4,432 research outputs found
Congestion Control for Network-Aware Telehaptic Communication
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
Haptic data reduction through dynamic perceptual analysis and event-based communication
This research presents an adjustable and flexible framework for haptic data compression and communication that can be used in a robotic teleoperation session. The framework contains a customized event-driven transmission control protocol, several dynamically adaptive perceptual and prediction methods for haptic sample reduction, and last but not the least, an architecture for the data flow
Development of an intelligent object for grasp and manipulation research
Kõiva R, Haschke R, Ritter H. Development of an intelligent object for grasp and manipulation research. Presented at the ICAR 2011, Tallinn, Estonia.In this paper we introduce a novel device, called iObject, which is equipped with tactile and motion tracking sensors that allow for the evaluation of human and robot grasping and manipulation actions. Contact location and contact force, object acceleration in space (6D) and orientation relative to the earth (3D magnetometer) are measured and transmitted wirelessly over a Bluetooth connection. By allowing human-human, human-robot and robot-robot comparisons to be made, iObject is a versatile tool for studying manual interaction.
To demonstrate the efficiency and flexibility of iObject for the study of bimanual interactions, we report on a physiological experiment and evaluate the main parameters of the considered dual-handed manipulation task
The Spatial Dictionary
This thesis and the corresponding portfolio ‘The Spatial Dictionary’ is an investigation into the use of written language as a generative and descriptive approach for the design of Interior spaces. The potential utility of the dictionary as an object is explored as a conceptual ‘tool-box’ for the use of Interior designers. The dictionary is to be viewed here as a mechanism to translate both concrete and abstract visual ‘concepts’ into a written commentary, using a defined list of terms, whilst inadvertently exploring the notion that the exploration of this spatial vocabulary gives us an insight into what constitutes interior space and design. This thesis investigates the position that spatial language is not simply one of identification of phenomena pertaining to space but it can also be used as a tool for the intention and creation of interior spaces and desig
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