Joint Performance Analysis And Modeling Method Of Control And Communication In Haptic Communication

With the rapid development of communication technology,haptic,as the third largest human perception mode besides audio and vision,researches about high-fidelity haptic communication technology on the network is rising in academic and industrial fields.Haptic teleoperation system is an important applying case of haptic communication and it is a delay-sensitive human-in-the-loop system.Various control structures are studied in stability control of teleoperation system.However,the specific impact of communication delay on the performance of teleoperation system under different control is still a field to explore.The performance goal of haptic teleoperation system is telepresence,which refers to the perception of immersion without physical present.The typical metric about telepresence is transparency.but as a human-in-the-loop system,the subjective experience quality Qo E(quality of experience,Qo E)should also be taken into consideration.In this paper,the haptic communication performance of teleoperation systems controlled by different control structures is analyzed and modeled under the condition of communication delay.Four control structures involved: WV variable control(WV),time domain passivity approach(TDPA),input to state stable approach(ISS),And model mediated teleoperation(MMT).The main works and innovations of this paper are as follows:Objective analysis and modeling of transparency: various position-force data in the master end of teleoperating system are collected through experiments.It is obvious to see that with the increase of communication delay,the transparency and stability of teleoperating system are declining.ISS control is introduced to solve this problem,and it is found that the selection of its control parameters maxμwill lead to the contradiction between the transparency and stability of the teleoperation system controlled by ISS.It is found that under the same delay,the decrease of stability decreases while the decrease of transparency increases,and the Mean Squared Error(MSE)index is proposed as the loss function to evaluate the stability of teleoperation system.A balance value between stability and transparency of teleoperation system under ISS control was found,and a relationship model between the recommended value and communication delay under different environmental impediments was established.Transparency index and stability index were used to prove the validity of the model,and high-quality haptic interaction was achieved.Subjective performance analysis modeling: Quality of Control(Qo C)of WV,TDPA,ISS and MMT under round-trip communication delay is analyzed,and the relationship between Qo E and communication delay Qo S index of teleoperating system under these four Control structures is hypothesized.A human-computer interaction interface is established for subjective testing.Through subjective testing,the specific Qo E data of four control structures under round-trip communication delay are obtained.Under different Qo C,the communication delay Qo S is mapped to the Qo E of teleoperation system,and a QOE-delay model is established,which has great guiding significance in the field of joint control-communication optimization of haptic communication.A simulation experiment under LTE-SIM is carried out to verify the guidance significance of Qo E model for communication resource scheduling.