This paper introduces a codec scheme for compressing the control and feedback signals in networked control and teleoperation systems. The method makes use of Wavelet Packet Transform (WPT) and Inverse Wavelet Packet Transform (IWPT) for coding and decoding operations, respectively. Data compression is carried out in low-pass filter output by reducing the sampling rate, and in high-pass filter output by truncating the wavelet coefficients. The proposed codec works on both directions of signal transmission between a master robot and a slave robot over a networked motion control architecture. Following the formulation of the compression/decompression methodology, experimental validation is conducted on a single-degree-of-freedom motion control system. In the experiments, responses from different Wavelet structures are analyzed and a comparative study is carried out considering the factors of compression rate, reconstruction power error and real-time computational complexity. It is confirmed that the controller using the proposed compression algorithm performs very close to the uncompressed one while enabling transmission of much less data over the network.
HeemelsWHTeelARvan de WouwN. Networked control systems with communication constraints: Tradeoffs between transmission intervals, delays and performance. IEEE Trans Automatic Control2010; 55(8): 1781–1796.
2.
YashiroDOhnishiK. Performance analysis of bilateral control system with communication bandwidth constraint. IEEE Trans Indust Electron2011; 58(2): 436–443.
3.
SmithOJ. A controller to overcome dead time. ISA Journal1959; 6(2): 28–33.
4.
AndersonRSpongMW. Bilateral control of teleoperators with time delay. IEEE Trans Automatic Control1989; 34(5): 494–501.
5.
RyuJHKwonDSHannafordB. Stable teleoperation with time-domain passivity control. IEEE Trans Robotics Automation2004; 20(2): 365–373.
6.
RyuJHPreuscheC. Stable bilateral control of teleoperators under time-varying communication delay: time domain passivity approach. In 2007 IEEE international conference on robotics and automation. IEEE, pp. 3508–3513.
NiemeyerGSlotineJJE. Telemanipulation with time delays. Int J Robotics Res2004; 23(9): 873–890.
9.
DalyJMWangDW. Time-delayed bilateral teleoperation with force estimation for n -dof nonlinear robot manipulators. In 2010 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp. 3911–3918.
10.
LoveLJBookWJ. Force reflecting teleoperation with adaptive impedance control. IEEE Trans Syst Man Cybernet B2004; 34(1): 159–165.
11.
LawrenceDA. Stability and transparency in bilateral teleoperation. IEEE Trans Robotics Automation1993; 9(5): 624–637.
12.
NatoriKOhnishiK. A design method of communication disturbance observer for time-delay compensation, taking the dynamic property of network disturbance into account. IEEE Trans Indust Electron2008; 55(5): 2152–2168.
13.
NatoriKOboeROhnishiK. Analysis and design of time delayed control systems with communication disturbance observer. In IEEE international symposium on industrial electronics, 2007 (ISIE 2007). IEEE, pp. 3132–3137.
14.
NatoriKTsujiTOhnishiK. Time delay compensation by communication disturbance observer in bilateral teleoperation systems. In 9th IEEE international workshop on advanced motion control (2006). IEEE, pp. 218–223.
15.
ŠabanovicAOhnishiKYashiroD. Motion control systems with network delay. AUTOMATIKA2010; 51(2): 119–126.
16.
SabanovicAOhnishiKYashiroD. Motion control systems with network delay. In 35th annual conference of IEEE industrial electronics, 2009 (IECON’09). IEEE, pp. 2277–2282.
17.
WillaertBReynaertsDVan BrusselH. Bilateral teleoperation: Quantifying the requirements for and restrictions of ideal transparency. IEEE Trans Control Syst Technol2014; 22(1): 387–395. DOI:10.1109/TCST.2013.2251345.
18.
Rodriguez-SedaEJLeeDSpongMW. An experimental comparison study for bilateral Internet-based teleoperation. In Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE, pp. 1701–1706.
19.
SankaranarayananGHannafordB. Experimental comparison of internet haptic collaboration with time-delay compensation techniques. In IEEE international conference on robotics and automation, 2008 (ICRA 2008). IEEE, pp. 206–211.
