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Analysis and prediction of jitter of internet one-way time-delay for teleoperation systems
Hua JN(化建宁); Cui YJ(崔玉洁); Yang YH(杨艳华); Li HY(李洪谊)
Department机器人学研究室
Conference Name2013 11th IEEE International Conference on Industrial Informatics, INDIN 2013
Conference DateJuly 29-31, 2013
Conference PlaceBochum, Germany
Author of SourceThe Institute of Electrical and Electronics Engineers (IEEE); IEEE Industrial Electronics Society (IEEE-IES); Ruhr University of Bochum (RUB)
Source PublicationIEEE International Conference on Industrial Informatics (INDIN)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2013
Pages612-617
Indexed ByEI ; CPCI(ISTP)
EI Accession number20135017066880
WOS IDWOS:000335552900089
Contribution Rank2
ISSN1935-4576
ISBN978-1-4799-0752-6
KeywordTeleoperation System Prediction Jitter Of Time Delay Sparse Multivariate Linear Regressive Method
AbstractInternet random time delay constitutes a major challenge for Internet-based teleoperation systems. Since the uncertain time delay may degrade the system performance, and even lead to instability. Although large-scale research works have been conducted on the understanding, testing, and analysis of Internet round trip time delay (RTT), it is not appropriate to use RTT in control methods design. It is well known that control commands arrive at the slave site in an aperiodic manner as a result of Internet random time delay. The subsequent control command will terminate the execution of the current command. Consequently, we will get precise information for slave system once the time delay jitter can be known in advance. This paper proposes a novel research idea for Internet-based teleoperation system from the point of view of delay jitter prediction. Statistical properties of the time delay jitter are investigated. Furthermore, the sparse multivariate linear regression method is used to give prediction on Internet time delay jitter. Simulation results demonstrate that sparse multivariate linear regressive method gives a precise prediction, which indicates that the proposed control method based on Internet time delay jitter has a broad prospect in teleoperation systems.
Language英语
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20076
Collection机器人学研究室
Recommended Citation
GB/T 7714
Hua JN,Cui YJ,Yang YH,et al. Analysis and prediction of jitter of internet one-way time-delay for teleoperation systems[C]//The Institute of Electrical and Electronics Engineers (IEEE); IEEE Industrial Electronics Society (IEEE-IES); Ruhr University of Bochum (RUB). Piscataway, NJ, USA:IEEE,2013:612-617.
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