TY - GEN
T1 - Data transmission using priority queue for multi-DOF haptic communication
AU - Yashiro, Daisuke
AU - Yakoh, Takahiro
AU - Ohnishi, Kouhei
PY - 2010
Y1 - 2010
N2 - This paper proposes a novel data transmission method for a haptic communication through LAN. In a practical sense, the terminals, that implement the bilateral control, are connected through a number of concentrators. These concentrators have communication-bandwidth limitation. This limitation make it impossible to achieve both of short packet-sending period tp and low delay T, because short tp often causes a network congestion. As a result, the enough large tp, which never causes the network congestion, is often selected taking the worst traffic condition into account. However, this approach deteriorates the transparency of the haptic communication. To solve this problem, this paper innovates a priority queue (PQ) at the switch to reduce the large delay in case of the network congestion. As a result, highly transparent bilateral control through LAN is achieved. The validity of the proposed method is confirmed by the experiment.
AB - This paper proposes a novel data transmission method for a haptic communication through LAN. In a practical sense, the terminals, that implement the bilateral control, are connected through a number of concentrators. These concentrators have communication-bandwidth limitation. This limitation make it impossible to achieve both of short packet-sending period tp and low delay T, because short tp often causes a network congestion. As a result, the enough large tp, which never causes the network congestion, is often selected taking the worst traffic condition into account. However, this approach deteriorates the transparency of the haptic communication. To solve this problem, this paper innovates a priority queue (PQ) at the switch to reduce the large delay in case of the network congestion. As a result, highly transparent bilateral control through LAN is achieved. The validity of the proposed method is confirmed by the experiment.
UR - http://www.scopus.com/inward/record.url?scp=77953752542&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2010.5464021
DO - 10.1109/AMC.2010.5464021
M3 - Conference contribution
AN - SCOPUS:77953752542
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 70
EP - 75
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -