Virtual Coupling Schemes for Causality Control in Networked Haptic Environments

Sankaranarayanan, G. and Hannaford, B. (2006) Virtual Coupling Schemes for Causality Control in Networked Haptic Environments. In: Proceedings of the 2006 BioRob Conference.

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > CA Robotic Control
Depositing User: Andrew Haddock
Date Deposited: 13 Jul 2015 23:31
Last Modified: 13 Jul 2015 23:31
URI: http://brl.ee.washington.edu/eprints/id/eprint/174

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