644 research outputs found
Wavelet packet transform based compression for bilateral teleoperation
This paper introduces a codec scheme for compressing the control and feedback signals in bilateral control 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 (DOF) 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 network
Wavelet packet transform-based compression for teleoperation
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
Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation
The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery
(RMIS) is a potential barrier to safe tissue handling during surgery. Bayesian
modeling theory suggests that surgeons with experience in open or laparoscopic
surgery can develop priors of tissue stiffness that translate to better force
estimation abilities during RMIS compared to surgeons with no experience. To
test if prior haptic experience leads to improved force estimation ability in
teleoperation, 33 participants were assigned to one of three training
conditions: manual manipulation, teleoperation with force feedback, or
teleoperation without force feedback, and learned to tension a silicone sample
to a set of force values. They were then asked to perform the tension task, and
a previously unencountered palpation task, to a different set of force values
under teleoperation without force feedback. Compared to the teleoperation
groups, the manual group had higher force error in the tension task outside the
range of forces they had trained on, but showed better speed-accuracy functions
in the palpation task at low force levels. This suggests that the dynamics of
the training modality affect force estimation ability during teleoperation,
with the prior haptic experience accessible if formed under the same dynamics
as the task.Comment: 12 pages, 8 figure
Haptic Guidance for Extended Range Telepresence
A novel navigation assistance for extended range telepresence is presented. The haptic information from the target environment is augmented with guidance commands to assist the user in reaching desired goals in the arbitrarily large target environment from the spatially restricted user environment. Furthermore, a semi-mobile haptic interface was developed, one whose lightweight design and setup configuration atop the user provide for an absolutely safe operation and high force display quality
Haptic control of multi-axis robotic systems
Control of tele-operated remote robot’s is nothing new; the public was introduced to this \u27new\u27 field in 1986 when the Chernobyl cleanup began. Pictures of weird and wonderful robotic workers pouring concrete or moving rubble flooded the world. Integration of force feedback or \u27haptics\u27 to remote robot\u27s is a new development and one that is likely to make a big difference in man-machine interaction. Development of haptic capable tele-operation schema is a challenge. Often platform specific software is developed for one off tasks. This research focussed on the development of an open software platform for haptic control of multiple remote robotic platforms. The software utilises efficient server/client architecture for low data latency, while efficiently performing required kinematic transforms and data manipulation in real time. A description of the algorithm, software interface and hardware is presented in this paper. Preliminary results are encouraging as haptic control has been shown to greatly enhances remote positioning tasks.<br /
A Comprehensive Survey of the Tactile Internet: State of the art and Research Directions
The Internet has made several giant leaps over the years, from a fixed to a
mobile Internet, then to the Internet of Things, and now to a Tactile Internet.
The Tactile Internet goes far beyond data, audio and video delivery over fixed
and mobile networks, and even beyond allowing communication and collaboration
among things. It is expected to enable haptic communication and allow skill set
delivery over networks. Some examples of potential applications are
tele-surgery, vehicle fleets, augmented reality and industrial process
automation. Several papers already cover many of the Tactile Internet-related
concepts and technologies, such as haptic codecs, applications, and supporting
technologies. However, none of them offers a comprehensive survey of the
Tactile Internet, including its architectures and algorithms. Furthermore, none
of them provides a systematic and critical review of the existing solutions. To
address these lacunae, we provide a comprehensive survey of the architectures
and algorithms proposed to date for the Tactile Internet. In addition, we
critically review them using a well-defined set of requirements and discuss
some of the lessons learned as well as the most promising research directions
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