An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System

The development of this work presents the implementation of an experimental platform, which will permit to investigate on a methodology for the design and analysis of a teleoperated system, considering the delay in the communication channel. The project has been developed in partnership with the laboratory of Automatic and Robotics of the Universidad Politécnica de Madrid and the Laboratory at the Centro de Tecnologías Avanzadas de Manufactura at the Pontificia Universidad Católica del Perú. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement. The experimental test of the Teleoperation system has been developed. The PC104 card commands the power interface and sensors of the DC motor of each articulation of the arm. Has developed the drives for the management of the operations of the master and the slave: send/reception of position, speed, acceleration and current data through a CAN network. The programs for the interconnection through a LAN network, between the Windows Operating System and the Real-time Operating System (QNX), has been developed. The utility of the developed platform (hardware and software) has been demonstrated.

Desarrollo de tecnologías de telemanipulación con alto grado de escalado orientadas a la interacción hombre-robot en entornos nucleares

Esta tesis se centra en desarrollo de tecnologías para la interacción hombre-robot en entornos nucleares de fusión. La problemática principal del sector de fusión nuclear radica en las condiciones ambientales tan extremas que hay en el interior del reactor, y la necesidad de que los equipos cumplan requisitos muy restrictivos para poder aguantar esos niveles de radiación, magnetismo, ultravacío, temperatura... Como no es viable la ejecución de tareas directamente por parte de humanos, habrá que utilizar dispositivos de manipulación remota para llevar a cabo los procesos de operación y mantenimiento. En las instalaciones de ITER es obligatorio tener un entorno controlado de extrema seguridad, que necesita de estándares validados. La definición y uso de protocolos es indispensable para regir su buen funcionamiento. Si nos centramos en la telemanipulación con algo grado de escalado, surge la necesidad de definir protocolos para sistemas abiertos que permitan la interacción entre equipos y dispositivos de diversa índole. En este contexto se plantea la definición del Protocolo de Teleoperación que permita la interconexión entre dispositivos maestros y esclavos de distinta tipología, pudiéndose comunicar bilateralmente entre sí y utilizar distintos algoritmos de control según la tarea a desempeñar. Este protocolo y su interconectividad se han puesto a prueba en la Plataforma Abierta de Teleoperación (P.A.T.) que se ha desarrollado e integrado en la ETSII UPM como una herramienta que permita probar, validar y realizar experimentos de telerrobótica. Actualmente, este Protocolo de Teleoperación se ha propuesto a través de AENOR al grupo ISO de Telerobotics como una solución válida al problema existente y se encuentra bajo revisión. Con el diseño de dicho protocolo se ha conseguido enlazar maestro y esclavo, sin embargo con los niveles de radiación tan altos que hay en ITER la electrónica del controlador no puede entrar dentro del tokamak. Por ello se propone que a través de una mínima electrónica convenientemente protegida se puedan multiplexar las señales de control que van a través del cableado umbilical desde el controlador hasta la base del robot. En este ejercicio teórico se demuestra la utilidad y viabilidad de utilizar este tipo de solución para reducir el volumen y peso del cableado umbilical en cifras aproximadas de un 90%, para ello hay que desarrollar una electrónica específica y con certificación RadHard para soportar los enormes niveles de radiación de ITER. Para este manipulador de tipo genérico y con ayuda de la Plataforma Abierta de Teleoperación, se ha desarrollado un algoritmo que mediante un sensor de fuerza/par y una IMU colocados en la muñeca del robot, y convenientemente protegidos ante la radiación, permiten calcular las fuerzas e inercias que produce la carga, esto es necesario para poder transmitirle al operador unas fuerzas escaladas, y que pueda sentir la carga que manipula, y no otras fuerzas que puedan influir en el esclavo remoto, como ocurre con otras técnicas de estimación de fuerzas. Como el blindaje de los sensores no debe ser grande ni pesado, habrá que destinar este tipo de tecnología a las tareas de mantenimiento de las paradas programadas de ITER, que es cuando los niveles de radiación están en sus valores mínimos. Por otro lado para que el operador sienta lo más fielmente posible la fuerza de carga se ha desarrollado una electrónica que mediante el control en corriente de los motores permita realizar un control en fuerza a partir de la caracterización de los motores del maestro. Además para aumentar la percepción del operador se han realizado unos experimentos que demuestran que al aplicar estímulos multimodales (visuales, auditivos y hápticos) aumenta su inmersión y el rendimiento en la consecución de la tarea puesto que influyen directamente en su capacidad de respuesta. Finalmente, y en referencia a la realimentación visual del operador, en ITER se trabaja con cámaras situadas en localizaciones