20.
HokayemPFSpongMW. Bilateral teleoperation: An historical survey. Automatica2006; 42(12): 2035–2057.
21.
MizuochiMOhnishiK. Coding and decoding scheme for wide-band bilateral teleoperation. In Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on. IEEE, pp. 1–6.
22.
KuschelMKremerPBussM. Passive haptic data-compression methods with perceptual coding for bilateral presence systems. IEEE Trans Syst Man Cybernet A2009; 39(6): 1142–1151.
23.
LeeJyPayandehS. Performance evaluation of haptic data compression methods in teleoperation systems. In 2011 IEEE World Haptics Conference (WHC). IEEE, pp. 137–142.
24.
YokokuraYKatsuraSOhishiK. Bilateral control using compressor/decompressor under the low-rate communication network. In IEEE international conference on Mechatronics, 2009 (ICM 2009). IEEE, pp. 1–6.
25.
TanakaHOhnishiK. Haptic data compression/decompression using DCT for motion copy system. In IEEE international conference on Mechatronics, 2009 (ICM 2009). IEEE, pp. 1–6.
26.
TanakaHOhnishiKNishiH. Implementation of lossy haptic data compression using integer DCT to FPGA. In IECON 2010 - 36th annual conference of the IEEE Industrial Electronics Society. IEEE, pp. 1726–1731.
27.
YokokuraYKatsuraSOhishiK. Bilateral control using compressor/decompressor under the low-rate communication network. In IEEE international conference on Mechatronics, 2009 (ICM 2009). IEEE, pp. 1–6.
28.
KuzuABaranEABogosyanS. WPT based compression for bilateral control. In IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society. IEEE, pp. 5686–5691.
29.
KuzuABaranEABogosyanS. Performance comparison of compression techniques used in bilateral control. In IECON 2013 - 39th annual conference of the IEEE Industrial Electronics Society. IEEE, pp. 5674–5679.
30.
OhnishiKShibataMMurakamiT. Motion control for advanced mechatronics. IEEE/ASME Trans Mechatron1996; 1(1): 56–67.
31.
SaglamCOBaranEANergizAO. Model following control with discrete time SMC for time-delayed bilateral control systems. In 2011 IEEE international conference on mechatronics (ICM). IEEE, pp. 997–1002.
32.
BaranEASabanovicA. Predictive input delay compensation for motion control systems. In 2012 12th IEEE international workshop on advanced motion control (AMC). IEEE, pp. 1–6.
33.
YuJKarlssonS. Local spectral analysis using wavelet packets. Circuits Syst Signal Process2001; 20(5): 497–528.
34.
LiYWeiHlBillingsSA. Identification of time-varying systems using multi-wavelet basis functions. IEEE Trans Control Syst Technol2011; 19(3): 656–663.
35.
WeiDBovikACEvansBL. Generalized Coiflets: a new family of orthonormal wavelets. In Conference record of the thirty-first Asilomar conference on signals, systems & computers, 1997, vol. 2. IEEE, pp. 1259–1263.
36.
MallatSG. A theory for multiresolution signal decomposition: the wavelet representation. IEEE Trans Pattern Anal Machine Intell1989; 11(7): 674–693.
37.
LeeB. Application of the discrete wavelet transform to the monitoring of tool failure in end milling using the spindle motor current. Int J Adv Manuf Technol1999; 15(4): 238–243.
38.
BeylkinGCoifmanRRokhlinV. Fast wavelet transforms and numerical algorithms I. Commun Pure Appl Math1991; 44(2): 141–183.
39.
DaubechiesI. Orthonormal bases of compactly supported wavelets. Commun Pure Appl Math1988; 41(7): 909–996.
40.
CohenADaubechiesIFeauveauJC. Biorthogonal bases of compactly supported wavelets. Commun Pure Appl Math1992; 45(5): 485–560.
41.
KaramJ. On the zeros of Daubechies orthogonal and biorthogonal wavelets. Appl Math2012; 3(7): 19872.
