INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
artículos
Título:
On-line estimation of communication time delay in a robotic teleoperation system
Autor/es:
CECILIA GARCÍA; JOSÉ POSTIGO; ALFREDO CASTRO; RICARDO CARELLI; BENJAMÍN KUCHEN
Revista:
LATIN AMERICAN APPLIED RESEARCH
Editorial:
Universidad Nacional del Sur
Referencias:
Lugar: Bahía Blanca; Año: 2003 vol. 33 p. 371 - 378
ISSN:
0327-0793
Resumen:
An estimation technique to compute on-line the communication time-delay in a rohotic teleoperatlon system is presented. The proposed algorithm is based on the concept of correlation function and time-delay estimation. The estimation is obtained with an additional signal injected through the communication channel, that is correlated to another signal (of the same kind) generated at the remote station. This way, the correlation function is computed along with its maximum which, multiplied by the sampling time, will result in the desired time delay. Simulation results show the improvement of the teleoperation system performance when using both the communication time delay compensation structure and the time delay estimator. Finally, a comparison between the proposed algorithm and MaLlab´s xcorr function to compute tirne delay is performed.
