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

Yoshiki Ohno, Seiji Uozumi, Kouhei Ohnishi

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版者Institute of Electrical and Electronics Engineers Inc.
ページ488-493
ページ数6
ISBN(印刷物)9781479923243
DOI
出版物ステータスPublished - 2014 1 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3 142014 3 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Japan
Yokohama
期間14/3/1414/3/16

ASJC Scopus subject areas

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

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  • これを引用

    Ohno, Y., Uozumi, S., & Ohnishi, K. (2014). Compensation of out-of-order delivery using Kalman Filter for teleoperation system. : 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