Internet protocol based networking of mobile robots:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Würzburg
Univ.-Bibliothek
2010
|
| Schriftenreihe: | Würzburger Forschungsberichte in Robotik und Telematik
Bd. 4 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Zusätzliches Online-Angebot unter www.opus-bayern.de/uni-wuerzburg |
| Beschreibung: | V, 216 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783923959594 |
Internformat
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Datensatz im Suchindex
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|---|---|
| adam_text | IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 CONTRIBUTION 2
1.2 OUTLINE 4
2 TELEOPERATION OF ROBOTIC SYSTEMS VIA INTERNET 7
2.1 ENABLING TECHNOLOGIES 7
2.1.1 LOCAL AREA NETWORKS 8
2.1.2 INTERNET 10
2.1.3 TELEROBOTICS 13
2.1.4 TELE-LABORATORIES 15
2.2 REMOTE LEARNING UNITS OF MOBILE ROBOTS 17
2.2.1 ARCHITECTURE OF THE HARDWARE SEGMENT 18
2.2.2 ROBOT HARDWARE 24
2.2.3 MOBILE ROBOT TELE-EDUCATION EXPERIMENTS IN WUERZBURG 25
2.2.4 INTEGRATION OF WORLD WIDE DISTRIBUTED REMOTE EXPERIMENTS 28
2.3 CONTROL OF QUANSER SRV02 EXPERIMENT OVER THE INTERNET . . .. 36
2.3.1 THEORY AND MATHEMATICAL BACKGROUND 37
2.3.2 IMPLEMENTATION OF THE CONTROLLER 40
2.3.3 A DISCRETE-TIME SYSTEM WITH TIME DELAY 44
2.3.4 EXPERIMENT SETUP AND EVALUATION 47
2.4 DISCUSSION OF THE RESULTS 49
3 AD-HOC NETWORKS OF MOBILE ROBOTS 55
3.1 ENABLING TECHNOLOGIES 55
3.1.1 WIRELESS COMMUNICATION 55
3.1.2 WIRELESS LOCAL AREA NETWORKS (WLAN) 59
3.1.3 WIRELESS MOBILE AD-HOC NETWORKS AND AD-HOC ROUTING 63
3.1.4 EVALUATION OF AD-HOC ROUTING PROTOCOLS 78
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1013960793
DIGITALISIERT DURCH
IMAGE 2
CONTENTS
3.1.5 NETWORKED ROBOTICS AND AD-HOC NETWORKS OF MOBILE
ROBOTS 78
3.2 AD-HOC ROUTING PROTOCOLS FOR MOBILE ROBOT TELEOPERATION . .. 85
3.2.1 TEST SETUP AND EVALUATION 85
3.2.2 PERFORMANCE OF AD-HOC ROUTING PROTOCOLS WITH DEFAULT
SETTINGS 87
3.2.3 PROTOCOL PARAMETER TUNING 91
3.2.4 MULTI-HOP COMMUNICATION 101
3.2.5 CONCLUSION . ** * * 105
3.3 APPLICATION: TELEOPERATION VIA AD-HOC NETWORKS 106
3.3.1 INTEGRATING A SMALL SIZE HELICOPTER INTO AN IP BASED AD- HOC
NETWORK 107
3.3.2 IMPROVING VIDEO TRANSMISSION FOR TELEOPERATION 110
3.3.3 CONCLUSION 132
3.4 DISCUSSION OF THE RESULTS 133
MOBILE ROBOT TELEOPERATION USING 3G TELECOMMUNICATION TECHNOLO- GIES 135
4.1 ENABLING TECHNOLOGIES 137
4.1.1 UNIVERSAL MOBILE TELECOMMUNICATIONS SYSTEM (UMTS) 137
4.1.2 MEASUREMENT OF ONE-WAY DELAYS 141
4.2 LINK ANALYSIS OF UMTS FOR MOBILE ROBOT TELEOPERATION . . .. 149
4.2.1 SCENARIO SETUP 149
4.2.2 PACKET INTER-ARRIVAL TIME 151
4.2.3 ROUND TRIP TIMES 157
4.2.4 ONE-WAY DELAY FOR DATA STREAMS 160
4.2.5 PACKET LOSS FOR DATA STREAMS 173
4.2.6 ONE-WAY DELAY AN PACKET LOSS FOR SINGLE MESSAGES . . 173
4.2.7 REFLECTIONS ON TRANSPORT LAYER BEHAVIOR 175
4.2.8 SUMMARY 177
4.3 APPLICATION: MOBILE ROBOT TELEOPERATION VIA UMTS 179
4.3.1 SETUP AND REQUIREMENTS 179
4.3.2 UMTS UPLINK WITHOUT HSUPA 182
4.3.3 UMTS UPLINK WITH HSUPA 186
4.4 DISCUSSION OF THE RESULTS 188
IMAGE 3
CONTENTS
5 CONCLUSIONS AND FUTURE DIRECTIONS 193
BIBLIOGRAPHY AND REFERENCES 199
|
| any_adam_object | 1 |
| author | Zeiger, Florian |
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| building | Verbundindex |
