Perceptual haptic data communication for telepresence and teleaction:
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
2012
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| Schlagworte: | |
| Online-Zugang: | kostenfrei https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120711-1096157-1-5 Inhaltsverzeichnis |
| Beschreibung: | X, 138 S. Ill., graph. Darst. |
Internformat
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| 245 | 1 | 0 | |a Perceptual haptic data communication for telepresence and teleaction |c Julius Kammerl |
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Datensatz im Suchindex
| _version_ | 1804149353932128256 |
|---|---|
| adam_text | IMAGE 1
CONTENTS
NOTATION IX
1 INTRODUCTION 1
1.1 MAIN CONTRIBUTIONS AND OUTLINE OF THE DISSERTATION 3
2 BACKGROUND & RELATED WORK 7
2.1 TELEPRESENCE AND TELEACTION SYSTEMS 7
2.1.1 SYSTEM OVERVIEW 7
2.1.2 HAPTIC COMMUNICATION 9
2.1.3 CONTROL & STABILITY 10
2.1.4 EVALUATION METHODS 14
2.2 H U M A N HAPTIC PERCEPTION 16
2.2.1 HUMAN HAPTIC PERCEPTION SYSTEM 16
2.2.2 LIMITATIONS OF HUMAN HAPTIC PERCEPTION 17
2.3 HAPTIC DATA COMPRESSION 19
2.3.1 RELATED WORK 20
2.3.2 PERCEPTUAL PREDICTIVE COMPRESSION SCHEME 21
2.3.3 PERCEPTUAL DEADBAND APPROACH 22
2.3.4 HAPTIC SIGNAL PREDICTION 22
2.3.5 PERCEPTUAL DEADBAND PARAMETER A - 25
2.4 CHAPTER SUMMARY 26
3 PERCEPTUAL COMPRESSION OF HAPTIC SIGNALS 27
3.1 EXTENDED PSYCHOPHYSICAL MODEL FOR PERCEPTUAL HAPTIC DATA COMPRESSION
. . 28 3.1.1 DIRECTION-DEPENDENT MULTI-DOF PERCEPTUAL DEADZONE 28
3.1.2 VELOCITY-ADAPTIVE PERCEPTUAL DEADBANDS 34
3.2 MODEI-MEDIATED HAPTIC COMMUNICATION 41
3.2.1 MODEL-MEDIATED HAPTIC DATA COMPRESSION 41
3.2.2 MODEL-MEDIATED PREDICTION 49
3.2.3 EVENT-BASED CODING USING CONTACT MODELS 55
3.3 PERCEPTUAL HAPTIC CODING OF RECORDED TELEMANIPULATION SESSIONS 65
3.3.1 RECORDING AND REPLAY OF MULTIMODAL TPTA SESSIONS 65
3.3.2 PERCEPTUAL OFFLINE COMPRESSION 67
3.4 THEORETICAL ANALYSIS OF PERCEPTUAL DEADBAND CODING 75
3.4.1 PERCEPTUAL DEADBAND SAMPLER 75
3.4.2 STOCHASTIC INPUT MODEL FOR HAPTIC SIGNALS 76
3.4.3 THEORETICAL ANALYSIS 76
3.4.4 EXPERIMENTAL EVALUATION 82
3.5 CHAPTER SUMMARY 85
VII
HTTP://D-NB.INFO/1027725589
IMAGE 2
CONTENTS
4 HAPTIC COMMUNICATION AND CODING ARCHITECTURES 87
4.1 PERCEPTUAL HAPTIC COMPRESSION WITH TIME-DELAYED COMMUNICATION 88
4.1.1 WAVE VARIABLE CONTROL 88
4.1.2 LOCAL COMPUTATION OF WAVE VARIABLES 89
4.1.3 PASSIVITY-PRESERVING PD COMPRESSION 91
4.1.4 EXPERIMENTAL EVALUATION 92
4.2 ERROR-RESILIENT HAPTIC COMMUNICATION 95
4.2.1 ARCHITECTURE FOR PERCEPTUALLY ROBUST HAPTIC COMMUNICATION 95 4.2.2
RECEIVER STATE ESTIMATION USING MARKOV DECISION TREES 96
4.2.3 RECEIVER STATE ESTIMATION USING MULTIVARIATE GAUSSIAN MODELS . . .
. 97 4.3 MULTIMODAL TELEPRESENCE SESSIONS USING THE SESSION INITIATION
PROTOCOL (SIP) . 104 4.3.1 INTERNET-BASED TRANSPORT STREAMS AND SESSION
CONTROL 104
4.3.2 SYSTEM PARAMETER NEGOTIATION 105
4.3.3 SIP-BASED COMMUNICATION FRAMEWORK 106
4.3.4 DEMONSTRATOR SYSTEM 108
4.4 CHAPTER SUMMARY 110
5 CONCLUSION AND OUTLOOK 113
5.1 CONCLUDING REMARKS 113
5.2 OUTLOOK 115
LIST OF FIGURES 117
LIST OF TABLES 121
BIBLIOGRAPHY 123
VIII
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| spelling | Kammerl, Julius Verfasser (DE-588)1027725392 aut Perceptual haptic data communication for telepresence and teleaction Julius Kammerl 2012 X, 138 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2012 (DE-588)4113937-9 Hochschulschrift gnd-content Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20120711-1096157-1-5 http://mediatum.ub.tum.de/node?id=1096157 Verlag kostenfrei Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120711-1096157-1-5 Resolving-System DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025179365&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Kammerl, Julius Perceptual haptic data communication for telepresence and teleaction |
| subject_GND | (DE-588)4113937-9 |
| title | Perceptual haptic data communication for telepresence and teleaction |
| title_auth | Perceptual haptic data communication for telepresence and teleaction |
| title_exact_search | Perceptual haptic data communication for telepresence and teleaction |
| title_full | Perceptual haptic data communication for telepresence and teleaction Julius Kammerl |
| title_fullStr | Perceptual haptic data communication for telepresence and teleaction Julius Kammerl |
| title_full_unstemmed | Perceptual haptic data communication for telepresence and teleaction Julius Kammerl |
| title_short | Perceptual haptic data communication for telepresence and teleaction |
| title_sort | perceptual haptic data communication for telepresence and teleaction |
| topic_facet | Hochschulschrift |
| url | http://mediatum.ub.tum.de/node?id=1096157 https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120711-1096157-1-5 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025179365&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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