Task driven dynamic QoS based bandwidth allocation for real-time teleoperation via the Internet
ABSTRACT In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order to control remote manipulators efficiently and smoothly via the Internet, dynamic bandwidth allocation is crucial to successful accomplishment of robotic tasks controlled by remote operator. In this paper, a novel bandwidth allocation mechanism is developed based on the online measured task dexterity index of current dexterous tasks so that operators can control remote manipulators efficiently and smoothly even under poor network quality. Experiments have been conducted to demonstrate the effectiveness of the presented resource (bandwidth) allocation algorithm in Internet based teleoperation system.
Conference Proceeding: On Network Simulation for Performance Evaluation of Real-time Internet-based Teleoperation[show abstract] [hide abstract]
ABSTRACT: In this paper we discuss various approaches to simulating real-time Internet-based teleoperation systems. Fo- cus is on simulation of the communication link, which is a crit- ical component in teleoperation systems. Some of the objectives of simulations are to compare the performance of operators in fixed network conditions and to compare the performance of an operator over varying network conditions. To accomplish these goals, NS-2 is used with modified classes to model teleoperation systems. Two methods for simulation are co-simulation, where the system dynamics and the network are simulated at the same time, and sequential simulation, where the network and system dynamics are simulated in separate steps. The differences in accuracy and implementation are compared by an illustrative experiment. This paper also investigates methods for interactive simulations, which receive command inputs from an external master device controlled by a human operator. The real-time scheduler and network emulation are NS-2 addons that enable interactive simulations. Since computation time is an important limitation for simulations, a sequential simulation approach can be used for large-scale networks.The 2011 IEEE International Conference on Robotics and Biomimetics; 12/2011
Conference Proceeding: Supermedia Transport for Teleoperations over Overlay Networks.NETWORKING 2005: Networking Technologies, Services, and Protocols; Performance of Computer and Communication Networks; Mobile and Wireless Communication Systems, 4th International IFIP-TC6 Networking Conference, Waterloo, Canada, May 2-6, 2005, Proceedings; 01/2005