The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
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The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
O sistema 5G local (privado) pode fornecer uma rede segura e flexível usando tecnologias baseadas em celular em suas instalações (por exemplo, fábricas, terras agrícolas e edifícios). Construímos um sistema de demonstração em pequena escala que exibe o controle remoto de uma patrulha e um robô de trabalho com armas usando um sistema 5G local. O robô construído compreende um veículo terrestre não tripulado baseado em sistema operacional de robô, dois telêmetros a laser, uma webcam, uma câmera omnidirecional e um braço robótico de seis eixos. Para fabricar um sistema de demonstração com software de código aberto, avaliamos o atraso unidirecional do streaming de vídeo alterando diferentes CPUs, tipos de câmeras, drivers, aplicativos e resoluções de vídeo. De acordo com os resultados da avaliação, foi demonstrado que é possível obter um atraso de aproximadamente 100 ms sob a condição de resolução limitada, e o atraso absoluto máximo permitido de 300 ms pode ser alcançado mesmo para a resolução Full HD (1920 × 1080) desta demonstração. Além disso, foi demonstrado que o 5G local reduz as variações de atraso ao mesmo nível que os sistemas com fio. Também foi esclarecido que o aumento do atraso devido à aplicação do 5G local é relativamente pequeno (5-25% no atraso total) nesta demonstração. Por fim, empregamos o sistema de demonstração em pequena escala para visitas on-line e presenciais ao campus para estudantes do ensino médio.
Issei MAKINO
the Kagawa University
Junji TERAI
STNet, Incorporated
Nobuhiko MIKI
the Kagawa University
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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 -