative teleoperation combines two traditional areas of robotics, i.e. teleoperation and collaborative manipulation. Cooperative telerobotic systems consist of multiple pairs of master I slave robotic manipulators operating in a shared environment. Due to dynamic interaction among slave manipulators as well as communication latency, control of such systems is particularly challenging and the application of standard teleoperation controller may result in instability. In this thesis a multilateral control framework is proposed for cooperative teleoperation systems that allows for transmission of position and force information between all master and slave robots rather than merely between corresponding units. Two different control approaches are introduced that establish kinematic correspondence among masters and slaves. The operators are presented with a virtual intervening tool in order to collaboratively interact with the environment. Models of operators, master and slave robots, tool, and environment are incorporated in the design. A multilateral adaptive nonlinear control architecture is proposed. Performance and stability of cooperative teleoperation systems are addressed under dynamic interactions between slave robots in the presence of model uncertainty. The robustness of the controller with respect to communication latency is also analyzed. Simulation and experimental studies demonstrate that the proposed approach is highly effective in all phases of a teleoperation task, i.e. in free motion and in contact with both flexible and rigid environments. The second approach involves finite-dimensional state-space models that incorporate the delay for free motion/ soft contact as well as rigid contact modes of operation. Local dynamic linearization control laws are employed to linearize robotic manipulators' dynamics. Model-based discrete-time Linear Quadratic Gaussian (LQG) controllers are proposed that can deliver a stable transparent response for each phase of operation. The robustness of these controllers with respect to parameter uncertainty is examined via the Nyquist analysis. Simulation results demonstrate the effectiveness of the proposed approach. Thesis Master of Applied Science (MASc)
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2006
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Redefining the Academic Library: Managing the Migration to Digital Information Services
appsOther research productkeyboard_double_arrow_right Other ORP type 2013 Canada
Authors: Attis, David;
Attis, David;
handle: 11375/14584
handle: 11375/14584
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Utilizing Ground Level Remote Sensing to Monitor Peatland Disturbance
appsOther research productkeyboard_double_arrow_right Other ORP type 2016 Canada English
Authors: McCann, Cameron N.;
McCann, Cameron N.;
handle: 11375/20271
handle: 11375/20271
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Canada Research
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A Kinematic Control Framework for Asymmetric Semi-autonomous Teleoperation Systems
appsOther research productkeyboard_double_arrow_right Other ORP type 2012 Canada
Authors: Malysz, Pawel;
Malysz, Pawel;
handle: 11375/11470
handle: 11375/11470
Have a nice day :)
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Canada Research
Other ORP type . 2012
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Aircraft and Satellite Remote Sensing for Biophysical Analysis at Pen Island, Northwestern Ontario
appsOther research productkeyboard_double_arrow_right Other ORP type 1977 Canada English
Authors: Kozlovic, Nancy Jean;
Kozlovic, Nancy Jean;
handle: 11375/18632
handle: 11375/18632
Canada Researcharrow_drop_down
Canada Research
Other ORP type . 1977
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Other ORP type . 1977
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The Power of Partnerships in Canadian University Libraries
appsOther research productkeyboard_double_arrow_right Other ORP type 2013 Canada
Authors: Whitehead, Martha;
Whitehead, Martha;
handle: 11375/14585
handle: 11375/14585
Canada Researcharrow_drop_down
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FORSAKING PAUL BUNYAN: A GENDERED ANALYSIS OF FORESTRY COMPANY SAFETY POLICY ON VANCOUVER ISLAND IN THE MID-TWENTIETH CENTURY
appsOther research productkeyboard_double_arrow_right Other ORP type 2017 Canada English
Authors: Kirkham, Jacqueline Lea;
Kirkham, Jacqueline Lea;
handle: 11375/21973
handle: 11375/21973
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Other ORP type . 2017
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EFFECTS OF AGRICULTURAL PRACTICE ON THE WATER QUALITY OF LOW-ORDER STREAMS IN THE BEAVER VALLEY WATERSHED
appsOther research productkeyboard_double_arrow_right Other ORP type 2012 Canada
Authors: Dieleman, Catherine M.;
Dieleman, Catherine M.;
handle: 11375/11984
handle: 11375/11984
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Agribusiness and Hired Farm Labour in the Ontario Tomato Industry
appsOther research productkeyboard_double_arrow_right Other ORP type 1992 Canada
Authors: Wall, Ellen;
Wall, Ellen;
handle: 11375/14011
handle: 11375/14011
Canada Researcharrow_drop_down
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Other ORP type . 1992
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24 Research products

