Summary
This paper addresses the motion synchronization problem in shared virtual environments in the presence of communication delays. More precisely, we consider the case of multiple users interacting with the same dynamics. Unlike the conventional synchronization, the technological attempt we are interested in pursues a more robust and better synchronization that gives an almost concurrent evolution of motions between the distributed systems in absolute time-frame (earth’s time). Physically, the existence of time delay prevents immediate information exchange, which disables concurrent motions between the distributed systems. Using the delay information available, the proposed controller preserves natural local dynamics and compensate for de-synchronization error caused by mismatched initial conditions. Simulation tests are conducted in order to validate the considered methodology.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Cheong, J., Niculescu, S.I., Annaswamy, A.M., Srinivasan, M.A.: Motion synchronization in virtual environments with shared haptics and large time delays. In: Proc. of Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 277–282 (2005)
Cheong, J., Lee, S., Kim, J.: Motion duplication control for coupled dynamic systems by natural damping. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 387–392 (2006)
Datko, R.: A procedure for determination of the exponential stability of certain differential-difference equations. Quart. Appl. Math. 36, 279–292 (1978)
Franklin, G.F., Powell, J.D., Emami-Naeini, A.: Feedback Control of Dynamic Systems. Addison-Wesley, Reading (1994)
Gu, K., Niculescu, S.I., Chen, J.: On stability crossing curves for general systems with two delays. J. Math. Anal. Appl. 311, 231–253 (2005)
Katz, A., Graham, K.: Dead Reckoning for Airplanes in Coordinated Flight. In: Proc. of the Tenth Workshop on Standards for the Interoperability of Defense Simulations, vol. II, pp. 5–13 (1994)
Kim, J., Kim, H., Manivannan, M., Srinivasan, M.A., Jordan, J., Mortensen, J., Oliveira, M., Slater, M.: Transatlantic Touch: A study of haptic collaboration over long distance. Presence: Teleoperators and Virtual Environments 13, 328–337 (2004)
Lawrence, D.A.: Stability and Transparency in Bilateral Teleoperation. IEEE Trans. on Robotics and Automation 9, 624–637 (1993)
Li, L.W.F., Li, F.W.B., Lau, R.W.H.: A Trajectory-Preserving Synchronization Method for Collaborative Visualization. IEEE Transactions on Visualization and Computer Graphics 12, 989–996 (2006)
Mauve, M., Vogel, J., Hilt, V., Effelsberg, W.: Local-lag and timewarp: providing consistency for replicated continuous applications. IEEE Trans. on Multimedia 6, 47–57 (2004)
Morǎrescu, C.I.: Qualitative analysis of distributed delay systems: Methodology and algorithms. Ph.D. thesis, University of Bucharest/Université de Technologie de Compiègne (2006)
Murray, R.M.: Control in information rich world, Report of the panel on future directions in control, dynamics and systems (2002)
Niculescu, S.I.: Delay effects on stability of time delay systems. A robust control approach. LNCIS, p. 269. Springer, Heidelberg (2001)
Rodriguez-Angeles, A., Nijmeijer, H.: Mutual synchronization of robots via estimated state feedback: a cooperative approach. IEEE Trans. on Control Systems Technology 12, 542–554 (2004)
Singhal, S., Zyda, M.: Networked Virtual Environments: Design and Implementation. Addison-Wesley, Reading (1999)
Smith, O.J.M.: Closer Control of Loops with Dead Time. Chem. Eng. Prog. 53, 217–219 (1957)
Taoutaou, D., Niculescu, S.I., Gu, K.: Closed-loop stability of a teleoperation control scheme subject to time-varying communication delays. In: Niculescu, S.I., Gu, K. (eds.) Advances in time-delay systems. LNCSE, vol. 38, pp. 327–338. Springer, Berlin (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Cheong, J., Niculescu, SI., Oh, Y., Morǎrescu, I.C. (2009). Some Remarks on Delay Effects in Motion Synchronization in Shared Virtual Environments. In: Loiseau, J.J., Michiels, W., Niculescu, SI., Sipahi, R. (eds) Topics in Time Delay Systems. Lecture Notes in Control and Information Sciences, vol 388. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02897-7_30
Download citation
DOI: https://doi.org/10.1007/978-3-642-02897-7_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-02896-0
Online ISBN: 978-3-642-02897-7
eBook Packages: EngineeringEngineering (R0)