Event Based Methodology for SuperMedia Enhanced Teleoperation

SuperMedia provides human operators rich environmental information, thus providing telepresence and enhances efficiency of operation. However, coupling human with the remote environment via SuperMedia over the Internet poses challenges for the design of bilateral teleoperator. These challenges relate to the issues of stability, transparency and synchronization. This paper explores a novel methodology to deal with these difficulties. The method proposed is quite different from traditional methodologies. Instead of using time as motion reference for the control and sensor signals, the method, called event based methodology choose another motion reference which can efficiently carry the sensory information of teleoperator. This method can guarantee the stability of teleoperator without any knowledge of delay since the signals are all referenced with the one which is different from time. Furthermore, stability of the system is independent on the dynamic model of human operator and environment. In this paper, analysis and design of event based methodology for the SuperMedia enhanced Internet-based teleoperation are described. Stability of teleoperator system is proved and stability conditions are also given. The algorithm is verified by a simulation and results demonstrate the effectiveness of this methodology.