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Video framerate, resolution and grayscale tradeoffs for undersea telemanipulatorThe product of Frame Rate (F) in frames per second, Resolution (R) in total pixels and grayscale in bits (G) equals the transmission band rate in bits per second. Thus for a fixed channel capacity there are tradeoffs between F, R and G in the actual sampling of the picture for a particular manual control task in the present case remote undersea manipulation. A manipulator was used in the MASTER/SLAVE mode to study these tradeoffs. Images were systematically degraded from 28 frames per second, 128 x 128 pixels and 16 levels (4 bits) grayscale, with various FRG combinations constructed from a real-time digitized (charge-injection) video camera. It was found that frame rate, resolution and grayscale could be independently reduced without preventing the operator from accomplishing his/her task. Threshold points were found beyond which degradation would prevent any successful performance. A general conclusion is that a well trained operator can perform familiar remote manipulator tasks with a considerably degrade picture, down to 50 K bits/ sec.
Document ID
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Ranadive, V.
(Linkabit Corp. San Diego, CA, United States)
Sheridan, T. B.
(Linkabit Corp. San Diego, CA, United States)
Date Acquired
August 10, 2013
Publication Date
October 15, 1981
Publication Information
Publication: JPL Proc. of the 17th Ann. Conf. on Manual Control
Subject Category
Man/System Technology And Life Support
Accession Number
Distribution Limits
Work of the US Gov. Public Use Permitted.
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