Supermedia-enhanced internet-based telerobotics
Identifieur interne : 007454 ( Main/Merge ); précédent : 007453; suivant : 007455Supermedia-enhanced internet-based telerobotics
Auteurs : Imad Elhajj [États-Unis] ; NING XI [États-Unis] ; WAI KEUNG FUNG [États-Unis] ; Yun-Hui Liu [Hong Kong] ; Yasuhisa Hasegawa [Japon] ; Toshio Fukuda [Japon]Source :
- Proceedings of the IEEE [ 0018-9219 ] ; 2003.
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- Pascal (Inist)
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- topic : Multimédia.
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Abstract
This paper introduces new planning and control methods for supermedia-enhanced real-time telerobotic operations via the Internet. Supermedia is the collection of video, audio, haptic information, temperature, and other sensory feedback. However, when the communication medium used, such as the Internet, introduces random communication time delay, several challenges and difficulties arise. Most importantly, random communication delay causes instability, loss of transparency, and desynchronization in real-time closed-loop telerobotic systems. Due to the complexity and diversity of such systems, the first challenge is to develop a general and efficient modeling and analysis tool. This paper proposes the use of Petri net modeling to capture the concurrency and complexity of Internet-based teleoperation. Combined with the event-based planning and control method, it also provides an efficient analysis and design tool to study the stability, transparency, and synchronization of such systems. In addition, the concepts of event transparency and event synchronization are introduced and analyzed. This modeling and control method has been applied to the design of several supermedia-enhanced Internet-based telerobotic systems, including the bilateral control of mobile robots and mobile manipulators. These systems have been experimentally implemented in three sites test bed consisting of robotic laboratories in the USA, Hong Kong, and Japan. The experimental results have verified the theoretical development and further demonstrated the stability, event transparency, and event synchronization of the systems.
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type="state">Michigan</region></placeName></affiliation></author><author><name sortKey="Ning Xi" sort="Ning Xi" uniqKey="Ning Xi" last="Ning Xi">NING XI</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Department of Electrical and Computer Engineering, Michigan State University</s1><s2>East Lansing, MI 48824</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName></affiliation></author><author><name sortKey="Wai Keung Fung" sort="Wai Keung Fung" uniqKey="Wai Keung Fung" last="Wai Keung Fung">WAI KEUNG FUNG</name><affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Department of Electrical and Computer Engineering, Michigan State University</s1><s2>East Lansing, MI 48824</s2><s3>USA</s3><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName></affiliation></author><author><name sortKey="Liu, Yun Hui" sort="Liu, Yun Hui" uniqKey="Liu Y" first="Yun-Hui" last="Liu">Yun-Hui Liu</name><affiliation wicri:level="4"><inist:fA14 i1="03"><s1>Department of Automation and Computer-Aided Engineering, The Chinese University of Hong Kong</s1><s2>Shatin, NT</s2><s3>HKG</s3><sZ>4 aut.</sZ></inist:fA14><country>Hong Kong</country><placeName><settlement type="city">Sha Tin</settlement></placeName><orgName type="university">Université chinoise de Hong Kong</orgName></affiliation></author><author><name sortKey="Hasegawa, Yasuhisa" sort="Hasegawa, Yasuhisa" uniqKey="Hasegawa Y" first="Yasuhisa" last="Hasegawa">Yasuhisa Hasegawa</name><affiliation wicri:level="1"><inist:fA14 i1="04"><s1>Center for Cooperative Research in Advanced Science and Technology, Nagoya University</s1><s2>Nagoya 464-8603</s2><s3>JPN</s3><sZ>5 aut.</sZ><sZ>6 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Nagoya 464-8603</wicri:noRegion></affiliation></author><author><name sortKey="Fukuda, Toshio" sort="Fukuda, Toshio" uniqKey="Fukuda T" first="Toshio" last="Fukuda">Toshio Fukuda</name><affiliation wicri:level="1"><inist:fA14 i1="04"><s1>Center for Cooperative Research in Advanced Science and Technology, Nagoya University</s1><s2>Nagoya 464-8603</s2><s3>JPN</s3><sZ>5 aut.