estratégicas, si bien el humano cuando manipula objetos hace uso de su visión binocular cambiando constantemente el punto de vista adecuándose a las necesidades visuales de cada momento durante el desarrollo de la tarea. Por ello, se ha realizado una reconstrucción tridimensional del espacio de la tarea a partir de una cámara-sensor RGB-D, lo cual nos permite obtener un punto de vista binocular virtual móvil a partir de una cámara situada en un punto fijo que se puede proyectar en un dispositivo de visualización 3D para que el operador pueda variar el punto de vista estereoscópico según sus preferencias. La correcta integración de estas tecnologías para la interacción hombre-robot en la P.A.T. ha permitido validar mediante pruebas y experimentos para verificar su utilidad en la aplicación práctica de la telemanipulación con alto grado de escalado en entornos nucleares de fusión. Abstract This thesis focuses on developing technologies for human-robot interaction in nuclear fusion environments. The main problem of nuclear fusion sector resides in such extreme environmental conditions existing in the hot-cell, leading to very restrictive requirements for equipment in order to deal with these high levels of radiation, magnetism, ultravacuum, temperature... Since it is not feasible to carry out tasks directly by humans, we must use remote handling devices for accomplishing operation and maintenance processes. In ITER facilities it is mandatory to have a controlled environment of extreme safety and security with validated standards. The definition and use of protocols is essential to govern its operation. Focusing on Remote Handling with some degree of escalation, protocols must be defined for open systems to allow interaction among different kind of equipment and several multifunctional devices. In this context, a Teleoperation Protocol definition enables interconnection between master and slave devices from different typologies, being able to communicate bilaterally one each other and using different control algorithms depending on the task to perform. This protocol and its interconnectivity have been tested in the Teleoperation Open Platform (T.O.P.) that has been developed and integrated in the ETSII UPM as a tool to test, validate and conduct experiments in Telerobotics. Currently, this protocol has been proposed for Teleoperation through AENOR to the ISO Telerobotics group as a valid solution to the existing problem, and it is under review. Master and slave connection has been achieved with this protocol design, however with such high radiation levels in ITER, the controller electronics cannot enter inside the tokamak. Therefore it is proposed a multiplexed electronic board, that through suitable and RadHard protection processes, to transmit control signals through an umbilical cable from the controller to the robot base. In this theoretical exercise the utility and feasibility of using this type of solution reduce the volume and weight of the umbilical wiring approximate 90% less, although it is necessary to develop specific electronic hardware and validate in RadHard qualifications in order to handle huge levels of ITER radiation. Using generic manipulators does not allow to implement regular sensors for force feedback in ITER conditions. In this line of research, an algorithm to calculate the forces and inertia produced by the load has been developed using a force/torque sensor and IMU, both conveniently protected against radiation and placed on the robot wrist. Scaled forces should be transmitted to the operator, feeling load forces but not other undesirable forces in slave system as those resulting from other force estimation techniques. Since shielding of the sensors should not be large and heavy, it will be necessary to allocate this type of technology for programmed maintenance periods of ITER, when radiation levels are at their lowest levels. Moreover, the operator perception needs to feel load forces as accurate as possible, so some current control electronics were developed to perform a force control of master joint motors going through a correct motor characterization. In addition to increase the perception of the operator, some experiments were conducted to demonstrate applying multimodal stimuli (visual, auditory and haptic) increases immersion and performance in achieving the task since it is directly correlated with response time. Finally, referring to the visual feedback to the operator in ITER, it is usual to work with 2D cameras in strategic locations, while humans use binocular vision in direct object manipulation, constantly changing the point of view adapting it to the visual needs for performing manipulation during task procedures. In this line a three-dimensional reconstruction of non-structured scenarios has been developed using RGB-D sensor instead of cameras in the remote environment. Thus a mobile virtual binocular point of view could be generated from a camera at a fixed point, projecting stereoscopic images in 3D display device according to operator preferences. The successful integration of these technologies for human-robot interaction in the T.O.P., and validating them through tests and experiments, verify its usefulness in practical application of high scaling remote handling at nuclear fusion environments.

