Signal Conditioning for Latency in Robotic Telepresence
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Solution Overview
Problem
Delays in communication systems, particularly in robotic telepresence, lead to frustrating user experiences due to transmission and processing delays, affecting the control of operator controllable devices like robots, especially when operating at a distance.
Innovation Solution
A method and system that condition actions by receiving action-based instructions and time representations, deriving conditioned action-based instructions, and producing signals to execute these actions, using predictions and filtering techniques to reduce latency and improve the operator's control experience.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If real-time control signals are transmitted over long distances, then operator control capability is maintained, but communication delays and latency increase
Solution Approach 1:
The system pre-calculates and buffers control signals before transmission. The signal conditioning module prepares conditioned action-based instructions in advance based on predicted device states, so that when signals are transmitted over long distances, the operator experiences minimal delay while maintaining control capability.
2Speed
If control signals are processed and filtered to reduce latency, then responsiveness improves, but signal processing complexity increases
Solution Approach 1:
The system changes the temporal parameters of control signals by creating multiple buffered versions with different time offsets. Instead of complex real-time processing, the signal conditioning module selects from pre-computed signal versions based on current network conditions, reducing processing complexity while maintaining responsiveness.
3Measurement precision
If action-based instructions are buffered and conditioned, then latency is reduced and control precision improves, but system complexity increases
Solution Approach 1:
The patent introduces a signal conditioning module as an intermediary between the operator interface and the remote device. This module buffers and conditions action-based instructions by creating multiple time-offset versions and selecting optimal signals, thereby improving control precision while isolating the complexity from the operator and device interfaces.
Data Source
AI summary
A method of conditioning one or more actions related to an operator controllable device is disclosed. The method includes receiving one or more action-based instructions representing one or more operator controllable device actions associated with the operator controllable device, and receiving one or more action-oriented time representations representing one or more times associated with the action-based instructions. The method also includes deriving at least one conditioned action-based instruction for a time subsequent to the times represented by the received action-oriented time representations from: the received action-based instructions, and the received action-oriented time representations. The conditioned action-based instruction, when executed, causes the operator controllable device to take one or more conditioned actions. The method also includes producing at least one signal representing the conditioned action-based instruction, which when executed, causes the operator controllable device to take the conditioned action. Apparatuses, computer-readable storage media, and systems are also disclosed.