AVATARS: a software-defined radio based teleoperating cyber-physical system for disaster environment exploration
AVATARS: a software-defined radio based teleoperating cyber-physical system for disaster environment exploration
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AVATARS：用于灾难环境探索的基于软件定义无线电的远程操作网络物理系统
DOI：
10.1186/s13638-015-0514-z
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发表时间：
2016-01
影响因子：
2.6
通讯作者：
Xinping Guan
中科院分区：
文献类型：
--
作者：
Cailian Chen;Yiyin Wang;Yong Cao;Xinping Guan
在本文中，我们开发了一个基于软件定义无线电（SDR）的遥操作信息物理系统（CPS）的灾害环境勘探，命名为AVATARS，其中包括一个遥控机器人和遥控操作。AVATARS的遥控机器人可以被派到一些危险或无法进入的灾难环境中执行搜索和救援任务。在遥操作机器人收集的环境信息的辅助下，遥操作者可以更好地了解检测到的灾害环境，并且遥操作机器人可以更精确地遥控以有效地完成任务。无线通信对于AVATARS的灵活性和可扩展性起着至关重要的作用。为了支持可靠的无线传输和实时无线遥操作，我们设计了一个高效可靠的无线链路，以提高有效的吞吐量的AVATARS。在链路中，在传统的停止等待ARQ协议的基础上，采用分组流水和累积确认策略，提高了无线通信的效率。随后，认知无线电技术进行了探索，并提出了一种自适应信道切换机制，以减轻拥挤的ISM频段的信道干扰。此外，三种不同类型的控制信息被集成到单个确认（ACK）分组中以减少通信开销。在软件无线电平台上实现了无线链路，并在不同条件下进行了大量的实验，以评估其性能。与传统的停止等待ARQ协议相比，AVATARS的有效吞吐量可以提高4倍以上。我们还提供了一个视频演示来展示AVATARS强大而有趣的性能。
In this paper, we develop a software-defined radio (SDR)-based teleoperating cyber-physical system (CPS) for disaster environment exploration, named AVATARS, which includes a telerobot and a teleoperator. The telerobot of AVATARS can be sent into some dangerous or inaccessible disaster environments for search and rescue tasks. Assisted by the environment information collected by the telerobot, the teleoperator can have a better understanding of the detected disaster environment, and the telerobot can be teleoperated more precisely to accomplish tasks effectively. Wireless communications play a vital role for AVATARS to guarantee its flexibility and scalability. To support reliable wireless transmission and real-time wireless teleoperation, we design an efficient and reliable wireless link to enhance the effective throughput of AVATARS. In the link, wireless communication efficiency is improved by using the packets pipelining and accumulative acknowledgement strategy based on the traditional stop-and-wait ARQ protocol. Sequentially, cognitive radio techniques are explored, and an adaptive channel switching mechanism is proposed to mitigate channel interferences in the crowded ISM band. Furthermore, three different kinds of control information are integrated into a single acknowledgement (ACK) packet to reduce communication overhead. The wireless link is implemented on SDR platforms, and extensive experiments under different conditions are carried out to evaluate its performance. The effective throughput of AVATARS can be enhanced more than four times compared with the traditional stop-and-wait ARQ protocol. We also present a video demo to show the powerful and interesting performance of AVATARS.
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DOI：
10.1109/icost.2011.6085828
发表时间：
2011-11
期刊：
2011 International Conference on Selected Topics in Mobile and Wireless Networking (iCOST)
影响因子：
--
作者：
P. Du;G. Roussos
通讯作者：
P. Du;G. Roussos
DOI：
10.1145/2093256.2093271
发表时间：
2011-10
期刊：
--
影响因子：
--
作者：
André Puschmann;M. Kalil;A. Mitschele-Thiel
通讯作者：
André Puschmann;M. Kalil;A. Mitschele-Thiel
DOI：
10.1109/wcnc.2011.5779123
发表时间：
2011-03
期刊：
2011 IEEE Wireless Communications and Networking Conference
影响因子：
--
作者：
J. Ansari;Xi Zhang;Andreas Achtzehn;M. Petrova;P. Mähönen
通讯作者：
J. Ansari;Xi Zhang;Andreas Achtzehn;M. Petrova;P. Mähönen
DOI：
--
发表时间：
2013-10
期刊：
--
影响因子：
--
作者：
André Puschmann;M. Kalil
通讯作者：
André Puschmann;M. Kalil
DOI：
10.1109/infcom.2003.1208921
发表时间：
2003-07
期刊：
IEEE INFOCOM 2003. Twenty-second Annual Joint Conference of the IEEE Computer and Communications Societies (IEEE Cat. No.03CH37428)
影响因子：
--
作者：
Gilles Berger-Sabbatel;F. Rousseau;M. Heusse;A. Duda
通讯作者：
Gilles Berger-Sabbatel;F. Rousseau;M. Heusse;A. Duda