Performance comparison of compression techniques used in bilateral control

Kuzu, Ahmet; Baran, Eray A.; Boğosyan, Seta; Gökaşan, Metin; Şabanoviç, Asif

doi:10.1109/iecon.2013.6700064

Cited by 2 publications

(3 citation statements)

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“…The analysis is based on the teleoperation system which was also used in the evaluation of the DFT and DCT approaches in the previous studies. 29 The organization of the paper is as follows. Section 2 describes the general scope of networking control system and bandwidth problem along with an exiting method used for compensation of time delay.…”

Section: Introductionmentioning

confidence: 99%

“…28 This is an improved performance over existing compression approaches in the literature. In Kuzu et al 29 , the DFT approach was demonstrated by the authors to have a better performance over DCT, and yet to diverge even at 80% compression rate. 28 In addition to its significantly improved performance, another advantage of the proposed WPT approach is its increased flexibility, which allows for a higher number of parameters to be adjusted (i.e.…”

Section: Introductionmentioning

confidence: 99%

“…The analysis is based on the teleoperation system which was also used in the evaluation of the DFT and DCT approaches in the previous studies. 29…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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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Section: Introductionmentioning

confidence: 99%