Small-Scale Demonstration of Remote Control of Patrol and Work Robot with Arms Employing Local 5G System

Issei MAKINO; Junji TERAI; Nobuhiko MIKI

doi:10.1587/transcom.2022CEP0004

Small-Scale Demonstration of Remote Control of Patrol and Work Robot with Arms Employing Local 5G System

Issei MAKINO, Junji TERAI, Nobuhiko MIKI

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Local (private) 5G system can provide a secure and flexible network using the cellular-based technologies at their facilities (e.g., factories, agricultural lands, and buildings). We constructed a small-scale demonstration system that exhibits the remote control of a patrol and work robot with arms using a local 5G system. The constructed robot comprises a robot operating system-based unmanned ground vehicle, two laser range finders, a webcam, an omnidirectional camera, and a six-axis robot arm. To fabricate a demonstration system with open-source software, we assessed the one-way delay of video streaming by changing different CPU, camera types, drivers, applications, and video resolutions. According to the assessment findings, it was demonstrated that it is possible to realize approximately 100ms delay under the limited resolution condition, and the allowable maximum absolute delay of 300ms can be attained even for full HD (1920 × 1080) resolution of this demonstration. Furthermore, local 5G was demonstrated to reduce delay variations to the same level as wired systems. It was also clarified that the increase in delay due to the application of local 5G is relatively small (5-25% in total delay) in this demonstration. Finally, we employed the small-scale demonstration system for the online and onsite campus tours for high school students.

Publication: IEICE TRANSACTIONS on Communications Vol.E106-B No.2 pp.101-108

Publication Date: 2023/02/01

Publicized: 2022/08/22

Online ISSN: 1745-1345

DOI: 10.1587/transcom.2022CEP0004

Type of Manuscript: Special Section PAPER (Special Section on Emerging Communication Technologies in Conjunction with Main Topics of ICETC 2021)

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Authors

Issei MAKINO
  the Kagawa University
Junji TERAI
  STNet, Incorporated
Nobuhiko MIKI
  the Kagawa University

Keyword

local 5G, remote control, unmanned ground vehicle, open source

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Issei MAKINO, Junji TERAI, Nobuhiko MIKI, "Small-Scale Demonstration of Remote Control of Patrol and Work Robot with Arms Employing Local 5G System" in IEICE TRANSACTIONS on Communications, vol. E106-B, no. 2, pp. 101-108, February 2023, doi: 10.1587/transcom.2022CEP0004.
Abstract: Local (private) 5G system can provide a secure and flexible network using the cellular-based technologies at their facilities (e.g., factories, agricultural lands, and buildings). We constructed a small-scale demonstration system that exhibits the remote control of a patrol and work robot with arms using a local 5G system. The constructed robot comprises a robot operating system-based unmanned ground vehicle, two laser range finders, a webcam, an omnidirectional camera, and a six-axis robot arm. To fabricate a demonstration system with open-source software, we assessed the one-way delay of video streaming by changing different CPU, camera types, drivers, applications, and video resolutions. According to the assessment findings, it was demonstrated that it is possible to realize approximately 100ms delay under the limited resolution condition, and the allowable maximum absolute delay of 300ms can be attained even for full HD (1920 × 1080) resolution of this demonstration. Furthermore, local 5G was demonstrated to reduce delay variations to the same level as wired systems. It was also clarified that the increase in delay due to the application of local 5G is relatively small (5-25% in total delay) in this demonstration. Finally, we employed the small-scale demonstration system for the online and onsite campus tours for high school students.
URL: https://global.ieice.org/en_transactions/communications/10.1587/transcom.2022CEP0004/_p

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@ARTICLE{e106-b_2_101,
author={Issei MAKINO, Junji TERAI, Nobuhiko MIKI, },
journal={IEICE TRANSACTIONS on Communications},
title={Small-Scale Demonstration of Remote Control of Patrol and Work Robot with Arms Employing Local 5G System},
year={2023},
volume={E106-B},
number={2},
pages={101-108},
abstract={Local (private) 5G system can provide a secure and flexible network using the cellular-based technologies at their facilities (e.g., factories, agricultural lands, and buildings). We constructed a small-scale demonstration system that exhibits the remote control of a patrol and work robot with arms using a local 5G system. The constructed robot comprises a robot operating system-based unmanned ground vehicle, two laser range finders, a webcam, an omnidirectional camera, and a six-axis robot arm. To fabricate a demonstration system with open-source software, we assessed the one-way delay of video streaming by changing different CPU, camera types, drivers, applications, and video resolutions. According to the assessment findings, it was demonstrated that it is possible to realize approximately 100ms delay under the limited resolution condition, and the allowable maximum absolute delay of 300ms can be attained even for full HD (1920 × 1080) resolution of this demonstration. Furthermore, local 5G was demonstrated to reduce delay variations to the same level as wired systems. It was also clarified that the increase in delay due to the application of local 5G is relatively small (5-25% in total delay) in this demonstration. Finally, we employed the small-scale demonstration system for the online and onsite campus tours for high school students.},
keywords={},
doi={10.1587/transcom.2022CEP0004},
ISSN={1745-1345},
month={February},}

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TY - JOUR
TI - Small-Scale Demonstration of Remote Control of Patrol and Work Robot with Arms Employing Local 5G System
T2 - IEICE TRANSACTIONS on Communications
SP - 101
EP - 108
AU - Issei MAKINO
AU - Junji TERAI
AU - Nobuhiko MIKI
PY - 2023
DO - 10.1587/transcom.2022CEP0004
JO - IEICE TRANSACTIONS on Communications
SN - 1745-1345
VL - E106-B
IS - 2
JA - IEICE TRANSACTIONS on Communications
Y1 - February 2023
AB - Local (private) 5G system can provide a secure and flexible network using the cellular-based technologies at their facilities (e.g., factories, agricultural lands, and buildings). We constructed a small-scale demonstration system that exhibits the remote control of a patrol and work robot with arms using a local 5G system. The constructed robot comprises a robot operating system-based unmanned ground vehicle, two laser range finders, a webcam, an omnidirectional camera, and a six-axis robot arm. To fabricate a demonstration system with open-source software, we assessed the one-way delay of video streaming by changing different CPU, camera types, drivers, applications, and video resolutions. According to the assessment findings, it was demonstrated that it is possible to realize approximately 100ms delay under the limited resolution condition, and the allowable maximum absolute delay of 300ms can be attained even for full HD (1920 × 1080) resolution of this demonstration. Furthermore, local 5G was demonstrated to reduce delay variations to the same level as wired systems. It was also clarified that the increase in delay due to the application of local 5G is relatively small (5-25% in total delay) in this demonstration. Finally, we employed the small-scale demonstration system for the online and onsite campus tours for high school students.
ER -