Evaluación de la pertinencia de maestrías en ingeniería : aplicación en la Universidad de Piura, Perú

La formación de postgrado en ingeniería es muy importante para mejorar la competitividad y lograr el desarrollo en los países. Para ello es necesaria una fuerte vinculación de la universidad con su entorno socio económico de modo que los objetivos que se plantea en sus programas formativos sean coherentes con las necesidades reales de los beneficiarios: los estudiantes, la universidad y la comunidad. Es decir, los programas deben ser pertinentes. Y en los países en vías de desarrollo este tema es aún más importante. Se necesita modelos de evaluación que midan este grado de adecuación entre los objetivos de los programas con las necesidades de los estudiantes y las partes interesadas. Sin embargo, los modelos de evaluación existentes tienen principalmente fines de acreditación y están diseñados para evaluar la eficacia, es decir si los resultados obtenidos están de acuerdo con la misión y los objetivos planteados. Su objetivo no es medir la pertinencia. Esta investigación tiene como objetivo diseñar un modelo de evaluación de la pertinencia de maestrías en ingeniería y aplicarlo a un caso concreto. Se trata de maestrías que ya están en funcionamiento y son dictadas en una universidad en un país en desarrollo. Para diseñar el modelo se define primero el concepto de pertinencia de una maestría en ingeniería haciendo una revisión bibliográfica y consultando a expertos en los temas de pertinencia de la educación superior y formación en postgrado en ingeniería. Se utiliza una definición operativa que facilita luego la identificación de factores e indicadores de evaluación. Se identifica dos tipos de pertinencia: local y global. La pertinencia global está relacionada con la inserción de la maestría en el sistema global de producción de conocimiento. La pertinencia local tiene tres dimensiones: la personal, relacionada con la satisfacción de necesidades de los estudiantes, la institucional, relacionada con las necesidades e intereses de la universidad que acoge a la maestría y la pertinencia social, ligada a la satisfacción de necesidades y demandas de la comunidad local y nacional. El modelo diseñado es aplicado en la maestría en Ingeniería Civil con mención en Ingeniería Vial de la Universidad de Piura, Perú lo que permite obtener conclusiones para su aplicación en otras maestrías. ABSTRACT Graduate engineering education is very important to improve competitiveness and achieve development in countries. It is necessary a strong linkage between university and its socio economic environment, so that programs objectives are consistent with the real needs of the students, university and community. That is to say programs must be relevant. And in developing countries this issue is very important. Evaluation models to measure the degree of adequacy between the programs objectives with the needs of students and stakeholders is needed. However, existing evaluation models have mainly the purpose of accreditation and are designed to evaluate the efficacy. They evaluate if the results are consistent with the mission and objectives. Their goal is not to measure the relevance. This work aimed to design a model for evaluating the relevance of master's degrees in engineering and applied to a specific case. They must be masters already in operation and are taught at a university in a developing country. In order to build the model, first concept of relevance of a master's degree in engineering was defined. Literature was reviewed and we consulted experts on issues of relevance of higher education and graduate engineering education. An operational definition is used to facilitate the identification of factors and evaluation indicators. Local and global: two types of relevance were identified. The global relevance is related to the inclusion of Master in the global system of knowledge production. The local relevance has three dimensions: personal, related to meeting students' needs, institutional, related to the needs and interests of university that houses the Master and social relevance, linked to the satisfaction of needs and demands of local and national community. The designed model is applied to the Master degree in Civil Engineering with a major in Traffic Engineering of Universidad de Piura, Peru which allowed to obtain conclusions for application in other masters.

