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Multiple description coding (MDC) is one of source coding techniques which generate several descriptions from a single data. A decoder of MDC reconstructs the data from these descriptions. Even if some descriptions are lost, the decoder can reconstruct a similar data from the other descriptions. Therefore, this coding technique is expected to apply applications which prefer accepting error of data...
Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient's quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave...
This paper presents a novel flow control method using PI controller for motion control system over network. UDP/IP protocol is known to be effective for motion control systems over network such as bilateral control system. However, UDP does not have a mechanism of congestion avoidance. The congestion, which causes large communication delay, jitter and packet loss, significantly deteriorates performance...
With the rapid growth of the Internet, users are increasingly seeking real-time multimedia application services. To meet this requirement, many streaming methods are developed. However, most of streaming systems are used for ornamental use such as video on demand (VOD). Users for such application do not require interaction, so reducing jitter is the most important issues. Therefore, users donpsilat...
A remote control system is one of the applications of communication. An user at a local side requires feedback information from a remote side to operate. In general, visual information and haptic information are used. However, it is impossible to synchronize local side and remote side perfectly because of communication delay and processing time. When the delay becomes long, the operability of remote...
Multipath routing is expected to improve the degree of control in network flow managements. Therefore, multi-criteria designs will become indispensable for the next generation of multipath routing algorithms and protocols. This paper shows a theoretical approach to multipath routing problems as a multi- objective optimization of network flows. Two objectives, total link utilization and bandwidth fairness...
This paper describes a strategy for a pushing operation by wheeled robot. In the conventional approach, the kinematics of the pushing object is mainly focused without considering the dynamical effects such as friction. In this case, it is difficult to cope with environmental variations since the contact point of pushing motion is fixed on the object's surface and the motion of the end effector is...
Describes a 3D biped robot where each leg is composed of a 6 DOF parallel mechanism. The proposed mechanism is suited to walking, and the total weight of each leg is expected to be lighter than a serial linked biped robot. This is one of the remarkable features of the proposed mechanism. One side leg consists of three linked arms. Each arm has two active and four passive joints, and is placed in the...
This paper describes a study for a novel system representation. The considered system is composed of several elements that have interaction among them. In the system representation, the conventional approach has been paying attention to the elements expressing a system. Here the proposed approach focuses on the system interactions from a viewpoint of system connection. To describe the hierarchical...
This paper proposes a new method for trajectory planning of a mobile robot with 3D image processing. Recent advances of computer technology make it possible to realize a real time feedback of visual information in motion control system. In almost all methods, it is assumed that environment and/or shape of obstacles are given. In the practical implementation, however, this assumption restricts the...
A method of friction compensation based on a twin drive system is discussed in the paper. The twin drive system in composed of two motors connected by a differential mechanism. Then the generated torque of the system is the torque difference between two motors. Also these motors are continuously driven to reduce the influence of static friction in each motor even if the system has a stationary motion...
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