14,565 research outputs found

    Analysis of Uplink Scheduling for Haptic Communications

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    While new mechanisms and configurations of the 5G radio are offering step forward in delivery of ultra-reliable low latency communication services in general, and haptic communications in particular, they could inversely impact the remainder of traffic services. In this paper, we investigate the uplink access procedure, how different advances in this procedure enhance delivery of haptic communication, and how it affects the remainder of traffic services in the network. We model this impact as the remainder of service, using stochastic network calculus. Our results show how best the tradeoff between faster or more resource efficient uplink access can be made depending on the rate of haptic data, which is directly relevant to the application domain of haptic communication.Comment: 8 pages, 14 figures, conference pape

    Perceived synchronization of mulsemedia services

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    Multimedia synchronization involves a temporal relationship between audio and visual media components. The presentation of "in-sync" data streams is essential to achieve a natural impression, as "out-of-sync" effects are often associated with user quality of experience (QoE) decrease. Recently, multi-sensory media (mulsemedia) has been demonstrated to provide a highly immersive experience for its users. Unlike traditional multimedia, mulsemedia consists of other media types (i.e., haptic, olfaction, taste, etc.) in addition to audio and visual content. Therefore, the goal of achieving high quality mulsemedia transmission is to present no or little synchronization errors between the multiple media components. In order to achieve this ideal synchronization, there is a need for comprehensive knowledge of the synchronization requirements at the user interface. This paper presents the results of a subjective study carried out to explore the temporal boundaries within which haptic and air-flow media objects can be successfully synchronized with video media. Results show that skews between sensorial media and multimedia might still give the effect that the mulsemedia sequence is "in-sync" and provide certain constraints under which synchronization errors might be tolerated. The outcomes of the paper are used to provide recommendations for mulsemedia service providers in order for their services to be associated with acceptable user experience levels, e.g. haptic media could be presented with a delay of up to 1 s behind video content, while air-flow media could be released either 5 s ahead of or 3 s behind video content

    User quality of experience of mulsemedia applications

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    User Quality of Experience (QoE) is of fundamental importance in multimedia applications and has been extensively studied for decades. However, user QoE in the context of the emerging multiple-sensorial media (mulsemedia) services, which involve different media components than the traditional multimedia applications, have not been comprehensively studied. This article presents the results of subjective tests which have investigated user perception of mulsemedia content. In particular, the impact of intensity of certain mulsemedia components including haptic and airflow on user-perceived experience are studied. Results demonstrate that by making use of mulsemedia the overall user enjoyment levels increased by up to 77%

    Congestion Control for Network-Aware Telehaptic Communication

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    Telehaptic applications involve delay-sensitive multimedia communication between remote locations with distinct Quality of Service (QoS) requirements for different media components. These QoS constraints pose a variety of challenges, especially when the communication occurs over a shared network, with unknown and time-varying cross-traffic. In this work, we propose a transport layer congestion control protocol for telehaptic applications operating over shared networks, termed as dynamic packetization module (DPM). DPM is a lossless, network-aware protocol which tunes the telehaptic packetization rate based on the level of congestion in the network. To monitor the network congestion, we devise a novel network feedback module, which communicates the end-to-end delays encountered by the telehaptic packets to the respective transmitters with negligible overhead. Via extensive simulations, we show that DPM meets the QoS requirements of telehaptic applications over a wide range of network cross-traffic conditions. We also report qualitative results of a real-time telepottery experiment with several human subjects, which reveal that DPM preserves the quality of telehaptic activity even under heavily congested network scenarios. Finally, we compare the performance of DPM with several previously proposed telehaptic communication protocols and demonstrate that DPM outperforms these protocols.Comment: 25 pages, 19 figure

    Teleoperating a mobile manipulator and a free-flying camera from a single haptic device

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    © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThe paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the task execution in real-time. The proposed decoupled position and orientation workspace mapping allows the teleoperation from a single haptic device with bounded workspace of a complex robot with unbounded workspace. When the operator is reaching the position and orientation boundaries of the haptic workspace, linear and angular velocity components are respectively added to the inputs of the mobile manipulator and the flying camera. A user study on a virtual environment has been conducted to evaluate the performance and the workload on the user before and after proper training. Analysis on the data shows that the system complexity is not an obstacle for an efficient performance. This is a first step towards the implementation of a teleoperation system with a real mobile manipulator and a low-cost quadrotor as the free-flying camera.Accepted versio
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