Hacer… hablar; hablar… tal vez habitar. Apuntes sobre lo dicho y hecho por Adolf Loos (1870-1933)

Ornamento y delito y Arquitectura, los dos artículos que sin duda han contribuido a difundir el ideario y a sustentar la celebridad del arquitecto Adolf Loos (1870-1933), proceden de sendas conferencias. Su origen, por consiguiente, es de naturaleza oral. Y la polémica desencadenada a raíz de ellos los convierte, en su época y para la Historia, en auténticos oráculos, cuyo sentido sus transcripciones, tanto francesa como alemana, inevitablemente en parte desvirtúan. Solo cotejando lo dicho por el maestro, y luego escrito y publicado, con su obra edificada podemos restituir el sentido original de su pensamiento. Esta es la hipótesis sobre la que discurrimos. A sus palabras y obras habrá que sumar la atención que el arquitecto y periodista, que así se confiesa, confiere a los oficios y a los materiales que los sustentan, en la línea de pensamiento de Gottfried Semper, como fundamento del diseño. Es pues a la luz de su concurrencia a la obra de arquitectura, y de ésta al espacio de habitación, y no de otros documentos gráficos y fotográficos, como ha de valorarse lo dicho y escrito por Loos, si nos atenemos a sus propias recomendaciones. Lo dicho se ilumina con lo hecho. Y lo hecho se autoriza por lo habitado.

Letter from David Phips to Colonel Jonathan Snelling regarding escort of Governor Hutchinson to Harvard Commencement, 1773 July 12

David Phips wrote this letter to Colonel Jonathan Snelling from Cambridge on July 12, 1773, to inform him that Massachusetts Governor Thomas Hutchinson had requested the accompaniment of guards during his travels from Milton to Cambridge on July 21, 1773, to attend the Harvard College Commencement exercises. In the letter, Phips informs Snelling that he has issued warrants to the guards, instructing them to congregate at the Sign of the Grey Hound in Roxbury, Massachusetts at eight o'clock on the morning of the 21st. He explains that twelve other men will march, under the command of Sub-Brigadier Sumner, to the Governor's home in Milton to escort him to Roxbury, where the larger party will assemble. These heightened security measures were certainly prompted by political unrest, although this is not stated explicitly in the letter. Phips concludes by saying: "I shall order a dinner for us at Bradish's, where I hope to have the pleasure to dine with you."

India, 1788 (Image 1 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A map of Hindoostan, or the Mogul Empire : from the latest authorities. Inscribed to Sir Joseph Banks Bart., President of the Royal Society & c., & c. by his much obliged & faithful friend and servant, J. Rennell, 1st Jany. 1788 ; the map engraved by I. Phillips & W. Harrison ; writing by T. Harmar. It was published by James Rennell in 1788. Scale [ca. 1:3,000,000]. This layer is image 1 of 4 total images of the four sheet source map, covering the southwest portion of the map. Covers primarily India and adjacent portions of Asia.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Asia North Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, cities and other human settlements, roads, territorial boundaries, shoreline features, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

India, 1788 (Image 2 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A map of Hindoostan, or the Mogul Empire : from the latest authorities. Inscribed to Sir Joseph Banks Bart., President of the Royal Society & c., & c. by his much obliged & faithful friend and servant, J. Rennell, 1st Jany. 1788 ; the map engraved by I. Phillips & W. Harrison ; writing by T. Harmar. It was published by James Rennell in 1788. Scale [ca. 1:3,000,000]. This layer is image 2 of 4 total images of the four sheet source map, covering the southeast portion of the map. Covers primarily India and adjacent portions of Asia.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Asia North Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, cities and other human settlements, roads, territorial boundaries, shoreline features, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

India, 1788 (Image 3 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A map of Hindoostan, or the Mogul Empire : from the latest authorities. Inscribed to Sir Joseph Banks Bart., President of the Royal Society & c., & c. by his much obliged & faithful friend and servant, J. Rennell, 1st Jany. 1788 ; the map engraved by I. Phillips & W. Harrison ; writing by T. Harmar. It was published by James Rennell in 1788. Scale [ca. 1:3,000,000]. This layer is image 3 of 4 total images of the four sheet source map, covering the northwest portion of the map. Covers primarily India and adjacent portions of Asia. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Asia North Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, cities and other human settlements, roads, territorial boundaries, shoreline features, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

The colored inventor : a record of fifty years /

Cover title.

