隨著網際網路蓬勃發展，『遠端遙控機器人系統』亦發展到允許操作者透過網路操作遠端環境中的各種機械裝置或設備，並與周遭環境互動。礙於網路頻寬不足與網路延遲等問題，造成操控者面臨所得到的視訊回饋與機器人實際動作並不同步。因此網路遙控機器人系統普遍存在時間延遲(time delay)與感官資訊(sensory information)回饋量過低的情形。為了解決上述兩個問題，已發展了相當多的相關技術，其中大部分均著重於如何簡化本地端操控者所接受到的回饋資訊(如3D模型之建立)乃至透過預測顯示技術(predictive display)以改善感官資訊回饋量過低與時間延遲兩種情形。
本論文提出另一種思維，主要著重於降低遠端機器人控制伺服器接受機器人所傳回之感官刺激資訊時所產生的時間延遲，再依操作者的需求回傳其所需的部分。論文中將對遠端機器人攝影機種類、架設方式以及視訊快取的設計上做探討。在系統架構上利用遠端機器人控制伺服器擷取多台攝影機的影像畫面，並結合成類似全景的廣視野畫面。當操控者要求的視窗畫面仍在廣視野畫面內，則可即時回饋使用者所需影像畫面。

As the Internet grows vigorously, telerobotic systems have been developed to allow operators to operate various kinds of mechanical devices or equipment and interact with things in the surrounding environment in the remote environment through the network. Due to the problems of lacking bandwidth and time delay of network, the operators who face the situation of non-synchronism of video feedback got by the operators and movement of robot. So the telerobotic system generally exists the situation of time delay and the lower amount of feedback of the sensory information. In order to solve the two problems, a lot of relevant technics have already developed. Among them the majority focuses on how to simplify the feedback information of the local site such as the setting-up of 3D model and even the predictive display technology.
This thesis proposes another kind of thinking. We focus on reducing the time delay while the control server receives the sensory stimuli from robot. Then, pass the part needed by the operator back in accordance with the operator's demand. In the thesis we will confer with the kind of camera set up on the robot, the way of setting up and the design of video cache. Utilize the remote control server to pick the image which fetches from several cameras. And combine them into a wide vision picture similar to the panorama. While the image required by the operator still in the panorama, the control server can feedback user's necessary image immediately.

參考文獻
[1] HRP(Humanoid Robotics Project) http://www.mstc.or.jp/hrp/main.html
[2] HRP (Kawada) http://www.plyojump.com/hrp.html
[3] Humanoid Robot P3 http://www.honda-robots.com/english/html/p3/frameset2.html
[4] Honda ASIMO http://www.honda.co.jp/ASIMO/
[5] Telerobotics, Automation, and Human Supervisory Control (Hardcover)
by Thomas B. Sheridan
[6] 廣角鏡頭影像邊緣形變http://www.phys.ncku.edu.tw/optics/book_3/b3_c09.PDF
[7] CANON INC. http://www.canon.com/
[8] Canon VC-C4http://www.canon.com/wvw/product/vcc4/index.htm
[9] DirectX Documentation for C++, Microsoft MSDN