NDLI: Evaluation of real-time delays for networked telerobotics

Content Provider	IEEE Xplore Digital Library
Author	Al-Mouhamed, M.A. Toker, O. Iqbal, A. Islam, M.S.
Copyright Year	2005
Description	Author affiliation: Dept. of Comput. Sci. & Eng., King Fahd Univ. of Pet. & Miner., Dhahran, Saudi Arabia (Al-Mouhamed, M.A.; Toker, O.)
Abstract	A real-time telerobotic system consisting of client station (operator) and server station (slave arm) interconnected by a computer network has been implemented using a distributed component framework. To minimize overall delays a multithreaded execution is proposed for pipelining of information processing and real-time transmission. Thread engineering allowed pipelining stereo grabbing and live transfer of stereo video data. Different scenarios are statistically analyzed to relate the effect of thread manipulation to overall time delays. Analysis of telerobotic delays through three campus routes with different network loads is presented. A sampling rate of 120 Hz is achieved for force feedback and 50 Hz for operator commands when network load is below 80%. Copying stereo images from cameras to memory is done in 24 ms. Stereo video transfer operates at a rate of 17 fps. Total reference delays for force and stereo are 8 ms and 83 ms, respectively. The environment interaction delay is 183 ms (5.5 Hz) when slave arm is operated at 10 Hz. However, short instantaneous traffic irregularities may cause deviation and scattering from above reference rates.
Starting Page	351
Ending Page	356
File Size	1632839
Page Count	6
File Format	PDF
ISBN	0780390946
DOI	10.1109/INDIN.2005.1560401
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-10
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Network servers Delay effects Information processing Image sampling Data engineering Computer networks Yarn Telerobotics Pipeline processing
Content Type	Text
Resource Type	Article

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