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Author: 游智崴
Chih-wei Yu
Thesis Title: 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
A Study of Applying Synchronization Mechanisms of Distributed Virtual Environments on Real-time Teleoperation Systems
Advisor: 鄧惟中
Wei-chung Teng
Committee: 李蔡彥
Tsai-yen Li
陳存暘
Chun-yang Chen
范欽雄
Chin-shyurng Fahn
Degree: 碩士
Master
Department: 電資學院 - 資訊工程系
Department of Computer Science and Information Engineering
Thesis Publication Year: 2008
Graduation Academic Year: 96
Language: 中文
Pages: 59
Keywords (in Chinese): 分散式虛擬環境同步機制遠程操作系統
Keywords (in other languages): Synchronization Mechanisms, Distributed Virtual Environments, Teleoperation 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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