Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments Export

@inproceedings{Fotoohi2006, abstract = {This paper is concerned with haptic simulation in multi-user virtual environments in which the users can haptically interact in a shared virtual world from separate workstations over an Ethernet local-area network (LAN). High-fidelity haptic rendering requires a minimum control update rate of 1000Hz which is beyond the capability of popular network protocols such as the UDP and TCP/IP. Consequently, a multi-rate control strategy is adopted in which local force-feedback loops are executed at higher rates than data packet transmission between the user workstations. Two control architectures, i.e. centralized and distributed, are presented and their stability margins are compared. Two methods for mathematical modelling and analysis of the proposed multi-rate haptic control systems are examined. Analytical and experimental results demonstrate that the distributed control architecture is superior to the centralized controller from performance and stability perspectives. This is confirmed through experiments with a dual-user dual-finger haptic rendering platform}, author = {Fotoohi, M. and Sirouspour, S. and Capson, D.}, booktitle = {Decision and Control, 2006 45th IEEE Conference on}, citeulike-article-id = {1679503}, keywords = {analysis, architecture, architectures, area, bibtex-import, centralized, collaborative, computer, control, controller, cooperative, dextrous, distributed, environments, ethernet, feedback, force, force-feedback, graphics, groupware, haptic, haptics, high-fidelity, interface, interfaces, interfce, local, local-area, loops, mathematical, modelling, multi-rate, multi-user, multirate, multiuser, network, networks, of, protocols, reality, rendering, simulation, stability, systems, virtual}, pages = {4478--4483}, pdf = {U:\09 Literatur verarbeitet\Fotoohi2006 - Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments.pdf}, posted-at = {2007-09-20 17:17:22}, priority = {0}, title = {Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments}, year = {2006} }

TY - CONF ID - Fotoohi2006 L3 - citeulike-article-id:1679503 N2 - This paper is concerned with haptic simulation in multi-user virtual environments in which the users can haptically interact in a shared virtual world from separate workstations over an Ethernet local-area network (LAN). High-fidelity haptic rendering requires a minimum control update rate of 1000Hz which is beyond the capability of popular network protocols such as the UDP and TCP/IP. Consequently, a multi-rate control strategy is adopted in which local force-feedback loops are executed at higher rates than data packet transmission between the user workstations. Two control architectures, i.e. centralized and distributed, are presented and their stability margins are compared. Two methods for mathematical modelling and analysis of the proposed multi-rate haptic control systems are examined. Analytical and experimental results demonstrate that the distributed control architecture is superior to the centralized controller from performance and stability perspectives. This is confirmed through experiments with a dual-user dual-finger haptic rendering platform EP - 4483 TI - Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments T2 - Decision and Control, 2006 45th IEEE Conference on SP - 4478 KW - analysis KW - architecture KW - architectures KW - area KW - bibtex-import KW - centralized KW - collaborative KW - computer KW - control KW - controller KW - cooperative KW - dextrous KW - distributed KW - environments KW - ethernet KW - feedback KW - force KW - force-feedback KW - graphics KW - groupware KW - haptic KW - haptics KW - high-fidelity KW - interface KW - interfaces KW - interfce KW - local KW - local-area KW - loops KW - mathematical KW - modelling KW - multi-rate KW - multi-user KW - multirate KW - multiuser KW - network KW - networks KW - of KW - protocols KW - reality KW - rendering KW - simulation KW - stability KW - systems KW - virtual AU - Fotoohi, M AU - Sirouspour, S AU - Capson, D PY - 2006/// ER -