Lightweight wireless protocol based on IEEE 802.11 for delay sensitive telerobotic systems

Onur TOKER; Haluk GÜMÜŞKAYA; Cihan ULAŞ; Bora Tamer YILMAZ

Makale detayları

Lightweight wireless protocol based on IEEE 802.11 for delay sensitive telerobotic systems

Yazarlar:

Onur TOKER | Haluk GÜMÜŞKAYA | Cihan ULAŞ | Bora Tamer YILMAZ

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 5, pp.1394-1410

Belge Tipi:

Makale

Yayın Tarihi:

4/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743228

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

In this paper, we consider wireless telerobotic systems and protocol   development for low-delay wireless communication. Telerobotics can be   defined as the control of robot arms from a remote location. In a   telerobotic system, there is a robot arm to be controlled that is identified   as the slavearm',andaremoteopera→ratadistantlocationusingaro⊥icmanipa––→rtˆiscal≤dtheslavearm′,andaremoteopera→ratadistantlocationusingaro⊥icmanipa̲→rti^scal≤dtheslave arm', and a remote operator at a distant location using a   robotic manipulator that is called the master arm'. In the control system   measurements, actuator delays do degrade the system's performance.   Therefore, communication delays between the master and slave arms, and their   minimization, are of extreme importance in telerobotics. In this paper, we   first develop a new wireless communication protocol, the lightweight   wireless protocol (LWP), designed on top of the 802.11 media access control   layer. This low-delay wireless LWP protocol is implemented on an embedded   system (AirDrop-LWP) without an operating system and its associated   overhead. Finally, 2 AirDrop-LWP--embedded systems running this low-delay   wireless LWP protocol are used to build a telerobotic system with a   Mitsubishi RV-2AJ industrial robot. The LWP protocol is also tested on a   robot car controlled by an AirDrop-LWP card as a slave arm and a standard PC   as a master arm. The key features of the LWP are a reduced packet size,   simple protocol stack, predictive compression of operator movements, and   prediction of lost data packets. The LWP protocol is compared with the user   datagram protocol and significant performance improvements are observed: a   reduced delay of up to 50% and an additional 20% lower delay via   compression. Variation in the packet delay times is also an important   parameter for the wireless control system. As the standard deviation of the   packet delay times increase, and becomes less and less predictable, the   resulting telerobotic system will be more and more difficult to operate. We   measured the standard deviation of packet delays and observed that it   increases with the packet size, and this increase is faster than the   increase in mean packet delay.

 

In this paper, we consider wireless telerobotic systems and protocol   development for low-delay wireless communication. Telerobotics can be   defined as the control of robot arms from a remote location. In a   telerobotic system, there is a robot arm to be controlled that is identified   as the slavearm',andaremoteopera→ratadistantlocationusingaro⊥icmanipa––→rtˆiscal≤dtheslavearm′,andaremoteopera→ratadistantlocationusingaro⊥icmanipa̲→rti^scal≤dtheslave arm', and a remote operator at a distant location using a   robotic manipulator that is called the master arm'. In the control system   measurements, actuator delays do degrade the system's performance.   Therefore, communication delays between the master and slave arms, and their   minimization, are of extreme importance in telerobotics. In this paper, we   first develop a new wireless communication protocol, the lightweight   wireless protocol (LWP), designed on top of the 802.11 media access control   layer. This low-delay wireless LWP protocol is implemented on an embedded   system (AirDrop-LWP) without an operating system and its associated   overhead. Finally, 2 AirDrop-LWP--embedded systems running this low-delay   wireless LWP protocol are used to build a telerobotic system with a   Mitsubishi RV-2AJ industrial robot. The LWP protocol is also tested on a   robot car controlled by an AirDrop-LWP card as a slave arm and a standard PC   as a master arm. The key features of the LWP are a reduced packet size,   simple protocol stack, predictive compression of operator movements, and   prediction of lost data packets. The LWP protocol is compared with the user   datagram protocol and significant performance improvements are observed: a   reduced delay of up to 50% and an additional 20% lower delay via   compression. Variation in the packet delay times is also an important   parameter for the wireless control system. As the standard deviation of the   packet delay times increase, and becomes less and less predictable, the   resulting telerobotic system will be more and more difficult to operate. We   measured the standard deviation of packet delays and observed that it   increases with the packet size, and this increase is faster than the   increase in mean packet delay.

Makale detayları

Lightweight wireless protocol based on IEEE 802.11 for delay sensitive telerobotic systems

Yazarlar: Onur TOKER | Haluk GÜMÜŞKAYA | Cihan ULAŞ | Bora Tamer YILMAZ

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 5, pp.1394-1410

Belge Tipi: Makale

Yayın Tarihi: 4/2013

Belge Dili: Türkçe

Document ID (Org No.): 2000743228

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Onur TOKER | Haluk GÜMÜŞKAYA | Cihan ULAŞ | Bora Tamer YILMAZ

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 5, pp.1394-1410

Belge Tipi:

Makale

Yayın Tarihi:

4/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743228

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632