相关论文: Optimal Motion Scaling for Delayed Telesurgery

In heterogeneous networks (HetNets), load balancing among different tiers can be effectively achieved by a biased user association scheme with which each user chooses to associate with one base station (BS) based on the biased received…

Consider a Compute and Forward (CF) relay network with $L$ users and a single relay. The relay tries to decode a linear function of the transmitted signals. For such a network, letting all $L$ users transmit simultaneously, especially when…

Mobile telepresence robots allow users to feel present and explore remote environments using technology. Traditionally, these systems are implemented using a camera onboard a mobile robot that can be controlled. Although high-immersion…

Computer network tends to be subjected to the proliferation of mobile demands and increasingly multifarious, therefore it poses a great challenge to guarantee the quality of network service. By designing the model according to different…

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…

This paper describes a method of estimating the intention of a user's motion in a robot tele-operation scenario. One of the issues in tele-operation is latency, which occurs due to various reasons such as a slow robot motion and a narrow…

Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…

Load balancing plays a critical role in efficiently dispatching jobs in parallel-server systems such as cloud networks and data centers. A fundamental challenge in the design of load balancing algorithms is to achieve an optimal trade-off…

Large-scale distributed computing systems face two major bottlenecks that limit their scalability: straggler delay caused by the variability of computation times at different worker nodes and communication bottlenecks caused by shuffling…

In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…

Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…

Haptic teleoperation typically demands sub-millisecond latency and ultra-high reliability (99.999%) in Tactile Internet. At a 1 kHz haptic signal sampling rate, this translates into an extremely high packet transmission rate, posing…

We study the empirical scaling laws of a family of encoder-decoder autoregressive transformer models on the task of joint motion forecasting and planning in the autonomous driving domain. Using a 500 thousand hours driving dataset, we…

Telemedicine applications have recently received substantial potential and interest, especially after the COVID-19 pandemic. Remote experience will help people get their complex surgery done or transfer knowledge to local surgeons, without…

Telerobotic technologies are becoming increasingly essential in fields such as remote surgery, nuclear decommissioning, and space exploration. Reliable datasets and testbeds are essential for evaluating telerobotic system performance prior…

We present a framework to analyse the latency budget in wireless systems with Mobile Edge Computing (MEC). Our focus is on teleoperation and telerobotics, as use cases that are representative of mission-critical uplink-intensive IoT systems…

Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…

There have been recent attempts to develop scheduling schemes for downlink transmission in a single cell of a multi-channel (e.g., OFDM-based) cellular network. These works have been quite promising in that they have developed…

Motivated by applications in machine learning and statistics, we study distributed optimization problems over a network of processors, where the goal is to optimize a global objective composed of a sum of local functions. In these problems,…

As robot teleoperation increasingly becomes integral in executing tasks in distant, hazardous, or inaccessible environments, the challenge of operational delays remains a significant obstacle. These delays are inherent in signal…