NDLI: Time-delay analysis and estimation of internet-based robot teleoperation system

Content Provider	IEEE Xplore Digital Library
Author	Zhao Juanping Gao Xianwen
Copyright Year	2009
Description	Author affiliation: College of Information Science and Engineering, Northeastern University, Shenyang 110004, China (Zhao Juanping; Gao Xianwen)
Abstract	Time-delay is unavoidable and randomly time-varying for teleoperation robot system based on Internet, and also most difficult obstacle between local operators and remote robots. In the paper, we first analyze RTT (roundtrip time or delay) time sequences collected by large numbers of test, and find that RTT time sequences between any two network nodes are irrelevant, so it is irresponsible to estimate the value of network time-delay by modeling methods. But it is also shown that time-delay at any period of time accords with parallel shift Gamma distributing (PSGD) instead of Gauss distributing or White Noise distributing, and probability density curves of time-delay can be described by finite kinds of probability density of PSGD. It, mean value estimation of network time-delay, therefore can be obtained by forecasting PSGD of time-delay. Then moment estimation method can be used to estimate mean value of network time-delay by estimating parameters of PSGD.
Starting Page	4643
Ending Page	4646
File Size	210574
Page Count	4
File Format	PDF
ISBN	9781424427222
DOI	10.1109/CCDC.2009.5191833
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parameter estimation delay estimation Delay effects moment estimation method Delay estimation Gaussian distribution Gamma Time varying systems Gaussian noise White noise teleoperation Internet delay analysis Robots delay measure Testing
Content Type	Text
Resource Type	Article

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