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[196] Citation: Abstract
In networked haptic environments, multiple users remotely collaborate sharing the same
virtual space; such environments are used in surgical simulation training, maintenance, and
task-training, among other applications. It is vital to maintain causality of events in them,
and thus achieve consistency in collaboration. This is especially true in the presence of
time delays between the users. Usually, client-server architecture is widely used to control
this problem in networked haptic environments. This method introduces a round-trip delay for
each user and relies on the ability of the client to maintain communication with the server.
In contrast, peer-to-peer architecture allows time delay to be reduced to half compared to
client-server based methods by multicasting the information from each user to all the others.
It presents, however, the greatest difficulties to control causality between the users. This
paper presents two virtual coupling schemes to control causality in a peer-to-peer architecture.
The performance of the schemes for constant time delays were compared to server
based method. The experimental results obtained demonstrate that one of the virtual coupling
schemes has a comparable performance to server-based method. Therefore, this scheme allows
multiple users to collaborate without relying on a sever and, at the same time, maintaining
causality among them.
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Updated: Tue Jul 15 23:54:51 2008
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