Network Adaptive Robot Control for Latency Overshoot
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Solution Overview
Problem
Network latency in mobile two-way teleconferencing systems causes delayed video images, leading to overshoot or overcorrection when controlling robots, as users react to delayed video feeds.
Innovation Solution
A remote control station that monitors network parameters, such as latency, and scales robot control commands accordingly to adjust for delays, reducing overshoot or overcorrection by slowing down robot movement with increased latency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot control system operates with standard network transmission, then the system structure remains simple, but network latency causes delayed video images leading to user control errors
Solution Approach 1:
The system performs preliminary estimation of robot position based on control commands and network latency measurements before actual robot movement occurs. This predictive action compensates for the expected delay, allowing the user to see an anticipated view of where the robot will be, rather than reacting to delayed feedback.
Solution Approach 2:
The system continuously measures network latency and uses this feedback to dynamically adjust the estimated robot position. By monitoring round-trip time for control commands and video transmission, the system adapts its prediction model to current network conditions, improving control precision under varying latency conditions.
2Ease of operation
If the user reacts to delayed video images, then the control response time remains natural, but the robot movement overshoots or overcorrects
Solution Approach 1:
The system calculates where the robot should be based on the control command sent and the measured network latency, displaying this predicted position to the user. This allows the user to operate the robot naturally without compensating for delay, while the system proactively presents the correct anticipated view.
Solution Approach 2:
The system introduces an intermediary estimated position that mediates between the user's control input and the actual robot position. Instead of showing the delayed actual position or requiring the user to anticipate, the system computes and displays an intermediate predicted position that accounts for network latency.
3Loss of energy
If the network latency increases, then the video transmission bandwidth requirement decreases, but the control accuracy deteriorates
Solution Approach 1:
The system changes the parameter being displayed from actual robot position to estimated robot position based on network latency. By adjusting what position information is presented to the user according to network conditions, the system maintains control accuracy even when video transmission is delayed.
Data Source
AI summary
A remote control station that controls a robot through a network. The remote control station transmits a robot control command that includes information to move the robot. The remote control station monitors at least one network parameter and scales the robot control command as a function of the network parameter. For example, the remote control station can monitor network latency and scale the robot control command to slow down the robot with an increase in the latency of the network. Such an approach can reduce the amount of overshoot or overcorrection by a user driving the robot.