NDLI: Perceptual coding of haptic data in time-delayed teleoperation

Content Provider	IEEE Xplore Digital Library
Author	Vittorias, I. Kammerl, J. Hirche, S. Steinbach, E.
Copyright Year	2009
Description	Author affiliation: Institute of Automatic Control Engineering (LSR), Technische Universität, München, Germany (Vittorias, I.; Hirche, S.) \|\| Institute of Communication Networks (LKN), Technische Universität, München, Germany (Kammerl, J.; Steinbach, E.)
Abstract	In telepresence and teleaction systems the haptic communication channel plays a central role. As it closes a global control loop any introduced communication delay possibly destabilizes the system and impairs the performance. The scattering theory is known to solve these stability issues by transmitting wave variables instead of haptic signals, i.e. force and velocity, over the communication channel. For stability and performance additionally high packet rates are required stressing the underlying network resources. Perceptual coding techniques of haptic signals, such as the Weber-inspired deadband approach, are known to successfully reduce the packet rate on the haptic channel. However, as wave variables do not directly represent haptic information but a linear transformation of both signals, perceptual coding is not directly applicable anymore. In this paper, we present a novel control scheme as well as a modification of the deadband approach to take advantage of the stabilization ability of the wave variables while allowing perceptual coding on the communication channel. Simulation results and comparison with the wave variables architecture indicate improved data compression for same degree of transparency for purely stiff as well as free environments.
Starting Page	208
Ending Page	213
File Size	384559
Page Count	6
File Format	PDF
ISBN	9781424438587
DOI	10.1109/WHC.2009.4810811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Teleoperators Stability Delay effects Communication system control Humans Scattering Control systems Haptic interfaces scattering transformation wave variables perceptual coding haptic data compression Communication channels Communication networks
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Perceptual coding of haptic data in time-delayed teleoperation (2009)

Predictive Time Domain Passivity Control For Delayed Teleoperation Using Energy Derivatives

A predictive wave-based approach for time delayed virtual environments haptics systems

Safety control of teleoperation system under time varying communication delay

Human-Oriented Control for Haptic Teleoperation

Time domain passivity control of teleoperation systems with random asymmetric time delays

Transparency of haptic telepresence systems with constant time delay

Packet loss effects in passive telepresence systems

Time domain passivity for delayed haptic telepresence with energy reference

Perceptual coding of haptic data in time-delayed teleoperation

Similar Documents

Perceptual coding of haptic data in time-delayed teleoperation (2009)

Predictive Time Domain Passivity Control For Delayed Teleoperation Using Energy Derivatives

A predictive wave-based approach for time delayed virtual environments haptics systems

Safety control of teleoperation system under time varying communication delay

Human-Oriented Control for Haptic Teleoperation

Time domain passivity control of teleoperation systems with random asymmetric time delays

Transparency of haptic telepresence systems with constant time delay

Packet loss effects in passive telepresence systems

Time domain passivity for delayed haptic telepresence with energy reference

Perceptual coding of haptic data in time-delayed teleoperation