Rate Control For Kinesthetic Data Reduction In Haptic Teleoperation Over Tactile Internet

With the continuous development of science and technology,the dimension of people's demand for remote transmission of perceptual information is further expanded.In addition to the increasingly stringent requirements for audio and video communications,there is an increasingly high demand of remote perception of haptic information.As an emerging field of science and technology,the Tactile Internet(TI)has attracted attentions in both academia and industry.Among applications of the TI,haptic teleoperation system is an important use case.The haptic data transmission of forward and backward links is the premise to maintain the control stability of the haptic teleoperation system.In addition,due to the high real-time requirements of the system,the haptic data collected should be packetized and transmitted immediately in order to reduce the delay.To this end,in order to ensure the stability of teleoperation system,it is necessary to study the rate control method of haptic communications under different network conditions.Therefore,the rate control scheme of haptic communication is a key problem to be solved.Haptic compression can effectively release the burden of communication networks caused by extremely high packet rate of haptic data exchanged between the human operator and the remote robot of haptic teleoperation systems.In this thesis,we start from an overview of existing kinesthetic codec(KC)schemes,and introduce in detail the state-of-the-art KC,i.e.the perceptual deadband(PDB)approach.In addition,we present a novel adaptive rate control strategy for the PDB approach which is able to realize dynamic packet rate tuning based on the current network conditions.Simulation results verify that the proposed approach improves the channel efficiency and the user experience quality.Main contributions of this thesis can be summarized as follows:A novel adaptive rate control strategy for the PDB approach is proposed,which takes full advantage of the channel quality feedback mechanism and the adaptive modulation and coding(AMC)scheme.As a result,the proposed rate control approach can be considered as a joint design of application layer and physical layer and directly applied to the real-world implementation of haptic bilateral teleoperation.