Coding and decoding scheme for wide-band bilateral teleoperation

Mizuochi, Mariko; Ohnishi, Kouhei

doi:10.1109/amc.2012.6197028

Cited by 5 publications

(5 citation statements)

References 9 publications

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“…The transmitted signal bandwidth is generally limited to the Nyquist frequency determined by the packet transmission rate. The authors in [46][47][48] make their efforts to solve these problems. Mizuochi and Ohnishi [46] proposed a method to transmit high-frequency signals even under severe limitations on the sampling time and packet transmission rate.…”

Section: Study the Effect Of Discretization Methods And Network Limit...mentioning

confidence: 99%

“…The authors in [46][47][48] make their efforts to solve these problems. Mizuochi and Ohnishi [46] proposed a method to transmit high-frequency signals even under severe limitations on the sampling time and packet transmission rate. A low-pass filter with the discrete Fourier transform is used for coding of signals, and inverse discrete Fourier transform is used for the decoding.…”

Section: Study the Effect Of Discretization Methods And Network Limit...mentioning

confidence: 99%

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Discrete-time control of bilateral teleoperation systems: a review

Ghavifekr¹,

Ghiasi²,

Badamchizadeh³

2017

Robotica

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SUMMARYThe possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.

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Section: Study the Effect Of Discretization Methods And Network Limit...mentioning

confidence: 99%

Section: Study the Effect Of Discretization Methods And Network Limit...mentioning

confidence: 99%

Discrete-time control of bilateral teleoperation systems: a review

Ghavifekr¹,

Ghiasi²,

Badamchizadeh³

2017

Robotica

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“…21,26 Benefiting from codec structure, one can increase the loop frequency of the control system while preserving the data transmission frequency at respectively low values. The new scheme presented in the context of this paper is based on this down-sampling idea and uses a WPTbased compression scheme.…”

Section: Networking Control and Bandwidth Problemmentioning

confidence: 99%

“…In order to solve the conflicting behavior of sampling ratios within the system, researchers proposed to use compression/decompression (codec) algorithms for data transmission over the network. 21,26 Benefiting from codec structure, one can increase the loop frequency of the control system while preserving the data transmission frequency at respectively low values. The new scheme presented in the context of this paper is based on this down-sampling idea and uses a WPT-based compression scheme.…”

Section: Networking Control and Bandwidth Problemmentioning

confidence: 99%

“…The fact from Nyquist theory implies that the shorter sampling period yields the wider bandwidth of the signal. 21 The communication infrastructure of a teleoperation system, having consisted of communication lines and router devices, imposes significant limitations on packet transmission rates. Moreover, as a natural drawback of the Internet medium, network congestion risk increases when an interval of packet transmission is shortened.…”

Section: Introductionmentioning

confidence: 99%

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Wavelet packet transform-based compression for teleoperation

Kuzu

Baran

Boğosyan

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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This paper introduces a codec scheme for compressing the control and feedback signals in networked control and teleoperation systems. The method makes use of Wavelet Packet Transform (WPT) and Inverse Wavelet Packet Transform (IWPT) for coding and decoding operations, respectively. Data compression is carried out in low-pass filter output by reducing the sampling rate, and in high-pass filter output by truncating the wavelet coefficients. The proposed codec works on both directions of signal transmission between a master robot and a slave robot over a networked motion control architecture. Following the formulation of the compression/decompression methodology, experimental validation is conducted on a single-degree-of-freedom motion control system. In the experiments, responses from different Wavelet structures are analyzed and a comparative study is carried out considering the factors of compression rate, reconstruction power error and real-time computational complexity. It is confirmed that the controller using the proposed compression algorithm performs very close to the uncompressed one while enabling transmission of much less data over the network.

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