Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments

Fotoohi, M.; Sirouspour, Shahin; Capson, David W.

doi:10.1109/cdc.2006.377163

Cited by 4 publications

(3 citation statements)

References 20 publications

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“…Previous work in NHVEs can be classified based on the type of control used, as either centralized (client-server) [3,4,5,6] or distributed (peer-to-peer) architecture [7,8,9]. In [10,11], both centralized and distributed architectures were used to study NHVEs. Based on the type of force rendering, NHVEs can be further classified into: simultaneous [4,5,6,9,10,11] where users simultaneously manipulate a virtual object, and one-at-a-time [7,8,3], where each user takes turns in manipulating the virtual object.…”

Section: Introductionmentioning

confidence: 99%

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Measurement and Emulation of Time Varying Packet Delay with Applications to Network Haptic Virtual Environments

Sankaranarayanan¹,

Potter²,

Hannaford³

2007

The Proceedings of First International Conference on Robot Communication and Coordination

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Networked haptic virtual environments (NHVEs) are increasingly being used in medical simulation, aircraft maintenance training, and other similar fields. In this paper we present the implementation of a network emulator that can create realistic Internet-like characteristics in a laboratory setting for networked haptics. We compare the quality of this delay emulator to actual measurements taken on the Internet by reflecting UDP data packets and analyzing their round-trip delay distribution and packet loss.

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Section: Introductionmentioning

confidence: 99%

“…In [10,11], both centralized and distributed architectures were used to study NHVEs. Based on the type of force rendering, NHVEs can be further classified into: simultaneous [4,5,6,9,10,11] where users simultaneously manipulate a virtual object, and one-at-a-time [7,8,3], where each user takes turns in manipulating the virtual object.…”

Section: Introductionmentioning

confidence: 99%

Measurement and Emulation of Time Varying Packet Delay with Applications to Network Haptic Virtual Environments

Sankaranarayanan¹,

Potter²,

Hannaford³

2007

The Proceedings of First International Conference on Robot Communication and Coordination

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show abstract

“…Previous works in the area of NHVE can be classified according to the type of control or connection, and the type of force rendering. The first criterion differentiates between centralized or client-server architectures [7], [8], [9], [10], [11] and distributed or peer-to-peer [12], [13], [14], [15], while [4] and [16] utilize both centralized and distributed architectures to study NHVEs. The second characteristic contrasts continuous -or simultaneous-force rendering [8], [9], [10], [14], [4], [15] [16] where both users manipulate a virtual object at the same time, and one-at-a-time, [12], [13], [7]; in which each user takes turns to manipulate the virtual object.…”

Section: Introductionmentioning

confidence: 99%

Comparison of Performance of Virtual Coupling Schemes for Haptic Collaboration using Real and Emulated Internet Connections

Sankaranarayanan¹,

Hannaford²

2007

The Proceedings of First International Conference on Robot Communication and Coordination

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Networked haptic virtual environments (NHVEs) are those in which multiple users collaborate and experience force feedback at the same time. The robustness of such systems needs to be tested under various network conditions that closely mirror the Internet. Previously, we had proposed three virtual coupling schemes to maintain position coherency in a NHVE, which were tested using constant and then time-varying delays using the actual Internet through UDP packet reflectors. In this paper we present the results of comparing performance of the virtual coupling schemes for a time varying delay emulated using the popular network emulator NIST Net, with delay conditions that existed during our real Internet experiment to Italy. UDP was used for haptic data communication because of the high transmission rate requirements for NHVEs. Experiments were conducted for three fixed packet transmission rates of 1000, 500 and 100 Hz, and their performance compared using an independent-samples t-test to the data obtained using the Internet. Locally, the haptic update rate was maintained at 1000 Hz during the experiments. Our results show that the NIST Net was a suitable emulator for testing with lower packet transmission rates. At the transmission rate of 1000 Hz the performance of the virtual coupling schemes were significantly different from that of the actual Internet experiment.

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Experimental Internet Haptic Collaboration using Virtual Coupling Schemes

Sankaranarayanan

Hannaford

2008

2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

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Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments

Cited by 4 publications

References 20 publications

Measurement and Emulation of Time Varying Packet Delay with Applications to Network Haptic Virtual Environments

Measurement and Emulation of Time Varying Packet Delay with Applications to Network Haptic Virtual Environments

Comparison of Performance of Virtual Coupling Schemes for Haptic Collaboration using Real and Emulated Internet Connections

Experimental Internet Haptic Collaboration using Virtual Coupling Schemes

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