| 1. | The especial mechanism of signal transmission over internet induces some problems , for instance , time - varying communication delay , dropout and synchronization . firstly , this paper presents some primary problems and related control schemes for internet based telerobotic systems , for example , supervisory control , predictive display control , event based control and passive control , and so on Internet网络系统由于其特殊的信号传输方式和机制,信号在传输过程中会出现时延、丢包、乱序和同步等问题,而且这种时延是随机时变的,甚至是不确定的,这就使得网络遥操作系统的控制更具有复杂性和难度。 |