Supermedia enhanced Real-time Internet based Teleoperation
In the last two decades, real-time teleoperation has attracted increasing attention in robotic re... more In the last two decades, real-time teleoperation has attracted increasing attention in robotic research. It provides challenging problems for many aspects, including modeling and control, communication, and sensory feedback. A typical teleoperation consists of a master device/robot and a slave robot connected by a communication medium. Human operator controls motion of the remote slave robot in real-time through a master device/robot while the slave robot provides various sensory feedbacks, including force feedback and video feedback, to the master site so that human operator is aware of the changes in remote slave site. Supermedia is defined as the collection of various data streams, including video stream, force/torque stream, robot command, and so on, exchanged between the master and slave sites via the communication medium, for example the Interne. In recent years, Internet based teleoperation has greatly gained in popularity due to the low cost property and ubiquitnessof the Internet. Random delay introduced by the Internet in a real-time teleoperation system introduces difficulty in maintaining stability and efficiency of the teleoperation system, the synchronization of supermedia streams and real-time network resource allocation so that Quality of Service (QoS) teleoperation tasks can be fulfilled. This makes real-time Internet based teleoperation an ongoing, but challenging research area in Robotics.
This talk will first give an overview of real-time Internet based teleoperation. This talk then will focus on part of my research work on control, communication and sensory feedback aspects of real-time Internet based teleoperation. Performance comparison of common teleoperation control architectures on hydraulic manipulators will be reported in this talk. Moreover, two efficiency improving strategies for real-time Internet based teleoperation systems will be discussed, namely task driven QoS based bandwidth allocation for supermedia streams and 3D stereoscopic video feedback.
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Talks by Wai-keung Fung
This talk will first give an overview of real-time Internet based teleoperation. This talk then will focus on part of my research work on control, communication and sensory feedback aspects of real-time Internet based teleoperation. Performance comparison of common teleoperation control architectures on hydraulic manipulators will be reported in this talk. Moreover, two efficiency improving strategies for real-time Internet based teleoperation systems will be discussed, namely task driven QoS based bandwidth allocation for supermedia streams and 3D stereoscopic video feedback.