title: Ð¡ÑÐ°Ð²Ð½Ð¸ÑÐµÐ»ÑÐ½ÑÐ¹ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´ÐµÑÐ¶ÐµÐº Ð°ÑÐ´Ð¸Ð¾-Ð²Ð¸Ð´ÐµÐ¾Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð² ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ñ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ°Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Comparative analysis of methods for measuring audio-video transmission delays in robotic systems
Creators: name: ÐÐ¾ÑÑÑÐ¸Ð½, Ð Ð¾Ð¼Ð°Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑ Ð½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑ
Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ° Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð²Ð¸Ð´ÐµÐ¾
Ð¼ÐµÑÐ¾Ð´ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ
Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ðµ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
robotic complex
video transfer delay
measurement method
automated testing

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ ÑÑÐ°Ð»Ð¸ Ð¼ÐµÑÐ¾Ð´Ñ Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑÐ¸Ðµ Ð¸Ð·Ð¼ÐµÑÐ¸ÑÑ Ð·Ð°Ð´ÐµÑÐ¶ÐºÑ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð²Ð¸Ð´ÐµÐ¾, Ð²Ð¼ÐµÑÑÐµ Ñ ÐºÐ¾ÑÐ¾ÑÑÐ¼ Ð¾Ð±ÑÑÐ½Ð¾ Ð¿ÐµÑÐµÐ´Ð°ÐµÑÑÑ Ð°ÑÐ´Ð¸Ð¾, Ð¸ Ð±Ð¾Ð»ÑÑÐµÐµ Ð²Ð½Ð¸Ð¼Ð°Ð½Ð¸Ðµ ÑÐ´ÐµÐ»ÐµÐ½Ð¾ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¼Ñ Ð¼ÐµÑÐ¾Ð´Ñ, ÐºÐ¾ÑÐ¾ÑÑÐ¹ Ð² ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐµÐ°Ð»Ð¸Ð·ÑÐµÑÑÑ. Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â Ð¿ÑÐ¾Ð²ÐµÑÑÐ¸ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ¸ Ð¸ Ð¾Ð¿ÑÐµÐ´ÐµÐ»Ð¸ÑÑ Ð¿Ð¾ Ð¿ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¸Ð¼ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¼ÐµÑÐ¾Ð´Ð° Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ¸ Ð² Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¼. Ð ÑÐ°Ð±Ð¾ÑÐµ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½ÑÐµ ÑÑÑÑÐºÑÑÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ°, Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ñ ÑÐµ, Ð¿Ð¾Ð´Ð¾Ð±Ð½Ð¾ ÐºÐ¾ÑÐ¾ÑÑÐ¼ ÑÐµÐ°Ð»Ð¸Ð·ÑÑÑÑÑ Ð¼Ð°ÐºÐµÑÑ Ð´Ð»Ñ Ð¿ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¾Ð¿ÑÑÐ¾Ð². ÐÐ¿Ð¸ÑÐ°Ð½Ñ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ¸ Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ð¸ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¼ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¼ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ¾Ð¼. ÐÐ¿Ð¸ÑÐ°Ð½ Ð¼ÐµÑÐ¾Ð´ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ¸ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ ÑÐ¿ÑÐ°Ð²Ð»ÑÑÑÐ¸Ñ ÑÐ¸Ð³Ð½Ð°Ð»Ð¾Ð². Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¾ Ð½ÐµÑÐºÐ¾Ð»ÑÐºÐ¾ Ð¼ÐµÑÐ¾Ð´Ð¾Ð², ÐºÐ¾ÑÐ¾ÑÑÐµ Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑ Ð¸Ð·Ð¼ÐµÑÑÑÑ Ð·Ð°Ð´ÐµÑÐ¶ÐºÑ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð²Ð¸Ð´ÐµÐ¾, Ð¾Ð¿Ð¸ÑÐ°Ð½Ñ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¸ Ð¸ Ð¿Ð»ÑÑÑ, Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¾ Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼Ð¾Ðµ Ð¾Ð±Ð¾ÑÑÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð´Ð»Ñ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ð¹, ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ñ Ð¼ÐµÑÐ¾Ð´Ñ Ð¸ Ð½ÐµÑÐºÐ¾Ð»ÑÐºÐ¾ Ð¼Ð°ÐºÐµÑÐ¾Ð² Ð´Ð»Ñ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ ÑÑÐ°Ð²Ð½Ð¸ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð°. ÐÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð¿Ð¾Ð·Ð²Ð¾Ð»Ð¸Ð»Ð¸ Ð·Ð°ÐºÐ»ÑÑÐ¸ÑÑ, ÑÑÐ¾ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ðµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ¸ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÑÑ Ð² Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¼. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ðµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ¸ Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÐµÑ Ð¿ÑÐ¾Ð²ÐµÑÑÐ¸ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ðµ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ¸ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð²Ð¸Ð´ÐµÐ¾ Ð¿ÑÐ¸ Ð¿Ð¾ÑÑÐ¸ Ð¼Ð°ÐºÑÐ¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð³ÑÑÐ·ÐºÐµ ÐºÐ°Ð½Ð°Ð»Ð° ÑÐ²ÑÐ·Ð¸ Ð¾Ñ ÐµÐ³Ð¾ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸, ÑÐ°Ðº ÐºÐ°Ðº Ð½Ð° Ð¸Ð·Ð¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ðµ Ð¿ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¸ ÐºÐ°Ð¶Ð´ÑÐ¹ Ð¿Ð¸ÐºÑÐµÐ»Ñ ÑÐµÐ·ÐºÐ¾ Ð¸Ð·Ð¼ÐµÐ½ÑÐµÑÑÑ. Ð Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¼ Ð¿Ð»Ð°Ð½Ð¸ÑÑÐµÑÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÑÑ Ð¿ÑÐ¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð¸ Ð´Ð»Ñ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÐ¶Ðµ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÑ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ñ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ¾Ð², Ð¿ÐµÑÐµÐ´Ð°ÑÑÐ¸Ðµ Ð²Ð¸Ð´ÐµÐ¾Ð´Ð°Ð½Ð½ÑÐµ.
description: The object of the work study was methods that allow measuring the transmission delay of video, with which audio is usually transmitted, and more attention is paid to the automated method that is implemented in the course of work. The purpose of the work is to compare various methods for measuring the delay and to determine, on the basis of practical results, the possibility of using an automated method for measuring the delay. The paper considers various possible structures of the robotic complex, determines those in the likeness of which mock-ups for practical experiments are implemented. Delays in the control of a mobile robotic complex are described. A method for measuring the transmission delay of control signals is described. Several methods are considered that allow measuring the video transmission delay, the disadvantages and advantages are described, the necessary equipment for measurements is determined, methods and several layouts for comparative analysis are implemented. Experiments were carried out, which made it possible to conclude that the developed device for automated delay measurement can be used in the future. The developed device for automated delay measurement makes it possible to measure the video transmission delay at almost the maximum load of the communication channel from its transmission, since almost every pixel on the image changes dramatically. In the future, it is planned to use in the development and testing of already developed mobile robotic systems that transmit video data.