Lossy data compression using FDCT for haptic communication
Lossy data compression using FDCT for haptic communication
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DOI：
10.1109/amc.2010.5464034
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发表时间：
2010-03
期刊：
影响因子：
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通讯作者：
Hiroyuki Tanaka;K. Ohnishi
中科院分区：
文献类型：
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作者：
Hiroyuki Tanaka;K. Ohnishi
本文提出了一种基于DCT的有损力觉数据压缩方法，用于力觉通信系统中，以减少主从系统之间的数据量。DCT的计算负荷可能很高，并且由于高计算负荷，系统的性能和稳定性可能恶化。为了保证系统的强实时性和高性能，采用了DCT快速计算算法，并在多个采样周期内均衡计算负载。通过触觉数据的压缩/扩展引入的时间延迟是可预测的且恒定的。因此，可以通过时间延迟补偿器来补偿时间延迟。此外，由于本文中的延迟足够小，实现了与硬环境的稳定接触，而无需任何延迟补偿器。仿真和实验结果表明了所提出的有损力觉数据压缩方法的有效性。
In this paper, a DCT-based lossy haptic data compression method for a haptic communication systems is proposed to reduce the data size flowing between a master and a slave system. The calculation load for the DCT can be high, and the performance and the stability of the system can deteriorate due to the high calculation load. In order to keep the system a hard real-time system and the performance high, a fast calculation algorithm for DCT is adopted, and the calculation load is balanced for several sampling periods. The time delay introduced through the compression/expansion of the haptic data is predictable and constant. The time delay, therefore, can be compensated by a time delay compensator. Furthermore, since the delay in this paper is small enough, stable contact with a hard environment is achieved without any time delay compensator. The validity of the proposed lossy haptic data compression method is shown through simulation and experimental results.