Cloud-based Networked Visual Servo Control

Publication: Research - peer-reviewJournal article – Annual report year: 2011

Standard

Cloud-based Networked Visual Servo Control. / Wu, Haiyan; Lu, Lei; Chen, Chih-Chung; Hirche, Sandra; Kühnlenz, Kolja.

In: I E E E Transactions on Industrial Electronics, Vol. 60, No. 2, 2013, p. 554 - 566.

Publication: Research - peer-reviewJournal article – Annual report year: 2011

Harvard

Wu, H, Lu, L, Chen, C-C, Hirche, S & Kühnlenz, K 2013, 'Cloud-based Networked Visual Servo Control' I E E E Transactions on Industrial Electronics, vol 60, no. 2, pp. 554 - 566., 10.1109/TIE.2012.2186775

APA

Wu, H., Lu, L., Chen, C-C., Hirche, S., & Kühnlenz, K. (2013). Cloud-based Networked Visual Servo Control. I E E E Transactions on Industrial Electronics, 60(2), 554 - 566. 10.1109/TIE.2012.2186775

CBE

Wu H, Lu L, Chen C-C, Hirche S, Kühnlenz K. 2013. Cloud-based Networked Visual Servo Control. I E E E Transactions on Industrial Electronics. 60(2):554 - 566. Available from: 10.1109/TIE.2012.2186775

MLA

Vancouver

Wu H, Lu L, Chen C-C, Hirche S, Kühnlenz K. Cloud-based Networked Visual Servo Control. I E E E Transactions on Industrial Electronics. 2013;60(2):554 - 566. Available from: 10.1109/TIE.2012.2186775

Author

Wu, Haiyan; Lu, Lei; Chen, Chih-Chung; Hirche, Sandra; Kühnlenz, Kolja / Cloud-based Networked Visual Servo Control.

In: I E E E Transactions on Industrial Electronics, Vol. 60, No. 2, 2013, p. 554 - 566.

Publication: Research - peer-reviewJournal article – Annual report year: 2011

Bibtex

@article{86ef6b01ebe34601bbe1ebfd65aa23b3,
title = "Cloud-based Networked Visual Servo Control",
publisher = "I E E E",
author = "Haiyan Wu and Lei Lu and Chih-Chung Chen and Sandra Hirche and Kolja Kühnlenz",
year = "2013",
doi = "10.1109/TIE.2012.2186775",
volume = "60",
number = "2",
pages = "554 -- 566",
journal = "I E E E Transactions on Industrial Electronics",
issn = "0278-0046",

}

RIS

TY - JOUR

T1 - Cloud-based Networked Visual Servo Control

A1 - Wu,Haiyan

A1 - Lu,Lei

A1 - Chen,Chih-Chung

A1 - Hirche,Sandra

A1 - Kühnlenz,Kolja

AU - Wu,Haiyan

AU - Lu,Lei

AU - Chen,Chih-Chung

AU - Hirche,Sandra

AU - Kühnlenz,Kolja

PB - I E E E

PY - 2013

Y1 - 2013

N2 - The performance of vision-based control systems, in particular of highly dynamic vision-based motion control systems, is often limited by the low sampling rate of the visual feedback caused by the long image processing time. In order to overcome this problem, the networked visual servo control, which integrates networked computational resources for cloud image processing, is considered in this article. The main contributions of this article are i) a real-time transport protocol for transmitting large volume image data on a cloud computing platform, which enables high sampling rate visual feedback, ii) a stabilizing control law for the networked visual servo control system with time-varying feedback time delay, and iii) a sending rate scheduling strategy aiming at reducing the communication network load. The performance of the networked visual servo control system with sending rate scheduling is validated in an object tracking scenario on a 14 degree-of-freedom dual-arm robot. Experimental results show the superior performance of our approach. In particular the communication network load is substantially reduced by means of the scheduling strategy without performance degradation.

AB - The performance of vision-based control systems, in particular of highly dynamic vision-based motion control systems, is often limited by the low sampling rate of the visual feedback caused by the long image processing time. In order to overcome this problem, the networked visual servo control, which integrates networked computational resources for cloud image processing, is considered in this article. The main contributions of this article are i) a real-time transport protocol for transmitting large volume image data on a cloud computing platform, which enables high sampling rate visual feedback, ii) a stabilizing control law for the networked visual servo control system with time-varying feedback time delay, and iii) a sending rate scheduling strategy aiming at reducing the communication network load. The performance of the networked visual servo control system with sending rate scheduling is validated in an object tracking scenario on a 14 degree-of-freedom dual-arm robot. Experimental results show the superior performance of our approach. In particular the communication network load is substantially reduced by means of the scheduling strategy without performance degradation.

KW - Networked visual servo control

KW - Real-time image transmission

KW - Cloud computing

KW - Sending rate scheduling

KW - Control with time-varying time delay

U2 - 10.1109/TIE.2012.2186775

DO - 10.1109/TIE.2012.2186775

JO - I E E E Transactions on Industrial Electronics

JF - I E E E Transactions on Industrial Electronics

SN - 0278-0046

IS - 2

VL - 60

SP - 554

EP - 566

ER -