| bvnumber | BV039520153 |
| classification_rvk | ST 308 ZQ 6230 |
| ctrlnum | (OCoLC)750778125 (DE-599)DNB1013960793 |
| dewey-full | 629.89320285462 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.89320285462 |
| dewey-search | 629.89320285462 |
| dewey-sort | 3629.89320285462 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| id | DE-604.BV039520153 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:05:23Z |
| institution | BVB |
| isbn | 9783923959594 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-024372655 |
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| physical | V, 216 S. Ill., graph. Darst. 21 cm |
| publishDate | 2010 |
| publishDateSearch | 2010 |
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| publisher | Univ.-Bibliothek |
| record_format | marc |
| series | Würzburger Forschungsberichte in Robotik und Telematik |
| series2 | Würzburger Forschungsberichte in Robotik und Telematik |
| spelling | Zeiger, Florian Verfasser (DE-588)143607146 aut Internet protocol based networking of mobile robots vorgelegt von Florian Zeiger. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] Würzburg Univ.-Bibliothek 2010 V, 216 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Würzburger Forschungsberichte in Robotik und Telematik Bd. 4 Zusätzliches Online-Angebot unter www.opus-bayern.de/uni-wuerzburg Zugl.: Würzburg, Univ., Diss., 2011 Robotik (DE-588)4261462-4 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Fernsteuerung (DE-588)4016862-1 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Fernsteuerung (DE-588)4016862-1 s Robotik (DE-588)4261462-4 s DE-604 Würzburger Forschungsberichte in Robotik und Telematik Bd. 4 (DE-604)BV035653696 4 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024372655&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Zeiger, Florian Internet protocol based networking of mobile robots Würzburger Forschungsberichte in Robotik und Telematik Robotik (DE-588)4261462-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Fernsteuerung (DE-588)4016862-1 gnd |
| subject_GND | (DE-588)4261462-4 (DE-588)4191911-7 (DE-588)4016862-1 (DE-588)4113937-9 |
| title | Internet protocol based networking of mobile robots |
| title_auth | Internet protocol based networking of mobile robots |
| title_exact_search | Internet protocol based networking of mobile robots |
| title_full | Internet protocol based networking of mobile robots vorgelegt von Florian Zeiger. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] |
| title_fullStr | Internet protocol based networking of mobile robots vorgelegt von Florian Zeiger. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] |
| title_full_unstemmed | Internet protocol based networking of mobile robots vorgelegt von Florian Zeiger. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] |
| title_short | Internet protocol based networking of mobile robots |
| title_sort | internet protocol based networking of mobile robots |
| topic | Robotik (DE-588)4261462-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Fernsteuerung (DE-588)4016862-1 gnd |
| topic_facet | Robotik Mobiler Roboter Fernsteuerung Hochschulschrift |
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