Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Internet Teleopeation of an Embedded System using Streaming Buffer System

스트리밍 버퍼를 이용한 임베디드 시스템의 인터넷 원격제어

  • 신완재 (한양대학교 대학원 기계설계학과) ;
  • 박장현 (한양대학교 공과대학 기계공학부)
  • Published : 2004.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

Recently, necessity and usage of the teleoperation have been increased in various fields from industrial automation to home application. Also, the internet is considered as a strong candidate far the transmission media of signals. However, it has an irregular transmission time delay and causes critical problems such as instability and poor performance. This paper presents a practical internet teleoperation system with a streaming buffer system which makes a variable time delay fixed. Validity of the proposed system is demonstrated by implementing the embedded system on a HILS(hardware in the loop system) which models a two-wheel mobile robot.

Keywords

References

  1. Salcudean, S.E., hashtrudi-Zaad, K., Tafazoli, S., DiMaio, S.P., Reboulet, C., 'Bilateral matched-impedance teleoperation with application to excavator control,' IEEE Control System Magazine, Vol. 19, No. 6, pp. 29-37, Dec. 1999 https://doi.org/10.1109/37.806913
  2. Gorldberg, K., Gentner, S., Sutter, C., Wiegley, J., 'The Mercury Project: A Feasible Study for Internet Robots,' IEEE International Conference on Robotics and Automation(ICRA), pp. 1024-1028, May 1994
  3. Park, Jong H., Cho, Hyun C., 'Sliding Mode Control of Bilateral Teleoperation Systems with Force-Reflection on the Internet,' Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2000), pp. 1187-1192, Nov. 2000 https://doi.org/10.1109/IROS.2000.893180
  4. Xi, N., Tarn, T. J., 'Action Synchronization and Control of Internet Based Telerobotic Systems,' Proceedings of the 1999 IEEE International Conference On Robotics & Automation, pp. 219-224, 1999 https://doi.org/10.1109/ROBOT.1999.769973
  5. Park, Jahng-Hyon, Park, Joonyoung, 'Real Time Bilateral Control for Internet based Telerobotic system,' IEEE/RSJ International Conference on Intelligent Robot and Systems(IROS 2003), pp. 1106-1110, Oct. 2003 https://doi.org/10.1109/IROS.2003.1248792
  6. Niemeyer, G., 'Using Wave Variables in Time Delayed Force Reflecting Teleoperation,' Ph.D. Thesis, MIT, 1996
  7. Anderson, R., Spong, M., 'Asymptotic stability for force reflectign teleoperators with time delay,' Int. J. Robot. Res., Vol. 11, Apr. 1992 https://doi.org/10.1177/027836499201100204
  8. Riedi, R., Course, M., Ribeiro, V., Baraniuk, R., 'A multifractal wavelet model with application to TCP network traffic,' IEEE Trans. Inform. Theory(Special Issue on Multiscale Signal Analysis and Modeling), pp. 992-1018, Apr. 1999 https://doi.org/10.1109/18.761337
  9. Parlos, A.G., 'Identification of the Internet End-to-end Delay Dynamics Using Multi-Step neuro-Predictors,' IJCNN '02 Proc. of the 2002 International Joint Conference on Neural Networks, Vol. 3, 12-17, May 2002 https://doi.org/10.1109/IJCNN.2002.1007528
  10. Furber, S., 'ARM system-on-chip architecture, 2nd Ed.,' Addison-Wesley, pp. 293, 2000
  11. Hollabaugh, Craig, 'Embedded Linux: Hardware, Software, and Interfacing,' Addison-Wesley, pp. 8-9, 2002
  12. Intel Corporation, 'Intel StrongARM SA-1100 Microprocessor Developer's Manual,' Intel Corporation, pp. 9.1-9.10, June 2000
  13. Park, Jahng-Hyon, Shin, Wanjae, 'Internet Teleroperation of a Robot with Streaming Buffer System under Varying Time Delays,' JSME International Journal Series C, Vol.46, No. 4 pp. 1604-1610, Dec. 2003 https://doi.org/10.1299/jsmec.46.1604