Compensation of out-of-order delivery using Kalman Filter for teleoperation system

Yoshiki Ohno, Seiji Uozumi, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper proposes a new method to compensate out-of-order delivery in teleoperation systems with network. Out-of-order packets generally deteriorate the performance of the system. Re-order buffer is one of the methods to compensate out-of-order delivery. However, designing of the size of re-order buffer is difficult and this buffer makes additional time-delay to wait for the delayed packets. This time-delay degrades the real-time property of the teleoperation system. Therefore, this paper proposes a new compensation method using Kalman Filter. This method considers out-of-order delivery as noise in the system and compensates it in the spatial domain in real time. The experimental results show the validity of the proposed method.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages488-493
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Keywords

  • Kalman filter
  • Smith predictor
  • communication
  • out-of-order delivery
  • teleoperation
  • time-delay

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Ohno, Y., Uozumi, S., & Ohnishi, K. (2014). Compensation of out-of-order delivery using Kalman Filter for teleoperation system. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 488-493). [6823330] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823330