Adaptive real-time Internet-based teleoperation systems for efficiency improvement using network QoS

By using the technique of perspective frame control, the stability of real-time Internet based teleoperation systems can be guaranteed. The system efficiency, however, is still highly sensitive to the network quality. In this paper, we investigate on how to improve the real-time system efficiency of...

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Bibliographic Details
Main Authors: Wai-keung Fung, Ning Xi, Wang-tai Lo, Yun-hui Liu
Format: Conference Proceeding
Language:English
Subjects:
Condition monitoring
Control systems
Internet
IP networks
Performance gain
Real time systems
Remote monitoring
Resource management
Robot sensing systems
Stability
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Summary:By using the technique of perspective frame control, the stability of real-time Internet based teleoperation systems can be guaranteed. The system efficiency, however, is still highly sensitive to the network quality. In this paper, we investigate on how to improve the real-time system efficiency of teleoperation systems in both control and resource allocation aspects. In the control aspect, we propose to adaptively tune the controller gains for remote robotic systems based on the real-time monitored network QoS parameters so that the system performance can be maintained as efficient as designed under ideal scenario. On the other hand, a task driven dynamic bandwidth allocation scheme based on the real-time monitored network QoS parameters and task dexterity requirements is proposed for supermedia transmission of teleoperation. Experiments have been conducted to demonstrate the effectiveness of the proposed efficiency improving methods for real-time Internet based teleoperation systems.
DOI:10.1109/AIM.2003.1225159