A Multithreaded Distributed Telerobotic Framework

A reliable real-time client-server telerobotic system that uses a distributed component framework to promote software reusability, ease of extensibility, debugging, and data encapsulation is proposed. .NET remoting is used for automatic handling of the network resources and data transfer while isolating the components from network protocol issues. A client-server transfer of live stereo video provides the operator three-dimensional (3-D) views of the slave scene with augmented reality (AR) framework and services. Overall distributed framework and design independence improves the portability and modularity of the proposed telerobotic system. A multithreaded execution is proposed for streaming of force, command, and for the transfer of live stereo video data. The proposed framework provides a useful integrated software and hardware environment to enhance man-machine interactions using stereo visualization and AR in real-time telerobotic systems