A multithreaded distributed telerobotic framework

Mayez A. Al-Mouhamed; Onur Toker; Asif Iqbal

doi:10.1109/TMECH.2006.882986

A multithreaded distributed telerobotic framework

Mayez A. Al-Mouhamed^*, Onur Toker, Asif Iqbal

^*Corresponding author for this work

King Fahd University of Petroleum & Minerals

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

A reliable real-time client-server telerobotic system that uses a distributed component framework to promote software reusability, ease of extensibility, debugging, and data encapsulation is proposed. NET remoting is used for automatic handling of the network resources and data transfer while isolating the components from network protocol issues. A client-server transfer of live stereo video provides the operator three-dimensional (3-D) views of the slave scene with augmented reality (AR) framework and services. Overall distributed framework and design independence improves the portability and modularity of the proposed telerobotic system. A multithreaded execution is proposed for streaming of force, command, and for the transfer of live stereo video data. The proposed framework provides a useful integrated software and hardware environment to enhance man-machine interactions using stereo visualization and AR in real-time telerobotic systems.

Original language	English
Pages (from-to)	558-566
Number of pages	9
Journal	IEEE/ASME Transactions on Mechatronics
Volume	11
Issue number	5
DOIs	https://doi.org/10.1109/TMECH.2006.882986
State	Published - Oct 2006

Bibliographical note

Funding Information:
Manuscript received January 31, 2005; revised December 30, 2005. Recommended by Technical Editor C. Mavroidis. This work was supported by King Abdulaziz City for Science and Technology (KACST) under Grant AT-20-80.

Keywords

Distributed application framework
Man-machine interface
Reflected force feedback
Telerobotics
Three-dimensional (3-D) visualization

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TMECH.2006.882986

Cite this

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title = "A multithreaded distributed telerobotic framework",

abstract = "A reliable real-time client-server telerobotic system that uses a distributed component framework to promote software reusability, ease of extensibility, debugging, and data encapsulation is proposed. NET remoting is used for automatic handling of the network resources and data transfer while isolating the components from network protocol issues. A client-server transfer of live stereo video provides the operator three-dimensional (3-D) views of the slave scene with augmented reality (AR) framework and services. Overall distributed framework and design independence improves the portability and modularity of the proposed telerobotic system. A multithreaded execution is proposed for streaming of force, command, and for the transfer of live stereo video data. The proposed framework provides a useful integrated software and hardware environment to enhance man-machine interactions using stereo visualization and AR in real-time telerobotic systems.",

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author = "Al-Mouhamed, {Mayez A.} and Onur Toker and Asif Iqbal",

note = "Funding Information: Manuscript received January 31, 2005; revised December 30, 2005. Recommended by Technical Editor C. Mavroidis. This work was supported by King Abdulaziz City for Science and Technology (KACST) under Grant AT-20-80.",

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AU - Toker, Onur

AU - Iqbal, Asif

N1 - Funding Information: Manuscript received January 31, 2005; revised December 30, 2005. Recommended by Technical Editor C. Mavroidis. This work was supported by King Abdulaziz City for Science and Technology (KACST) under Grant AT-20-80.

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AB - A reliable real-time client-server telerobotic system that uses a distributed component framework to promote software reusability, ease of extensibility, debugging, and data encapsulation is proposed. NET remoting is used for automatic handling of the network resources and data transfer while isolating the components from network protocol issues. A client-server transfer of live stereo video provides the operator three-dimensional (3-D) views of the slave scene with augmented reality (AR) framework and services. Overall distributed framework and design independence improves the portability and modularity of the proposed telerobotic system. A multithreaded execution is proposed for streaming of force, command, and for the transfer of live stereo video data. The proposed framework provides a useful integrated software and hardware environment to enhance man-machine interactions using stereo visualization and AR in real-time telerobotic systems.

KW - Distributed application framework

KW - Man-machine interface

KW - Reflected force feedback

KW - Telerobotics

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A multithreaded distributed telerobotic framework

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this