The complete works of Lyof N. Tolstoĭ /

War and peace, vols. III-IV. -- War and peace, vols. V-VI. -- Anna Karenina, vols. I-II. -- Anna Karenina, vol. III. ; Childhood, boyhood, youth -- A Russian proprietor ; The Death of Ivan Ilyitch and other stories -- The long exile, and other stories ; Master and man ; The Kreutzer sonata ; Dramas -- What is to be done? ; Life -- The Kingdom of God is within you ; What is art? ; What is religion? -- Resurrection, vols. I-II.

Miscellanea biographica. Oswinus, rex Northumbriae. Cuthbertus, episcopus lindisfarnensis ; Eata, episcopus haugustaldensis.

Texts in Latin, prefactory material in English.

El uso del valenciano, la actitud hacia la lengua y la destreza escrita : Un estudio sociolingüístico sobre el dominio del valenciano de jóvenes alicantinos

Los jóvenes de Alicante viven en una sociedad donde coexisten dos lenguas, el castellano y el valenciano. La lengua valenciana es utilizada por jóvenes de Alicante tanto en ámbitos formales como informales. Los jóvenes hablantes de valenciano sienten un lazo identificativo con la lengua que se rige por las actitudes de éstos. La actitud lingüística conlleva a una identificación lingüística del hablante, la cual es una construcción social que se rige por las normas que rodean al hablante. La identificación bilingüe podría, por lo tanto, ser influenciada e influenciar a su vez a la competencia lingüística. El propósito del presente estudio es investigar en qué situaciones y contextos es usado el valenciano; con el objetivo de estudiar la relación entre el grado de bilingüismo, la actitud lingüística y el nivel de complejidad, corrección y fluidez (CAF) en la expresión escrita del valenciano. Partimos de la hipótesis de que el valenciano tiene, para la generación joven de Alicante, una función social y que la actitud hacia la lengua es positiva, lo que a su vez se refleja en la destreza escrita. Para comprobar nuestra hipótesis nos hemos basado en un cuestionario de hábitos sociales, un test de nivel de valenciano y dos redacciones, una escrita en castellano y una en valenciano. Con la participación de 59 jóvenes alicantinos, llegamos a la conclusión de que el valenciano es usado tanto en ámbitos formales como informales y que la actitud hacia la lengua es positiva, y que consideran importante dominar y preservar el valenciano. Además, los participantes han presentado un nivel alto de destreza en el valenciano escrito, mostrando complejidad y fluidez en la expresión escrita. Por otro lado, la corrección es más elevada en el castellano. También se ha podido ver que la identificación de los participantes está relativamente correlacionada con la competencia lingüística. 

The Experience of the Arnamagnæan Institute, Copenhagen

The Arnamagnæan Institute, principally in the form of the present writer, has been involved in a number of projects to do with the digitisation, electronic description and text-encoding of medieval manuscripts. Several of these projects were dealt with in a previous article 'The view from the North: Some Scandinavian digitisation projects', NCD review, 4 (2004), pp. 22-30. This paper looks in some depth at two others, MASTER and CHLT. The Arnamagnæan Institute is a teaching and research institute within the Faculty of Humanities at the University of Copenhagen. It is named after the Icelandic scholar and antiquarian Árni Magnússon (1663-1730), secretary of the Royal Danish Archives and Professor of Danish Antiquities at the University of Copenhagen, who in the course of his lifetime built up what is arguably the single most important collection of early Scandinavian manuscripts in the world, some 2,500 manuscript items, the earliest dating from the 12th century. The majority of these are from Iceland, but the collection also contains important Norwegian, Danish and Swedish manuscripts, along with approximately 100 manuscripts of continental provenance. In addition to the manuscripts proper, there are collections of original charters and apographa: 776 Norwegian (including Faroese, Shetlandic and Orcadian) charters and 2895 copies, 1571 Danish charters and 1372 copies, and 1345 Icelandic charters and 5942 copies. When he died in 1730, Árni Magnússon bequeathed his collection to the University of Copenhagen. The original collection has subsequently been augmented through individual purchases and gifts and the acquisition of a number of smaller collections, bringing the total to nearly 3000 manuscript items, which, with the charters and apographa, comprise over half a million pages.

