Analysis and prediction of jitter of internet one-way time-delay for teleoperation systems

Abstract

Abstract-Internet random time delay constitutes a major challenge for Internet-based teleoperation systems. Since the uncertain time delay may degrade the system performance, and even lead to instability. Although large-scale research works have been conducted on the understanding, testing, and analysis of Internet round trip time delay (RTT), it is not appropriate to use RTT in control methods design. It is well known that control commands arrive at the slave site in an aperiodic manner as a result of Internet random time delay. The subsequent control command will terminate the execution of the current command. Consequently, we will get precise information for slave system once the time delay jitter can be known in advance. This paper proposes a novel research idea for Internet-based teleoperation system from the point of view of delay jitter prediction. Statistical properties of the time delay jitter are investigated. Furthermore, the sparse multivariate linear regression method is used to give prediction on Internet time delay jitter. Simulation results demonstrate that sparse multivariate linear regressive method gives a precise prediction, which indicates that the proposed control method based on Internet time delay jitter has a broad prospect in teleoperation systems.

Low-Complexity Packet Scheduling Algorithms for Streaming Scalable Media Based on Time Utility Function

“…Finally, denotes the sum . As introduced in [6] and also confirmed in a recent study [26], Internet packet delay is modeled as shifted Gamma distribution. In such a case, is given by:…”

Synchronization between master and slave sites in telerobotic systems: An Internet OWTD jitter prediction approach

“…In the implementation presented in this paper, only three prediction algorithms are tested, but any methods that satisfy real time requiremet and precision can conceivably be used. In our previous works [23], an initial study indicated that there were structured information in Internet jitter data. However, extensive works should be conducted to study the characteristics of Internet OWTD jitter data.…”

“…As a result, characteristics of Internet OWTD jitter should be analyzed and prediction methods should be selected appropriately. In our previous works [23], an initial analysis has been performed and the results indicate that relative correlation between jitter data arrays exist, as shown in Fig. 3.…”

The integration of mobile (tele) robotics and wireless sensor networks: A survey

“…Telebot also uses the internet to test different forms of control [138]. Issues with Internet-based teleoperation include variable time-delay (or jitter) [139,140,141,142] and data loss [141,143]. One solution is to use an action reference other than time (i.e.…”

“…In [142], the authors attempt to analyze and predict the jitter associated with one-way time-delay for teleoperation systems. The problem with jitter is that it means control messages will get to the robot in an aperiodic way and thus terminate current commands in a delayed way.…”