A Network Layer for Teleoperations in High Speed Environments

Abstract

Teleoperation systems allow an operator to control a device at a remote location via a network. System stability is highly dependent on data loss and delay since command messages and the associated device feedback must remain synchronized. Several network protocols are available for teleoperation; however, none is exactly suitable for transmitting the variety of information (e.g. commands, video, and force feedback) needed by advance teleoperation systems. Furthermore, maintaining synchronization is more problematic in a high speed environment since end systems are the primary source of loss and delay. This paper introduces a new network layer designed to control remote devices in a high speed environment. Unlike previous teleoperation approaches, the proposed layer separates control and feedback into separate channels. As a result, multiple feedback channels are possible (e.g. video and force) where each channel can use the transport protocol best suited for its data (e.g. RTP for video). These channels are managed by the new layer ensuring flow control is provided between the operator and the remote device; therefore, different remote control approaches (event and predicted based) are supported. Furthermore, the proposed layer is lightweight and requires no changes to the networking infrastructure since it is only implemented at the end systems (operator and remote device). Experimental results showing the control of a microscope over an 10 Gbps network will demonstrate the teleoperation layer can easily manage communications in a high speed environment.