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Quality-Latency Trade-Off in Bilateral Teleoperation

Millnert, Victor LU (2014)
Abstract
The purpose of this thesis is to investigate how the latency in mobile networks affect the quality of highly demanding and sensitive applications running on it. Furthermore, this thesis will provide some information to what is going on in the field of Cloud Computing and the Internet of Things. It will hopefully spark a discussion about what possibilities will come with the development of the Cloud and Internet of Things.

The application chosen was a bilateral teleoperation, with force feedback, controlled in 6 dimensions. To investigate how the quality depends on network latency, different network models were simulated as the communication channel. The networks chosen to be simulated were a 3G, 4G, and a 5G cellular network along... (More)
The purpose of this thesis is to investigate how the latency in mobile networks affect the quality of highly demanding and sensitive applications running on it. Furthermore, this thesis will provide some information to what is going on in the field of Cloud Computing and the Internet of Things. It will hopefully spark a discussion about what possibilities will come with the development of the Cloud and Internet of Things.

The application chosen was a bilateral teleoperation, with force feedback, controlled in 6 dimensions. To investigate how the quality depends on network latency, different network models were simulated as the communication channel. The networks chosen to be simulated were a 3G, 4G, and a 5G cellular network along with a wired network chosen as a baseline.

On this setup two main experiments were done. The first one was a collision test and the second one a dexterity test, where a user was supposed to pick up a small wooden brick and put it into a box. The results from the experiments showed that there was indeed a difference in behavior when having a network delay larger than 20 ms (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
keywords
teleoperation, haptic control, haptic feedback, cloud robotics, 5G
pages
61 pages
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
language
English
LU publication?
yes
id
47422998-3a21-4a7d-bb1b-548f7809ded0
alternative location
http://lup.lub.lu.se/student-papers/record/4778587
date added to LUP
2017-08-18 11:30:47
date last changed
2017-09-08 13:44:10
@misc{47422998-3a21-4a7d-bb1b-548f7809ded0,
  abstract     = {The purpose of this thesis is to investigate how the latency in mobile networks affect the quality of highly demanding and sensitive applications running on it. Furthermore, this thesis will provide some information to what is going on in the field of Cloud Computing and the Internet of Things. It will hopefully spark a discussion about what possibilities will come with the development of the Cloud and Internet of Things.<br/><br/>The application chosen was a bilateral teleoperation, with force feedback, controlled in 6 dimensions. To investigate how the quality depends on network latency, different network models were simulated as the communication channel. The networks chosen to be simulated were a 3G, 4G, and a 5G cellular network along with a wired network chosen as a baseline.<br/><br/>On this setup two main experiments were done. The first one was a collision test and the second one a dexterity test, where a user was supposed to pick up a small wooden brick and put it into a box. The results from the experiments showed that there was indeed a difference in behavior when having a network delay larger than 20 ms},
  author       = {Millnert, Victor},
  keyword      = {teleoperation,haptic control,haptic feedback,cloud robotics,5G},
  language     = {eng},
  pages        = {61},
  publisher    = {Department of Automatic Control, Lund Institute of Technology, Lund University},
  title        = {Quality-Latency Trade-Off in Bilateral Teleoperation},
  year         = {2014},
}