Research On Haptic Communication For Networked Human-computer Interactive Teleoperation

With the rapid development of Tactile Internet(TI)based on 5G network,haptic communication systems and teleoperation technologies have attracted significant attentions in both academic and industry fields.Considered as a representative example of such applications running over the TI,human-in-the-loop haptic teleoperation communication system introduces the judgment standard Quality of Experience(QoE)representing human subjective feeling.One of the main challenges is how to gain the maximum overall QoE for teleoperation sessions sharing the same communication network.The performance of QoE is closely related to round-trip delay,which are in reverse trend.Since the haptic information is sensitive to the delay,it is necessary to minimize the impact of the round-trip delay on the QoE haptic information,and ensure that the operator can receive enough data under the limitation of the Maximum Tolerant Delay(MTD).Different control schemes have different structures to stabilize the remote interaction,causing variable responses to same round-trip delay.In this paper,we focus on two common control structures:(1)teleoperation with the time domain privacy approach(TDPA);(2)model mediated teleoperation(MMT).The relationship model between QoE and delay under different control structures can be obtained through subjective test.(1)According to the specific relationship between QoE and round-trip delay under different control structures,a QoE-Driven intelligent scheduling algorithm for position/velocity information as well as force-feedback information under the simplified network environment is proposed.In order to simplify the exponential complexity of the algorithm,we maximize the overall network's QoE by maximizing the minimum value.The system's performance as well as Quality of Control(Qo C)are performed by QoE.Using this method,the control structures in the system are not adjusted in terms of hardware,which can simplify the operation,reduce the cost and can also gain higher universality.(2)We then adjust the QoE-Driven intelligent scheduling algorithm of simple network environment.The actual network situation is more complex than the simplified situation.Moreover,haptic information is sensitive to round-trip delay.Therefore,the MTD of packets is limited.In addition to haptic information which belongs to real-time(RT)flow,video information which also belongs to RT flow as well as non-real-time(NRT)flow competing for network resources should be transmitted.Therefore,we develop the former algorithm into a two-layer QoE-driven intelligent scheduling algorithm,which can ensure the successful transmission of data packets under MTD,therefore achieves the purpose of maximizing the overall QoE of users,guarantees the scheduling priorities of RT flows,as well as satisfies the human perceptions' synchronization of force-feedback information and video information generated at the same time.The proposed scheduling algorithm focuses on the performance of the two control structures' round-trip delay,and determines the scheduling sequence according to it.Different from the unilateral transmission of traditional communication mode,considering the bilateral transmission characteristics,the force feedback information can't be transmitted until the corresponding position/velocity information is successfully received.(3)In this paper,we generate two schedulers according to the two scheduling algorithms.In the simulation,the former scheduler is compared with the existing scheduling algorithms in terms of throughput and delay,and the adjusted scheduler is compared with the existing scheduling algorithms not only in terms of throughput and delay,but also in terms of QoE performance and time difference of visual and tactile information.The feasibility as well as superiority of the proposed algorithms are proved,and these algorithms can also provide support for human-computer interaction system.