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http://dx.doi.org/10.5916/jkosme.2017.41.1.56

ARMA-based data prediction method and its application to teleoperation systems  

Kim, Heon-Hui (Division of Marine Engineering, Mokpo National Maritime University)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.41, no.1, 2017 , pp. 56-61 More about this Journal
Abstract
This paper presents a data prediction method and its application to haptic-based teleoperation systems. In general, time delays inevitably occur during data transmission in a network environment, which degrades the overall performance of haptic-based teleoperation systems. To address this situation, this paper proposes an autoregressive moving average (ARMA) model-based data prediction algorithm for estimating model parameters and predicting future data recursively in real time. The proposed method was applied to haptic data captured every 5 ms while bilateral haptic interaction was carried out by two users with an object in a virtual space. The results showed that the prediction performance of the proposed method had an error of less than 1 ms when predicting position-level data 100 ms ahead.
Keywords
Time delay; Teleoperation system; Autoregressive moving average (ARMA); Data prediction;
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