</sZ><sZ>6 aut.</sZ></inist:fA14><country>Japon</country><wicri:noRegion>Nagoya 464-8603</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">Proceedings of the IEEE</title><title level="j" type="abbreviated">Proc. 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IEEE</title><idno type="ISSN">0018-9219</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Computer network</term><term>Concurrency</term><term>Delay time</term><term>Intelligent robot</term><term>Internet</term><term>Modeling</term><term>Motion control</term><term>Multimedia</term><term>Petri net</term><term>Real time</term><term>Remote operation</term><term>Synchronization</term><term>Telerobotics</term><term>Transparency</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Télérobotique</term><term>Robot intelligent</term><term>Réseau ordinateur</term><term>Internet</term><term>Temps réel</term><term>Temps retard</term><term>Modélisation</term><term>Réseau Pétri</term><term>Téléopération</term><term>Simultanéité informatique</term><term>Multimédia</term><term>Transparence</term><term>Synchronisation</term><term>Commande mouvement</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Multimédia</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper introduces new planning and control methods for supermedia-enhanced real-time telerobotic operations via the Internet. Supermedia is the collection of video, audio, haptic information, temperature, and other sensory feedback. However, when the communication medium used, such as the Internet, introduces random communication time delay, several challenges and difficulties arise. Most importantly, random communication delay causes instability, loss of transparency, and desynchronization in real-time closed-loop telerobotic systems. Due to the complexity and diversity of such systems, the first challenge is to develop a general and efficient modeling and analysis tool. This paper proposes the use of Petri net modeling to capture the concurrency and complexity of Internet-based teleoperation. Combined with the event-based planning and control method, it also provides an efficient analysis and design tool to study the stability, transparency, and synchronization of such systems. In addition, the concepts of event transparency and event synchronization are introduced and analyzed. This modeling and control method has been applied to the design of several supermedia-enhanced Internet-based telerobotic systems, including the bilateral control of mobile robots and mobile manipulators. These systems have been experimentally implemented in three sites test bed consisting of robotic laboratories in the USA, Hong Kong, and Japan. The experimental results have verified the theoretical development and further demonstrated the stability, event transparency, and event synchronization of the systems.</div></front></TEI><affiliations><list><country><li>Hong Kong</li><li>Japon</li><li>États-Unis</li></country><region><li>Michigan</li></region><settlement><li>Sha Tin</li></settlement><orgName><li>Université chinoise de Hong Kong</li></orgName></list><tree><country name="États-Unis"><region name="Michigan"><name sortKey="Elhajj, Imad" sort="Elhajj, Imad" uniqKey="Elhajj I" first="Imad" last="Elhajj">Imad Elhajj</name></region><name sortKey="Ning Xi" sort="Ning Xi" uniqKey="Ning Xi" last="Ning Xi">NING XI</name><name sortKey="Wai Keung Fung" sort="Wai Keung Fung" uniqKey="Wai Keung Fung" last="Wai Keung Fung">WAI KEUNG FUNG</name></country><country name="Hong Kong"><noRegion><name sortKey="Liu, Yun Hui" sort="Liu, Yun Hui" uniqKey="Liu Y" first="Yun-Hui" last="Liu">Yun-Hui Liu</name></noRegion></country><country name="Japon"><noRegion><name sortKey="Hasegawa, Yasuhisa" sort="Hasegawa, Yasuhisa" uniqKey="Hasegawa Y" first="Yasuhisa" last="Hasegawa">Yasuhisa Hasegawa</name></noRegion><name sortKey="Fukuda, Toshio" sort="Fukuda, Toshio" uniqKey="Fukuda T" first="Toshio" last="Fukuda">Toshio Fukuda</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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