Telepresence control in packet switched communication networks

Author

Hirche, Sandra ; Buss, Martin

Author_Institution

Inst. of Autom. Control Eng., Technische Univ. Munchen, Germany

Volume

1

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

236

Abstract

One of the crucial factors for the performance of haptic (force feedback) telepresence systems is the quality of communication. This work investigates known telepresence control stability conditions for the application in packet switched networks with time varying communication latencies and packet loss, as e.g. the Internet, and discusses the impact of the packet processing protocol on the stability and the performance of telepresence systems with haptic feedback. In experiments - towards a multimodal telepresence system over IP with rescue and other applications - the system performance of the standard velocity/force architecture is compared with the position/velocity/force architecture.

Keywords

IP networks; Internet; force feedback; haptic interfaces; packet switching; stability; switching networks; telecommunication control; telecontrol; IP networks; Internet; communication quality; force architecture; haptic force feedback; haptic telepresence systems; multimodal telepresence system; packet loss; packet processing protocol; packet switched communication networks; position architecture; telepresence control stability conditions; time varying communication latency; velocity architecture; Communication networks; Communication switching; Communication system control; Control systems; Delay; Force feedback; Haptic interfaces; Packet switching; Stability; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on

Print_ISBN

0-7803-8633-7

Type

conf

DOI

10.1109/CCA.2004.1387217

Filename

1387217