Sara North


This thesis shows the benefits of network delay compensation over an arbitrary Internet connection for a tele-robotic application. The tele-robotic system, named Picasso, is set up in the Systems Laboratory of the Electrical Engineering Department at the Rochester Institute of Technology. Picasso is a robotic arm that users can connect to via the Internet and draw with. This thesis demonstrates that varying the arm speed based on the predicted time-to-next packet results in smoother motion by the arm and a more accurate representation of what the user is drawing on the screen. The method chosen to predict the time-to-next packet is a Recursive Least Squares Algorithm which takes advantage of the correlation found in network delay data.

Library of Congress Subject Headings

Robots--Control systems; Remote control; Internet; Robotics

Publication Date


Document Type


Department, Program, or Center

Electrical Engineering (KGCOE)


Mathew, A.

Advisor/Committee Member

Rao, Raghuveer


Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: TJ211.35 .N678 2002


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