Analysis and prediction of jitter of internet one-way time-delay for teleoperation systems

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Analysis and prediction of jitter of internet one-way time-delay for teleoperation systems
	Hua JN(化建宁); Cui YJ(崔玉洁); Yang YH(杨艳华); Li HY(李洪谊)
	2013
会议名称	2013 11th IEEE International Conference on Industrial Informatics, INDIN 2013
会议日期	July 29-31, 2013
会议地点	Bochum, Germany
关键词	teleoperation system prediction jitter of time delay sparse multivariate linear regressive method
页码	612-617
中文摘要	Internet random time delay constitutes a major challenge for Internet-based teleoperation systems. Since the uncertain time delay may degrade the system performance, and even lead to instability. Although large-scale research works have been conducted on the understanding, testing, and analysis of Internet round trip time delay (RTT), it is not appropriate to use RTT in control methods design. It is well known that control commands arrive at the slave site in an aperiodic manner as a result of Internet random time delay. The subsequent control command will terminate the execution of the current command. Consequently, we will get precise information for slave system once the time delay jitter can be known in advance. This paper proposes a novel research idea for Internet-based teleoperation system from the point of view of delay jitter prediction. Statistical properties of the time delay jitter are investigated. Furthermore, the sparse multivariate linear regression method is used to give prediction on Internet time delay jitter. Simulation results demonstrate that sparse multivariate linear regressive method gives a precise prediction, which indicates that the proposed control method based on Internet time delay jitter has a broad prospect in teleoperation systems.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	The Institute of Electrical and Electronics Engineers (IEEE); IEEE Industrial Electronics Society (IEEE-IES); Ruhr University of Bochum (RUB)
会议录	IEEE International Conference on Industrial Informatics (INDIN)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1935-4576
ISBN号	978-1-4799-0752-6
WOS记录号	WOS:000335552900089
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20076]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Hua JN,Cui YJ,Yang YH,et al. Analysis and prediction of jitter of internet one-way time-delay for teleoperation systems[C]. 见:2013 11th IEEE International Conference on Industrial Informatics, INDIN 2013. Bochum, Germany. July 29-31, 2013.