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

Other

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

Fingerprint

Teleoperation
Remote control
Kalman filters
Kalman Filter
Time delay
Buffer
Time Delay
Compensation and Redress
Real-time
Experimental Results

Keywords

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

ASJC Scopus subject areas

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

Cite this

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

Compensation of out-of-order delivery using Kalman Filter for teleoperation system. / Ohno, Yoshiki; Uozumi, Seiji; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 488-493 6823330.

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

Ohno, Y, Uozumi, S & Ohnishi, K 2014, Compensation of out-of-order delivery using Kalman Filter for teleoperation system. in International Workshop on Advanced Motion Control, AMC., 6823330, Institute of Electrical and Electronics Engineers Inc., pp. 488-493, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823330
Ohno Y, Uozumi S, Ohnishi K. Compensation of out-of-order delivery using Kalman Filter for teleoperation system. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 488-493. 6823330 https://doi.org/10.1109/AMC.2014.6823330
Ohno, Yoshiki ; Uozumi, Seiji ; Ohnishi, Kouhei. / Compensation of out-of-order delivery using Kalman Filter for teleoperation system. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 488-493
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