Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems

Jianning Hua; Yujie Cui; Fangping Yang; Xuezhu Wang; Yanhua Yang; Hongyi Li

doi:10.3182/20130902-3-CN-3020.00061

Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems

Jianning Hua, Yujie Cui, Fangping Yang, Xuezhu Wang, Yanhua Yang, Hongyi Li

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework.

Original language	English
Title of host publication	3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 - Proceedings
Publisher	IFAC Secretariat
Pages	497-502
Number of pages	6
Edition	PART 1
ISBN (Print)	9783902823458
DOIs	https://doi.org/10.3182/20130902-3-CN-3020.00061
Publication status	Published - 2013
Externally published	Yes
Event	3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 - Chengdu, China Duration: 2013 Sept 2 → 2013 Sept 4

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	3
ISSN (Print)	1474-6670

Conference

Conference	3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013
Country/Territory	China
City	Chengdu
Period	13/9/2 → 13/9/4

Keywords

Internet
Jitter
Prediction
Predictive display
Teleoperation
Time delay

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20130902-3-CN-3020.00061

Cite this

Hua, J., Cui, Y., Yang, F., Wang, X., Yang, Y., & Li, H. (2013). Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems. In 3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 - Proceedings (PART 1 ed., pp. 497-502). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 3, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20130902-3-CN-3020.00061

Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems. / Hua, Jianning; Cui, Yujie; Yang, Fangping et al.
3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 - Proceedings. PART 1. ed. IFAC Secretariat, 2013. p. 497-502 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 3, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hua, J, Cui, Y, Yang, F, Wang, X, Yang, Y & Li, H 2013, Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems. in 3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 - Proceedings. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 3, IFAC Secretariat, pp. 497-502, 3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013, Chengdu, China, 13/9/2. https://doi.org/10.3182/20130902-3-CN-3020.00061

Hua J, Cui Y, Yang F, Wang X, Yang Y, Li H. Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems. In 3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 - Proceedings. PART 1 ed. IFAC Secretariat. 2013. p. 497-502. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1). doi: 10.3182/20130902-3-CN-3020.00061

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abstract = "The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework.",

keywords = "Internet, Jitter, Prediction, Predictive display, Teleoperation, Time delay",

author = "Jianning Hua and Yujie Cui and Fangping Yang and Xuezhu Wang and Yanhua Yang and Hongyi Li",

note = "Funding Information: This work was partially supported by the National Natural Science Foundation of China (NSFC) under Grant 61005069, the Natural Science Fund of Hebei Province under Grant F2011501003, and the special funds of Central Colleges Basic Scientific Research Operating Expenses under Grant N120423010.; 3rd IFAC Conference on Intelligent Control and Automation Science, ICONS 2013 ; Conference date: 02-09-2013 Through 04-09-2013",

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AU - Yang, Yanhua

AU - Li, Hongyi

N1 - Funding Information: This work was partially supported by the National Natural Science Foundation of China (NSFC) under Grant 61005069, the Natural Science Fund of Hebei Province under Grant F2011501003, and the special funds of Central Colleges Basic Scientific Research Operating Expenses under Grant N120423010.

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N2 - The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework.

AB - The most challenging difficulties for teleoperation systems are well recognized as the Internet uncertain time delays, which might degrade system performance or even lead to system instability. This paper proposes a novel control framework for Internet-based teleoperation systems which is based on the prediction of jitter of Internet one-way time-delay. Internet jitter is predicated based on the sparse multivariate linear regression method. The slave system can be controlled using a virtual system provided at the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. The presented control framework is deployed in a virtual inverted pendulum teleoperation system developed. In the experiments, users successfully stabilize the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet control framework.

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KW - Jitter

KW - Prediction

KW - Predictive display

KW - Teleoperation

KW - Time delay

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Virtual system calibration based on jitter prediction of internet time-delay for teleoperation systems

Abstract

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Keywords

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