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Coordination in Networked Mechanical Systems

dc.contributor.advisorChopra, Nikhilen_US
dc.contributor.authorShah, Rajiv P.
dc.date.accessioned2008-08-18T15:15:50Z
dc.date.available2008-08-18T15:15:50Z
dc.date.issued2008-08-08
dc.identifier.urihttp://hdl.handle.net/1903/8386
dc.descriptionThis report is the final project of a student in ISR's 2008 Research Experiences for Undergraduates program.en
dc.description.abstractThe goal of this summer research was to find a way to control mechanical systems over unreliable communication networks. These systems become unstable due to time delay in the communication port. Using wave scattering theory, we solved the problem of time delay in a bilateral teleoperation and controlled network systems. For both bilateral teleoperation and controlled network systems, we created theoretical simulations in MATLAB for three cases: in absence of time delay, in presence of time delay, and in the case of time delay compensation. In the lab, we tested the theoretical simulation design of controlled network system on a simple servo system for all three cases. We controlled the servo system by implementing the wave scattering transformation to solve the problem of time delay. We recorded the steady state error for various time delays and concluded that as time delay increased, the steady state error in system’s response increased as well.en
dc.description.sponsorshipThe National Science Foundation sponsors the Research Experiences for Undergraduates program.en
dc.format.extent1283026 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen
dc.relation.ispartofseriesTR 2008-24
dc.subjectmechanical systems controlen
dc.subjectunreliable communication networksen
dc.subjecttime delay problemen
dc.subjectbilateral teleoperation systemen
dc.subjectcontrolled network systemen
dc.subjecttheoretical simulationsen
dc.subjectwave scattering transformationen
dc.subjectsteady state erroren
dc.subjectteleroboticsen
dc.titleCoordination in Networked Mechanical Systemsen
dc.typeTechnical Reporten
dc.relation.isAvailableAtInstitute for Systems Researchen_us
dc.relation.isAvailableAtDigital Repository at the University of Marylanden_us
dc.relation.isAvailableAtUniversity of Maryland (College Park, MD)en_us


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