Assessing change in fish habitat and communities in coastal wetlands of Georgian Bay
appsOther research productkeyboard_double_arrow_right Other ORP type 2012 Canada
Authors: Midwood, Jonathan D.;
Midwood, Jonathan D.;
handle: 11375/11983
handle: 11375/11983
Canada Researcharrow_drop_down
Canada Research
Other ORP type . 2012
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Modelling and Control of Cooperative Multi-Master/Multi-Slave Teleoperation Systems
appsOther research productkeyboard_double_arrow_right Other ORP type 2006 Canada English
Authors: Setoodeh, Peyman;
Setoodeh, Peyman;
handle: 11375/21907
handle: 11375/21907
Cooperative teleoperation combines two traditional areas of robotics, i.e. teleoperation and collaborative manipulation. Cooperative telerobotic systems consist of multiple pairs of master I slave robotic manipulators operating in a shared environment. Due to dynamic interaction among slave manipulators as well as communication latency, control of such systems is particularly challenging and the application of standard teleoperation controller may result in instability. In this thesis a multilateral control framework is proposed for cooperative teleoperation systems that allows for transmission of position and force information between all master and slave robots rather than merely between corresponding units. Two different control approaches are introduced that establish kinematic correspondence among masters and slaves. The operators are presented with a virtual intervening tool in order to collaboratively interact with the environment. Models of operators, master and slave robots, tool, and environment are incorporated in the design. A multilateral adaptive nonlinear control architecture is proposed. Performance and stability of cooperative teleoperation systems are addressed under dynamic interactions between slave robots in the presence of model uncertainty. The robustness of the controller with respect to communication latency is also analyzed. Simulation and experimental studies demonstrate that the proposed approach is highly effective in all phases of a teleoperation task, i.e. in free motion and in contact with both flexible and rigid environments. The second approach involves finite-dimensional state-space models that incorporate the delay for free motion/ soft contact as well as rigid contact modes of operation. Local dynamic linearization control laws are employed to linearize robotic manipulators' dynamics. Model-based discrete-time Linear Quadratic Gaussian (LQG) controllers are proposed that can deliver a stable transparent response for each phase of operation. The robustness of these controllers with respect to parameter uncertainty is examined via the Nyquist analysis. Simulation results demonstrate the effectiveness of the proposed approach. Thesis Master of Applied Science (MASc)
MacSpherearrow_drop_down
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2006
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Canada Research
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Redefining the Academic Library: Managing the Migration to Digital Information Services
appsOther research productkeyboard_double_arrow_right Other ORP type 2013 Canada
Authors: Attis, David;
Attis, David;
handle: 11375/14584
handle: 11375/14584
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Utilizing Ground Level Remote Sensing to Monitor Peatland Disturbance
appsOther research productkeyboard_double_arrow_right Other ORP type 2016 Canada English
Authors: McCann, Cameron N.;
McCann, Cameron N.;
handle: 11375/20271
handle: 11375/20271
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A Kinematic Control Framework for Asymmetric Semi-autonomous Teleoperation Systems
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Authors: Malysz, Pawel;
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Aircraft and Satellite Remote Sensing for Biophysical Analysis at Pen Island, Northwestern Ontario

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Assessing change in fish habitat and communities in coastal wetlands of Georgian Bay

Modelling and Control of Cooperative Multi-Master/Multi-Slave Teleoperation Systems

Redefining the Academic Library: Managing the Migration to Digital Information Services

Utilizing Ground Level Remote Sensing to Monitor Peatland Disturbance

A Kinematic Control Framework for Asymmetric Semi-autonomous Teleoperation Systems

Aircraft and Satellite Remote Sensing for Biophysical Analysis at Pen Island, Northwestern Ontario

The Power of Partnerships in Canadian University Libraries

FORSAKING PAUL BUNYAN: A GENDERED ANALYSIS OF FORESTRY COMPANY SAFETY POLICY ON VANCOUVER ISLAND IN THE MID-TWENTIETH CENTURY

EFFECTS OF AGRICULTURAL PRACTICE ON THE WATER QUALITY OF LOW-ORDER STREAMS IN THE BEAVER VALLEY WATERSHED

Agribusiness and Hired Farm Labour in the Ontario Tomato Industry

Assessing change in fish habitat and communities in coastal wetlands of Georgian Bay

Modelling and Control of Cooperative Multi-Master/Multi-Slave Teleoperation Systems

Redefining the Academic Library: Managing the Migration to Digital Information Services

Utilizing Ground Level Remote Sensing to Monitor Peatland Disturbance

A Kinematic Control Framework for Asymmetric Semi-autonomous Teleoperation Systems

Aircraft and Satellite Remote Sensing for Biophysical Analysis at Pen Island, Northwestern Ontario

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