Name
Title | ||
|---|---|---|
A Multi-Rate Control Approach To Haptic Interaction In Multi-User Virtual Environments |
Abstract | ||
|---|---|---|
High-fidelity haptic interaction in multi-user environments over general Ethernet-based Local Area Networks (LAN) and Metropolitan Area Networks (MAN) can be challenging but has promising applications. Under typical network traffic conditions, the 1kHz real-time control rate suggested in the literature for stable haptic simulation is well above that achievable by conventional network protocols such as the UDP and TCP/IP. To overcome this limitation, a decentralized multi-rate control approach is proposed in which local force-feedback loops are executed at higher rates than data packet transmission between the user workstations. Mathematical models for stability and performance analysis of such multi-rate haptic control systems are presented. Analytical and experimental results demonstrate improved performance and stability for the distributed control architecture when compared with a centralized controller. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363771 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 |
Keywords | Field | DocType |
stability analysis,mathematical model,metropolitan area network,local area network,network protocols,groupware,real time control,virtual environment,control system,force feedback,local area networks,network protocol,protocols,stability | Control theory,Virtual machine,Real-time computing,Control engineering,Ethernet,Local area network,Control system,Engineering,Haptic technology,Communications protocol,Multi-user | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.38 | 8 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| M. Fotoohi | 1 | 4 | 0.82 |
| Shahin Sirouspour | 2 | 229 | 21.84 |
| David W. Capson | 3 | 207 | 29.98 |