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Purpose -The objective of this study is to enhance the usage of teleoperation fields, such as in nuclear site decommissioning or nuclear waste disposal, by designing a stable, dependable and fault-tolerant teleoperation system in the face of "extraordinary" conditions. These "extraordinary" conditions can be classified as variable time delays in communications lines, usage of different robotic systems, component failures and changes in the system parameters during task execution.doi:10.1108/01439910610685034 fatcat:rh3m5lcpdjesnldrs5uozdrinm