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Shifted gamma distribution and long-range prediction of Round Trip Timedelay for Internet-based teleoperation

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6 Author(s)
Dan Chen ; State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China ; Xiuhui Fu ; Wei Ding ; Hongyi Li
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For Internet based real-time teleoperation systems, unknown and variable time delay can cause instability in the closed loop control system and hence hinder task accomplishment. According to requirement of Internet-based teleoperation, exact prediction of RTT can improve greatly performance of the teleoperation system. In this paper, statistical properties of the Round Trip Timedelay (RTT) are investigated and we construct a sparse multivariate linear regressive (SMLR) model for the RTT processes based on experimental results that indicate: 1) RTT along a certain path in the Internet can be modeled by a shifted Gamma distribution and 2) RTT between two fixed Internet assess points has long-range autocorrelation. This model can predict exactly the next RTT to improve the performance of the Internet-based teleoperation system. Results of simulation demonstrate the effectiveness of the proposed model.

Published in:

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Date of Conference:

22-25 Feb. 2009