Design of a collaborative system for real time haptic feedback in distributed virtual environments over IP networks

This paper presents an investigation into system architectures for real time haptic feedback in distributed virtual environments over IP switched network. Network impairments such as time delay, jitter and packet loss have a different impact on remote haptic collaborations than the traditional master-slave tele-operation. A hybrid architecture has been proposed and developed to address the challenges in the new use scenario. Experiments have been conducted to show the performance of this architecture in comparison with the currently available time delay compensation algorithms, i.e. dead reckoning. A set of network Quality of Service (QoS) parameters for these types of haptic collaborative systems is obtained. Findings of the study are presented in the paper with recommendations for developing systems that support haptic collaboration

Consensus Based Networking of Distributed Virtual Environments

Distributed Virtual Environments (DVEs) are challenging to create as the goals of consistency and responsiveness become contradictory under increasing latency. DVEs have been considered as both distributed transactional databases and force-reflection systems. Both are good approaches, but they do have drawbacks. Transactional systems do not support Level 3 (L3) collaboration: manipulating the same degree-of-freedom at the same time. Force-reflection requires a client-server architecture and stabilisation techniques. With Consensus Based Networking (CBN), we suggest DVEs be considered as a distributed data-fusion problem. Many simulations run in parallel and exchange their states, with remote states integrated with continous authority. Over time the exchanges average out local differences, performing a distribued-average of a consistent, shared state. CBN aims to build simulations that are highly responsive, but consistent enough for use cases such as the piano-movers problem. CBN's support for heterogeneous nodes can transparently couple different input methods, avoid the requirement of determinism, and provide more options for personal control over the shared experience. Our work is early, however we demonstrate many successes, including L3 collaboration in room-scale VR, 1000's of interacting objects, complex configurations such as stacking, and transparent coupling of haptic devices. These have been shown before, but each with a different technique; CBN supports them all within a single, unified system

Trajectory Deformations from Physical Human-Robot Interaction

Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that---despite provisions for the human to modify the robot's current trajectory---the human cannot affect the robot's future desired trajectory through pHRI. In this paper, we present an algorithm for physically interactive trajectory deformations which, when combined with impedance control, allows the human to modulate both the actual and desired trajectories of the robot. Unlike related works, our method explicitly deforms the future desired trajectory based on forces applied during pHRI, but does not require constant human guidance. We present our approach and verify that this method is compatible with traditional impedance control. Next, we use constrained optimization to derive the deformation shape. Finally, we describe an algorithm for real time implementation, and perform simulations to test the arbitration parameters. Experimental results demonstrate reduction in the human's effort and improvement in the movement quality when compared to pHRI with impedance control alone

Analysis domain model for shared virtual environments

The field of shared virtual environments, which also encompasses online games and social 3D environments, has a system landscape consisting of multiple solutions that share great functional overlap. However, there is little system interoperability between the different solutions. A shared virtual environment has an associated problem domain that is highly complex raising difficult challenges to the development process, starting with the architectural design of the underlying system. This paper has two main contributions. The first contribution is a broad domain analysis of shared virtual environments, which enables developers to have a better understanding of the whole rather than the part(s). The second contribution is a reference domain model for discussing and describing solutions - the Analysis Domain Model

Business Case and Technology Analysis for 5G Low Latency Applications

A large number of new consumer and industrial applications are likely to change the classic operator's business models and provide a wide range of new markets to enter. This article analyses the most relevant 5G use cases that require ultra-low latency, from both technical and business perspectives. Low latency services pose challenging requirements to the network, and to fulfill them operators need to invest in costly changes in their network. In this sense, it is not clear whether such investments are going to be amortized with these new business models. In light of this, specific applications and requirements are described and the potential market benefits for operators are analysed. Conclusions show that operators have clear opportunities to add value and position themselves strongly with the increasing number of services to be provided by 5G.Comment: 18 pages, 5 figure

AI enhanced collaborative human-machine interactions for home-based telerehabilitation

The use of robots in a telerehabilitation paradigm could facilitate the delivery of rehabilitation on demand while reducing transportation time and cost. As a result, it helps to motivate patients to exercise frequently in a more comfortable home environment. However, for such a paradigm to work, it is essential that the robustness of the system is not compromised due to network latency, jitter, and delay of the internet. This paper proposes a solution to data loss compensation to maintain the quality of the interaction between the user and the system. Data collected from a well-defined collaborative task using a virtual reality (VR) environment was used to train a robotic system to adapt to the users' behaviour. The proposed approach uses nonlinear autoregressive models with exogenous input (NARX) and long-short term memory (LSTM) neural networks to smooth out the interaction between the user and the predicted movements generated from the system. LSTM neural networks are shown to learn to act like an actual human. The results from this paper have shown that, with an appropriate training method, the artificial predictor can perform very well by allowing the predictor to complete the task within 25 s versus 23 s when executed by the human

Robot Autonomy for Surgery

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision of care due to sub-millimeter robot control, real-time utilization of biosignals for interventional care, improvements to surgical efficiency and execution, and computer-aided guidance under various medical imaging and sensing modalities. While these methods may displace some tasks of surgical teams and individual surgeons, they also present new capabilities in interventions that are too difficult or go beyond the skills of a human. In this chapter, we provide an overview of robot autonomy in commercial use and in research, and present some of the challenges faced in developing autonomous surgical robots

Passive Control Architectures for Collaborative Virtual Haptic Interaction and Bilateral Teleoperation over Unreliable Packet-Switched Digital Network

This PhD dissertation consists of two major parts: collaborative haptic interaction (CHI) and bilateral teleoperation over the Internet. For the CHI, we propose a novel hybrid peer-to-peer (P2P) architecture including the shared virtual environment (SVE) simulation, coupling between the haptic device and VE, and P2P synchronization control among all VE copies. This framework guarantees the interaction stability for all users with general unreliable packet-switched communication network which is the most challenging problem for CHI control framework design. This is achieved by enforcing our novel \emph{passivity condition} which fully considers time-varying non-uniform communication delays, random packet loss/swapping/duplication for each communication channel. The topology optimization method based on graph algebraic connectivity is also developed to achieve optimal performance under the communication bandwidth limitation. For validation, we implement a four-user collaborative haptic system with simulated unreliable packet-switched network connections. Both the hybrid P2P architecture design and the performance improvement due to the topology optimization are verified. In the second part, two novel hybrid passive bilateral teleoperation control architectures are proposed to address the challenging stability and performance issues caused by the general Internet communication unreliability (e.g. varying time delay, packet loss, data duplication, etc.). The first method--Direct PD Coupling (DPDC)--is an extension of traditional PD control to the hybrid teleoperation system. With the assumption that the Internet communication unreliability is upper bounded, the passive gain setting condition is derived and guarantees the interaction stability for the teleoperation system which interacts with unknown/unmodeled passive human and environment. However, the performance of DPDC degrades drastically when communication unreliability is severe because its feasible gain region is limited by the device viscous damping. The second method--Virtual Proxy Based PD Coupling (VPDC)--is proposed to improve the performance while providing the same interaction stability. Experimental and quantitative comparisons between DPDC and VPDC are conducted, and both interaction stability and performance difference are validated