{"id":"https://openalex.org/W2025527739","doi":"https://doi.org/10.1177/0278364907082049","title":"Stability and Performance Analysis of Centralized and Distributed Multi-rate Control Architectures for Multi-user Haptic Interaction","display_name":"Stability and Performance Analysis of Centralized and Distributed Multi-rate Control Architectures for Multi-user Haptic Interaction","publication_year":2007,"publication_date":"2007-08-29","ids":{"openalex":"https://openalex.org/W2025527739","doi":"https://doi.org/10.1177/0278364907082049","mag":"2025527739"},"language":"en","primary_location":{"id":"doi:10.1177/0278364907082049","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907082049","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030078065","display_name":"Mahyar Fotoohi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112746","display_name":"Quanser (Canada)","ror":"https://ror.org/02yxan022","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210112746"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mahyar Fotoohi","raw_affiliation_strings":["Quanser Consulting Inc., 80 ESNA Park Drive, Markham, Ontario L3R-2R6, Canada,","Quanser Consulting Inc., 80 ESNA Park Drive, Markham,Ontario L3R-2R6, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Quanser Consulting Inc., 80 ESNA Park Drive, Markham, Ontario L3R-2R6, Canada,","institution_ids":["https://openalex.org/I4210112746"]},{"raw_affiliation_string":"Quanser Consulting Inc., 80 ESNA Park Drive, Markham,Ontario L3R-2R6, Canada#TAB#","institution_ids":["https://openalex.org/I4210112746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090620818","display_name":"Shahin Sirouspour","orcid":"https://orcid.org/0000-0003-4882-2161"},"institutions":[{"id":"https://openalex.org/I98251732","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29","country_code":"CA","type":"education","lineage":["https://openalex.org/I98251732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Shahin Sirouspour","raw_affiliation_strings":["Department of Electrical and Computer Engineering, McMaster University 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada,","Department of Electrical and Computer Engineering McMasterUniversity, 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, McMaster University 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada,","institution_ids":["https://openalex.org/I98251732"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering McMasterUniversity, 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada#TAB#","institution_ids":["https://openalex.org/I98251732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014807583","display_name":"David W. Capson","orcid":"https://orcid.org/0000-0001-6981-780X"},"institutions":[{"id":"https://openalex.org/I98251732","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29","country_code":"CA","type":"education","lineage":["https://openalex.org/I98251732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"David Capson","raw_affiliation_strings":["Department of Electrical and Computer Engineering McMaster University, 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada,","Department of Electrical and Computer Engineering McMasterUniversity, 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering McMaster University, 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada,","institution_ids":["https://openalex.org/I98251732"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering McMasterUniversity, 1280 Main St. W., Hamilton, Ontario L8S-4K1, Canada#TAB#","institution_ids":["https://openalex.org/I98251732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014807583","https://openalex.org/A5030078065","https://openalex.org/A5090620818"],"corresponding_institution_ids":["https://openalex.org/I4210112746","https://openalex.org/I98251732"],"apc_list":null,"apc_paid":null,"fwci":10.909,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.98504969,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"26","issue":"9","first_page":"977","last_page":"994"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9631999731063843,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9348999857902527,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.705574631690979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.59982830286026},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5493159890174866},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.5376182198524475},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.488912969827652},{"id":"https://openalex.org/keywords/network-simulation","display_name":"Network simulation","score":0.4642425775527954},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4485989511013031},{"id":"https://openalex.org/keywords/network-interface-controller","display_name":"Network interface