@inproceedings{d7bd14fe8e54466fb0700bf86abe9f2f,
title = "Adaptive real-time Internet-based teleoperation systems for efficiency improvement using network QoS",
abstract = "By using the technique of perspective frame control, the stability of real-time Internet based teleoperation systems can be guaranteed. The system efficiency, however, is still highly sensitive to the network quality. In this paper, we investigate on how to improve the real-time system efficiency of teleoperation systems in both control and resource allocation aspects. In the control aspect, we propose to adaptively tune the controller gains for remote robotic systems based on the real-time monitored network QoS parameters so that the system performance can be maintained as efficient as designed under ideal scenario. On the other hand, a task driven dynamic bandwidth allocation scheme based on the real-time monitored network QoS parameters and task dexterity requirements is proposed for supermedia transmission of teleoperation. Experiments have been conducted to demonstrate the effectiveness of the proposed efficiency improving methods for real-time Internet based teleoperation systems.",
keywords = "Condition monitoring, Control systems, IP networks, Internet, Performance gain, Real time systems, Remote monitoring, Resource management, Robot sensing systems, Stability",
author = "Fung, \{Wai Keung\} and Ning Xi and Lo, \{Wang Tai\} and Liu, \{Yun Hui\}",
note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 ; Conference date: 20-07-2003 Through 24-07-2003",
year = "2003",
month = sep,
doi = "10.1109/AIM.2003.1225159",
language = "English",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "580--585",
booktitle = "Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003",
}