Bidirectional transport protocol for teleoperated robots / Wirz, Raul in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3772-3781 Titre : Bidirectional transport protocol for teleoperated robots Type de document : texte imprimé Auteurs : Wirz, Raul, Auteur ; Marin, Raul, Auteur ; Ferre, Manuel, Auteur Article en page(s) : pp. 3772-3781 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Internet transport protocol Teleoperated tasks Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper describes a new Internet transport protocol applied to teleoperated tasks. This protocol, called bidirectional transport protocol (BTP), has demonstrated reliable performance regarding time spent for packet transmission. This protocol provides a novel congestion control technique which enhances application and transport layer performance. Internet still has some limitations, such as variable jitter, bandwidth, or congestion. New techniques have to be looked into so as to enable proper bilateral teleoperation. Most research to date focuses on the application layer such as control techniques (e.g., passivity) or predictive displays. Only a few studies are devoted to the transport layer or communication protocols. A testbed based on master-slave architecture has been used for testing BTP versus user datagram protocol (UDP). Transmission control protocol flows also coexist with the transmitted teleoperation data. Results show that the proposed protocol significantly enhances the UDP approach by achieving a minimum round trip time and interarrival time in relation to the available bandwidth of the network. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5089429 [article] Bidirectional transport protocol for teleoperated robots [texte imprimé] / Wirz, Raul, Auteur ; Marin, Raul, Auteur ; Ferre, Manuel, Auteur . - pp. 3772-3781. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3772-3781 Mots-clés : Internet transport protocol Teleoperated tasks Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : This paper describes a new Internet transport protocol applied to teleoperated tasks. This protocol, called bidirectional transport protocol (BTP), has demonstrated reliable performance regarding time spent for packet transmission. This protocol provides a novel congestion control technique which enhances application and transport layer performance. Internet still has some limitations, such as variable jitter, bandwidth, or congestion. New techniques have to be looked into so as to enable proper bilateral teleoperation. Most research to date focuses on the application layer such as control techniques (e.g., passivity) or predictive displays. Only a few studies are devoted to the transport layer or communication protocols. A testbed based on master-slave architecture has been used for testing BTP versus user datagram protocol (UDP). Transmission control protocol flows also coexist with the transmitted teleoperation data. Results show that the proposed protocol significantly enhances the UDP approach by achieving a minimum round trip time and interarrival time in relation to the available bandwidth of the network. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5089429

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