Improving the operation efficiency of supermedia enhanced internet based teleoperation via an overlay network

For Internet based real-time teleoperation systems, random time delay can cause instability in the closed loop control system and hence hinder task accomplishment. Event based control systems have been proposed to overcome the instability caused by the random time delay. High latency at the transport layer can still impede effective and reliable execution of tasks with high dexterity requirements. Network QoS based dynamic resource allocation has been proposed to increase the efficiency and reliability of task execution. However, these approaches only try to mitigate or overcome the effects of random time delay and do not address the cause of latency issues in the communication channel. This paper addresses the efficiency and reliability requirements for supermedia enhanced teleoperated systems by reducing the end-to-end transmission latency through the use of overlay networks. The proposed system reduces the transmission latency by using multiple, disjoint paths in overlay networks. The proposed system facilitates reliable and efficient task completion for tasks with high dexterity requirements. Experimental validation of the proposed teleoperated system using the PlanetLab Network is provided for the task of teleoperating a mobile manipulator system. © 2005 IEEE.Link_to_subscribed_fulltex

Estudio del rendimiento de arquitecturas basadas en grupos para WAHSN

[ES] Existen muchos trabajos relacionados con las redes ad hoc y las redes de sensores donde se presentan nuevos protocolos que encaminamiento que aportan mejores características, otros trabajos donde se comparan para ver cual posee un mejor rendimiento ó incluso presentan nuevas aplicaciones basadas en este tipo de redes, pero este trabajo aporta otro punto de vista. ¿Por que no ver la red como un conjunto que se divide en grupos para aportar un mejor rendimiento a la red independientemente del protocolo de encaminamiento utilizado?. Para ello, en este trabajo, vamos a demostrar a través de simulaciones, que la agrupación de nodos en redes WAHSN (Wireless Ad Hoc & Sensor Networks) aporta mejoras a la red en general, disminuyendo el tráfico de encaminamiento, el retardo, el throughput, etc. Este estudio se ha realizado evaluando los protocolos estándar más utilizados (DSR [1], AODV [2] y OLSR [3]), así podemos observar cual de ellos aporta un mejor rendimiento. Finalmente, se propone una arquitectura de red basada en grupos optimizada para las redes WAHSN[EN] There are many works related with ad hoc networks and sensor networks where the authors present new routing protocols with better or enhanced features, others just compare the performance of them or present an application environment, but this work tries to give another point of view. Why don¿t we see the network as a whole and split it intro groups to give better performance to the network regardless of the used routing protocol?. First, we will demonstrate, through simulations, that grouping nodes in WAHSN (Wireless Ad Hoc & Sensor Networks) improves the whole network by diminishing the routing traffic, the delay, the throughput, etc. This study was conducted to assess the most used standard protocols (DSR [1], AODV [2] and OLSR [3]) that gives better performance to the whole network when there are groups of nodes. Finally, a group-based network architecture optimized for WAHSN is proposedGarcía Pineda, M. (2008). Estudio del rendimiento de arquitecturas basadas en grupos para WAHSN. http://hdl.handle.net/10251/13472Archivo delegad

Improving the Operation Efficiency of Supermedia Enhanced Internet Based Teleoperation via an Overlay Network

Abstract — For Internet based real-time teleoperation systems, random time delay can cause instability in the closed loop control system and hence hinder task accomplishment. Event based control systems have been proposed to overcome the instability caused by the random time delay. High latency at the transport layer can still impede effective and reliable execution of tasks with high dexterity requirements. Network QoS based dynamic resource allocation has been proposed to increase the efficiency and reliability of task execution. However, these approaches only try to mitigate or overcome the effects of random time delay and do not address the cause of latency issues in the communication channel. This paper addresses the efficiency and reliability requirements for supermedia enhanced teleoperated systems by reducing the end-to-end transmission latency through the use of overlay networks. The proposed system reduces the transmission latency by using multiple, disjoint paths in overlay networks. The proposed system facilitates reliable and efficient task completion for tasks with high dexterity requirements. Experimental validation of the proposed teleoperated system using the PlanetLab Network is provided for the task of teleoperating a mobile manipulator system