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题名: Shifted Gamma Distribution and Long-Range Prediction of Round Trip Timedelay for Internet-based Teleoperation
作者: Chen D(陈丹) ; Fu XH(符秀辉) ; Ding W(丁伟) ; Li HY(李洪谊) ; Xi N(席宁) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期: February 22-25, 2009
会议地点: Bangkok, THAILAND
会议主办者: IEEE Robot & Automat Soc
会议录: 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 1261-1266
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2678-2
关键词: Sparse Multivariate Linear Regressive Models ; shift-Gamma distribution ; Long-range autocorrelation ; Round-Trip-Timedelay(RTT) ; prediction ; teleoperation
摘要: For Internet based real-time teleoperation systems, unknown and variable time delay can cause instability in the closed loop control system and hence hinder task accomplishment. According to requirement of Internet-based teleoperation, exact prediction of RTT can improve greatly performance of the teleoperation system. In this paper, statistical properties of the Round Trip Timedelay (RTT) are investigated and we construct a sparse multivariate linear regressive (SMLR) model for the RTT processes based on experimental results that indicate: 1) RTT along a certain path in the Internet can be modeled by a shifted Gamma distribution and 2) RTT between two fixed Internet assess points has long-range autocorrelation. This model can predict exactly the next RTT to improve the performance of the Internet-based teleoperation system. Results of simulation demonstrate the effectiveness of the proposed model.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8876
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
陈丹; 符秀辉; 丁伟; 李洪谊; 席宁; 王越超.Shifted Gamma Distribution and Long-Range Prediction of Round Trip Timedelay for Internet-based Teleoperation.见:IEEE .2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4,NEW YORK,2009,1261-1266
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