The role of a Christian church in the career development of its congregants

The purpose of this study was to examine the role of a Christian church in the career development of its congregants. Contemporary theorists in the 21st century view career development as the totality of an individual's life, and the literature revealed that 85% of Americans claim the practice of Christianity as a major life role. Therefore, an understanding of the church's role in the lives of its congregants is essential when conceptualizing career development theories. Traditional and contemporary theories formed the framework for this examination, which was guided by four research questions: How do congregants of a local church view its contribution to their career development; how do church leaders characterize the potential of the church for making a contribution to the career development of congregants; how useful are church sermon concepts to the career development of congregants; how do church programs and activities contribute to the career development of congregants? A Christian church in South Florida was the study's site, as it was identified as a church which focused on career development. Basic interpretive qualitative inquiry was used to collect and analyze three data sources: interviews, sermon recordings, and church documents. Twenty-four participants were interviewed using two interview guides to elicit perspectives of 15 congregants and 9 church leaders. The interviews and 13 sermon recordings were transcribed and analyzed. Church documents were categorized and analyzed for evidence of career development programs and activities. The findings revealed that the church played the following role in the participants' life career development: empowerment, guidance for life, learning and development, safety and support, and servant-leadership. As a result of their church participation, and through the learning and development from programs and activities, participants developed an awareness of their identity, purpose, and meaning for their lives. These constructs supported their interactions within the environments of home, work, school, and community. This holistic perspective revealed that an integration of traditional and contemporary career development theories was necessary to conceptualize the role of this Christian church in the career development of its congregants.

Adaptive fault-tolerant teleoperation

While the robots gradually become a part of our daily lives, they already play vital roles in many critical operations. Some of these critical tasks include surgeries, battlefield operations, and tasks that take place in hazardous environments or distant locations such as space missions. ^ In most of these tasks, remotely controlled robots are used instead of autonomous robots. This special area of robotics is called teleoperation. Teleoperation systems must be reliable when used in critical tasks; hence, all of the subsystems must be dependable even under a subsystem or communication line failure. ^ These systems are categorized as unilateral or bilateral teleoperation. A special type of bilateral teleoperation is described as force-reflecting teleoperation, which is further investigated as limited- and unlimited-workspace teleoperation. ^ Teleoperation systems configured in this study are tested both in numerical simulations and experiments. A new method, Virtual Rapid Robot Prototyping, is introduced to create system models rapidly and accurately. This method is then extended to configure experimental setups with actual master systems working with system models of the slave robots accompanied with virtual reality screens as well as the actual slaves. Fault-tolerant design and modeling of the master and slave systems are also addressed at different levels to prevent subsystem failure. ^ Teleoperation controllers are designed to compensate for instabilities due to communication time delays. Modifications to the existing controllers are proposed to configure a controller that is reliable in communication line failures. Position/force controllers are also introduced for master and/or slave robots. Later, controller architecture changes are discussed in order to make these controllers dependable even in systems experiencing communication problems. ^ The customary and proposed controllers for teleoperation systems are tested in numerical simulations on single- and multi-DOF teleoperation systems. Experimental studies are then conducted on seven different systems that included limited- and unlimited-workspace teleoperation to verify and improve simulation studies. ^ Experiments of the proposed controllers were successful relative to the customary controllers. Overall, by employing the fault-tolerance features and the proposed controllers, a more reliable teleoperation system is possible to design and configure which allows these systems to be used in a wider range of critical missions. ^