NDLI: A scheme for VR-enhanced bilateral teleoperation with time delay

Content Provider	IEEE Xplore Digital Library
Author	Polushin, I.G. Rhinelander, J.P. Liu, P.X. Chung-Horng Lung
Copyright Year	2008
Description	Author affiliation: Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON (Polushin, I.G.; Rhinelander, J.P.; Liu, P.X.; Chung-Horng Lung)
Abstract	In many practical teleoperator systems, particularly where the teleoperation is performed over a long distance, the communication between the master and the slave is subject to significant communication constraints. In particular, the existence of communication delay between the parts of the telerobot creates some of the most challenging problems in teleoperator systems design. One alternative approach to the delayed force feedback is to create a virtual environment (VR) on the master side that duplicates the essential features of the remote slave+environment interconnection. In this work, we present an approach to VR-enhanced force reflecting teleoperation in presence of network induced communication constraints. We present a control algorithm and a communication protocol that deals with teleoperation in presence of time-varying unknown communication delays and possible packet losses. For approximate recovery of the lost packets we propose the use of support vector machines (SVMs).
Starting Page	1819
Ending Page	1822
File Size	902112
Page Count	4
File Format	PDF
ISBN	9781424415403
ISSN	10915281
DOI	10.1109/IMTC.2008.4547340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-12
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay effects Force feedback Teleoperators Master-slave Humans Virtual reality Communication system control Surges Virtual environment Protocols support vector machines Teleoperation human-robot interaction virtual reality
Content Type	Text
Resource Type	Article
Subject	Instrumentation Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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