Configurable Sample Rate Conversion for Low-Delay Teleoperation
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Solution Overview
Problem
Current sample rate conversion methods in remote teleoperation of unmanned ground vehicles require recompilation of control software for changes in sample rates or sensor payloads, leading to inefficiencies and increased complexity.
Innovation Solution
A configurable architecture for variable parameter sample rate conversion that allows rapid reconfiguration of interpolation algorithms using pre-defined configuration files, minimizing the need for software recompilation and optimizing group delay.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If sample rate conversion is implemented with fixed hard-coded parameters in control software, then signal fidelity is maintained, but any change in sensor requirements or sample rates requires software recompilation
Solution Approach 1:
The patent implements dynamic reconfigurability by allowing sample rate conversion parameters to be changed at runtime through configuration files rather than being fixed at compile time. The system can adapt to different sensor requirements by loading different configuration parameters without requiring software recompilation, thus resolving the contradiction between adaptability and complexity.
Solution Approach 2:
The patent enables parameter changes by storing sample rate conversion parameters in external configuration files that can be modified and loaded dynamically. This allows the system to adapt to different sensors and sample rates by simply changing parameter values rather than modifying the software code itself, maintaining signal fidelity while enabling flexibility.
2Measurement precision
If traditional sample rate conversion methods are used, then signal fidelity is achieved, but group delay increases which compromises vehicle controllability
Solution Approach 1:
The patent optimizes the balance between signal fidelity and group delay by allowing dynamic adjustment of sample rate conversion parameters. Different configuration parameters can be selected based on the specific application requirements, enabling the system to minimize group delay while maintaining adequate signal fidelity for teleoperation control.
3Ease of manufacture
If sample rate conversion parameters are hard-coded in control software, then implementation is simple, but reconfiguration requires recompiling control software
Solution Approach 1:
The patent segments the sample rate conversion functionality into a separate configurable module that can be independently modified through configuration files. This separation allows the main control software to remain simple and stable while enabling rapid reconfiguration by only changing the parameter files, thus resolving the contradiction between implementation simplicity and reconfiguration speed.
Solution Approach 2:
The patent prepares multiple configuration files in advance with different sample rate conversion parameters for various sensor requirements. When reconfiguration is needed, the system simply switches to a pre-prepared configuration file rather than performing complex recompilation, thereby maintaining implementation simplicity while dramatically improving reconfiguration speed.
Data Source
AI summary
Disclosed is an efficient and configurable apparatus and method for sample rate conversion using interpolation. The apparatus and method employ a configuration file to change the conversion coefficients, sampling rate, and interpolation algorithm without having to recompile control software and/or reprogram the controlled device. In some embodiments, the interpolation employs polynomial interpolation, which may include Lagrange interpolation. In some embodiments, the interpolation method is selected to minimize the loop delay in teleoperation applications.