Title :
Telepresence control in packet switched communication networks
Author :
Hirche, Sandra ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Technische Univ. Munchen, Germany
Abstract :
One of the crucial factors for the performance of haptic (force feedback) telepresence systems is the quality of communication. This work investigates known telepresence control stability conditions for the application in packet switched networks with time varying communication latencies and packet loss, as e.g. the Internet, and discusses the impact of the packet processing protocol on the stability and the performance of telepresence systems with haptic feedback. In experiments - towards a multimodal telepresence system over IP with rescue and other applications - the system performance of the standard velocity/force architecture is compared with the position/velocity/force architecture.
Keywords :
IP networks; Internet; force feedback; haptic interfaces; packet switching; stability; switching networks; telecommunication control; telecontrol; IP networks; Internet; communication quality; force architecture; haptic force feedback; haptic telepresence systems; multimodal telepresence system; packet loss; packet processing protocol; packet switched communication networks; position architecture; telepresence control stability conditions; time varying communication latency; velocity architecture; Communication networks; Communication switching; Communication system control; Control systems; Delay; Force feedback; Haptic interfaces; Packet switching; Stability; Time varying systems;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387217
