The effect of JPEG compression on network controller designed for teleoperation system

This paper presents a stream controller for bilateral teleoperation systems that are implemented over wireless local area networks (WLANs). To ensure the stability and transparency of the bilateral teleoperation system it is critical to keep the delay and delay variation under prescribed limits. The algorithm controls the transfer rates in the video channels where the video frames are compressed using JPEG compression. The transfer rate can be controlled using the frame compression factor or data rate control. Data rate control is difficult in case of the JPEG compression due the fact that the compressed data size is influenced by the image content. In this article we present a control algorithm that can be used to estimate the compression factor for a predefined data size. The performed real-time experiments investigate the effect of the JPEG compression on the rate control performances.