A remote controlled robot system that includes a robot and a remote control station. The robot includes a binaural microphone system that is coupled to a speaker system of the remote control station. The binaural microphone system may include a pair of microphones located at opposite sides of a robot head. the location of the microphones roughly coincides with the location of ears on a human body. Such microphone location creates a mobile robot that more effectively simulates the tele-presence of an operator of the system. The robot may include two different microphone systems and the ability to switch between systems. For example, the robot may also include a zoom camera system and a directional microphone. The directional microphone may be utilized to capture sound from a direction that corresponds to an object zoomed upon by the camera system.

Mobile tele-presence system with a microphone system

A remote controlled robot with a head that supports a monitor and is coupled to a mobile platform. The mobile robot also includes an auxiliary camera coupled to the mobile platform by a boom. The mobile robot is controlled by a remote control station. By way of example, the robot can be remotely moved about an operating room. The auxiliary camera extends from the boom so that it provides a relatively close view of a patient or other item in the room. An assistant in the operating room may move the boom and the camera. The boom may be connected to a robot head that can be remotely moved by the remote control station.

Telepresence robot with a camera boom

A mobile robot that includes a drive system, a controller in communication with the drive system, and a volumetric point cloud imaging device supported above the drive system at a height of greater than about one feet above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.

Mobile human interface robot

A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Interfacing with a mobile telepresence robot

A robot system (1600) includes a mobile robot (100) having a controller (500) executing a control system (510) for controlling operation of the robot, a cloud computing service (1620) in communication with the controller of the robot, and a remote computing device (310) in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.

Mobile robot system

A forward error correction (FEC) encoding system and method optimized for protecting real-time audio-video streams for transmission over packet-switched networks with minimal latency Embodiments of this invention provide bandwidth-efficient and low-latency FEC for both variable and constant bit-rate MPEG-encoded audio and video streams To maximize bandwidth-efficiency and playable frame rate for recovered media streams, embodiments of the invention may sort packets by content type and aggregate them into FEC blocks weighted by sensitivity in the recovered stream to packet loss of a particular content type Embodiments of this invention may use temporal constraints to limit FEC block size and thereby facilitate their use in the transport of VBR streams

System and method for low-latency content-sensitive forward error correction

Embodiments of the invention enable the synchronization of clocks across packet switched networks, such as the Internet, sufficient to drive a jitter buffer and other quality-of-service related buffering. Packet time stamps referenced to a local clock create a phase offset signal. A shortest-delay offset generator uses a moving-window filter to select the samples of the phase offset signal having the shortest network propagation delay within the window. This shortest network propagation delay filter minimizes the effect of network jitter under the assumption that queuing delays account for most of the network jitter. The addition of this filtered phase offset signal to a free-running local clock creates a time reference that is synchronized to the remote clock at the source thus allowing for the transport of audio, video, and other time-sensitive real-time signals with minimal latency.

System and method for clock synchronization over packet-switched networks

A system and method for virtual link aggregation for combining network links of various types and speeds to increase throughput and reliability for packetized transport. In contrast with physical port trunking, the system does not require direct control over ports or network interfaces. Instead, the system rewrites packet addresses and works through existing networking equipment, without requiring any new or special protocols, processing, or equipment within the network. The system works through low-level rerouting by rewriting hardware addresses and/or high-level routing by rewriting logical addresses. Thus packets are redirected through multiple routes to a common destination via alternate gateways and links. Different algorithms may be employed to balance the load on each link and determine an optimal route for each packet. Embodiments may also employ packet flow or stream identification and thereby only provide link aggregation for a specified set of packet flows.

System and method for the virtual aggregation of network links

An Automatic Repeat request (ARQ) error correction method optimized for protecting real-time audio-video streams for transmission over packet-switched networks. Embodiments of this invention provide bandwidth-efficient and low-latency ARQ for both variable and constant bit-rate audio and video streams. Embodiments of this invention use timing constraints to limit ARQ latency and thereby facilitate the use of ARQ packet recovery for the transport of both constant bit rate and variable bit rate media streams.

Low-latency automatic repeat request packet recovery mechanism for media streams

Enables video over IP distribution system and method that multicasts or broadcasts IP messages over a local layer 2 network (generally for example in a known local network, e.g., a network within an Internet service provider or video provider) to eliminate intermediate replication servers. The system thus utilizes a flat architecture that distributes the same number of video streams as pyramid architectures, but utilizes less hardware, e.g., less replication servers and less network switches. Systems may be configured to transmit multiple versions of the same broadcast, for example at different sizes, resolutions or aspect ratios or at different bit rates or any combination thereof. Groupings of the system allow for customized broadcast of the same video. With respect to quality of service, various clock synchronization, forward error correction (FEC), automatic repeat request (ARQ) methods and systems may be utilized to provide higher quality of service for any embodiment of the invention.

John C. Beer

Papers

System and method for low-latency content-sensitive forward error correction

System and method for clock synchronization over packet-switched networks

System and method for the virtual aggregation of network links

Low-latency automatic repeat request packet recovery mechanism for media streams

Video over ip distribution system and method