controller","score":0.4422897398471832},{"id":"https://openalex.org/keywords/ethernet","display_name":"Ethernet","score":0.4182673394680023},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.40901559591293335},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36005738377571106},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23511338233947754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09422513842582703}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.705574631690979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.59982830286026},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5493159890174866},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.5376182198524475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.488912969827652},{"id":"https://openalex.org/C139940560","wikidata":"https://www.wikidata.org/wiki/Q290036","display_name":"Network simulation","level":2,"score":0.4642425775527954},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4485989511013031},{"id":"https://openalex.org/C171659815","wikidata":"https://www.wikidata.org/wiki/Q165233","display_name":"Network interface controller","level":2,"score":0.4422897398471832},{"id":"https://openalex.org/C172173386","wikidata":"https://www.wikidata.org/wiki/Q79984","display_name":"Ethernet","level":2,"score":0.4182673394680023},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.40901559591293335},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36005738377571106},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23511338233947754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09422513842582703},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364907082049","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364907082049","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1508037699","https://openalex.org/W1527922291","https://openalex.org/W1535896842","https://openalex.org/W1654670527","https://openalex.org/W1969623637","https://openalex.org/W2026878442","https://openalex.org/W2028720893","https://openalex.org/W2044634046","https://openalex.org/W2048031432","https://openalex.org/W2067522535","https://openalex.org/W2068794080","https://openalex.org/W2099529579","https://openalex.org/W2100134099","https://openalex.org/W2103186416","https://openalex.org/W2112686553","https://openalex.org/W2115763420","https://openalex.org/W2121856669","https://openalex.org/W2122323235","https://openalex.org/W2125295512","https://openalex.org/W2125339864","https://openalex.org/W2134498742","https://openalex.org/W2136299913","https://openalex.org/W2143927037","https://openalex.org/W2144156073","https://openalex.org/W2145890814","https://openalex.org/W2145903452","https://openalex.org/W2153631465","https://openalex.org/W2157131378","https://openalex.org/W2160795664","https://openalex.org/W2170751489","https://openalex.org/W2375099263","https://openalex.org/W3142707146","https://openalex.org/W4301913116"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2348394835","https://openalex.org/W2349717303","https://openalex.org/W4387914975","https://openalex.org/W2304621773","https://openalex.org/W2393176933","https://openalex.org/W2380349012"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,147,182],"concerned":[3],"with":[4,191],"multi-user":[5],"haptic":[6,63,160,194],"simulation":[7],"environments":[8],"in":[9,57,117],"which":[10],"users":[11],"can":[12,47,76,157],"interact":[13],"across":[14],"an":[15],"Ethernet-based":[16],"Local":[17],"Area":[18,24],"Network":[19,25],"(LAN)":[20],"or":[21],"a":[22,68,80,97,118,164,192],"Metropolitan":[23],"(MAN).":[26],"Using":[27,175],"network":[28,38,153],"protocols":[29],"such":[30,96,129],"as":[31],"the":[32,41,51,58,72,87,92,111,133,143,151,159,168,172,176,197],"UDP":[33],"and":[34,104,115,124,141,184],"TCP/IP":[35],"under":[36],"normal":[37],"traffic":[39],"conditions,":[40],"achievable":[42],"real-time":[43],"packet":[44,89,154],"communication":[45],"rate":[46,55,83,156],"be":[48,77],"well":[49],"below":[50],"1":[52],"kHz":[53],"update":[54],"suggested":[56],"literature":[59],"for":[60],"high":[61],"fidelity":[62,161],"rendering.":[64],"However":[65],"by":[66,162,186],"adopting":[67],"multi-rate":[69],"control":[70,74,100,135],"strategy,":[71],"local":[73],"loops":[75],"executed":[78],"at":[79],"much":[81],"higher":[82],"than":[84],"that":[85,132,150],"of":[86,110,121,128,171],"data":[88],"transmission":[90,155],"between":[91],"user":[93],"workstations.":[94],"Within":[95],"framework,":[98],"two":[99],"architectures,":[101],"namely":[102],"centralized":[103,144],"distributed":[105,134],"are":[106,113],"presented.":[107],"Mathematical":[108],"models":[109],"controllers":[112],"developed":[114],"used":[116],"comparative":[119],"analysis":[120,130],"their":[122],"stability":[123,139],"performance.":[125],"The":[126],"results":[127],"demonstrate":[131],"architecture":[136],"has":[137],"greater":[138],"margins":[140],"outperforms":[142],"controller.":[145],"It":[146],"also":[148],"shown":[149],"limited":[152],"degrade":[158],"introducing":[163],"viscous":[165],"damping":[166,180],"into":[167],"perceived":[169],"impedance":[170],"virtual":[173],"object.":[174],"proposed":[177],"models,":[178],"this":[179],"value":[181],"calculated":[183],"compensated":[185],"active":[187],"control.":[188],"Experiments":[189],"conducted":[190],"dual-user/dual-finger":[193],"platform":[195],"confirm":[196],"analytical":[198],"results.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":9}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
