Bidirectional transport protocol for teleoperated robots
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Otros documentos de la autoría: Wirz, Raúl; Marin, Raul; Ferre, Manuel; Barrio, Jorge; Claver, José M.; Ortego, Javier
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http://dx.doi.org/10.1109/TIE.2009.2025291 |
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Título
Bidirectional transport protocol for teleoperated robotsFecha de publicación
2009-09Editor
Institute of Electrical and Electronics Engineers (IEEE)ISSN
0278-0046Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5089429&tag=1Palabras clave / Materias
Resumen
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 ... [+]
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. [-]
Publicado en
IEEE Transactions on Industrial Electronics, 56, 9, p. 3772 - 3781Derechos de acceso
© Copyright 2009 IEEE
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