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研究生:游智崴
研究生(外文):Chih-wei Yu
論文名稱:應用分散式虛擬環境同步機制於即時遠程操作系統之研究
論文名稱(外文):A Study of Applying Synchronization Mechanisms of Distributed Virtual Environments on Real-time TeleoperationSystems
指導教授:鄧惟中
指導教授(外文):Wei-chung Teng
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:資訊工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2008
畢業學年度:96
語文別:中文
論文頁數:59
中文關鍵詞:分散式虛擬環境同步機制遠程操作系統
外文關鍵詞:Synchronization MechanismsDistributed Virtual EnvironmentsTeleoperation Systems
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近年來,利用網際網路來傳送資訊的遠程操作系統應用逐漸增加。相對於專屬線路,網際網路連線可以有效降低設置成本,並可提供彈性且大幅度的遙控距離。同時由於操作者和機器人之間不再由專屬線路連結,因此兩者之間由一對一的對應關係轉變為更富彈性的多對多。然而網際網路的變動傳輸延遲造成即時遠程操作系統必須面對不同性質且不同延遲資訊的同步與顯示問題。另一方面,分散式虛擬環境由於其系統架構及目的,因此同樣面對變動傳輸延遲之即時同步顯示問題。由於分散式虛擬環境領域已提出數個較成熟的方法,本論文分析了數種現有之分散式虛擬環境同步機制,並修改其實作方法以套用於即時遠程操作系統。實驗結果顯示同步機制的加入確實可改進即時遠程操作系統的操作介面。本論文的主要貢獻將在於各種同步機制的併用與修改後的同步機制如何以整合介面回饋給操作者。
It ‘s been observed that teleoperation systems have started to switch their proprietary communication channel to local network or Internet in recent years.
Internet provides low cost, flexible and long-range communication, yet the property of network also changes the relationship between operator site and
teleoperator site from one-to-one mapping to much flexible more-to-more mapping. However, network jitter also changes traditional fixed transmission
delay unto intractable variant time delay. Since there are usually more than one
kind of feedback information in teleoperation, we need to synchronize all kind
of information to provide a consistent interface, with which the time delay
becomes larger even in real-time teleoperation systems. On the other hand,
distributed virtual environment systems already faced similar problem since
they are born, and several sophisticated approaches could be found in literature
to compensate the problem of variant time delay. In this paper, we survey and
modify several modern synchronization mechanisms from distributed virtual
environment field and apply them to real-time teleoperation systems. The
experiment results shows that these implemented synchronization techniques
do improve the operation performance of real-time teleoperation systems. The
main contribution of this paper contains the proposed techniques to implement
and integrate three synchronization mechanisms into an integrated human
interface.
摘 要..................................................................... I
Abstract................................................................. II
誌 謝................................................................... III
目 錄.................................................................... IV
圖 目 錄................................................................. VI
表 目 錄............................................................... VIII
第一章 緒論................................................................1
1.1前言...................................................................1
1.2研究動機與目的.........................................................3
1.3論文架構...............................................................3
第二章 文獻探討............................................................5
2.1預測顯示技術...........................................................5
2.2 Dead reckoning........................................................5
2.3 Local lag.............................................................9
2.4 Delay decorator .....................................................11
第三章 研究方法...........................................................13
3.1系統架構..............................................................13
3.2實驗平台..............................................................14
3.3操控目標..............................................................15
3.3.1 Pioneer P3-DX.....................................................15
3.3.1.1伺服端..........................................................16
3.3.1.2客戶端..........................................................16
3.3.2 PTZ Camera........................................................19
3.3.2.1伺服端..........................................................20
3.3.2.2客戶端..........................................................22
3.4同步機制之實作........................................................23
3.4.1 Local lag.........................................................23
3.4.2 PHBDR.............................................................26
3.4.3 Delay decorator ..................................................29
3.5使用者介面............................................................30
第四章 實驗結果與分析.....................................................33
4.1實驗方法..............................................................33
4.2結果分析..............................................................36
第五章 結論與未來工作.....................................................44
參考文獻..................................................................45
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