摘要
基于服务质量的时延、时延振荡、带宽需求和丢包率,认为传输控制协议是一个安全的协议,而UDP(用户数据包协议)是一个相对实时的协议.因此在实际情况中,可针对不同的数据类型选择相应的协议.使用UDP协议控制数据时有包丢失问题,可采取冗余发射的方式加以克服.在基于Internet的机器人遥操作系统中有网络时延问题,影响整个系统的稳定性、透明性和实时性.使用UDP协议使系统具有了实时性的同时,不影响系统的稳定、透明和同步.使用力、图像、声音、温度等多模态反馈能够提高系统性能和安全性,但各个模态之间存在同步问题,用事件驱动的方法可解决此问题.
Based on quality of service parameters: time delay, jitter, bandwidth and package loss, the transmission control protocol is assumed as a more safe protocol than the UDP (User datagram protocol) over the Internet, but the UDP is proved to be the better protocol used in real-time control than the TCP. So using different protocols for different data is necessary in telerobotics. Package loss in using the UDP can be overcome by redundant information transmission method. Time delay in Internet-based telerobotics is a severe problem and it affects stability, transparency and synchronization of the whole system. Because time delay in the Internet is random and not regular, it is hard to compensate it by traditional methods. The event-driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by the event-driven method. The UDP used in the event-driven method can ensure real-time and also keep stability, transparency and synchronization. The use of multimodal feedback including force, video, audio, temperature, etc. improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and the event-drive method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using the event-driven method and UDP protocol.
出处
《西安电子科技大学学报》
EI
CAS
CSCD
北大核心
2005年第1期146-150,164,共6页
Journal of Xidian University
基金
中国高技术研究和发展计划支持(863 2004AA421030)
关键词
遥操作
用户数据包协议
事件驱动方法
Internet
Network protocols
Real time systems
Remote control
