Bidireccionalidad y Eficiencia en el Transporte de Datos de Teleoperación a Través de Redes IP

M. Díaz-Cacho, A. Barreiro, M.G. García

Resumen

Este artículo propone un nuevo esquema de protocolo de transporte que aprovecha las particularidades de flujos de datos de teleoperación a través de Internet. Se presenta como resultado de un análisis global de los datos de la teleoperación bilateral para ser encapsulados en paquetes compatibles IP. Distingue entre tráfico multimedia, tráfico supermedia y tráfico de control, y ofrece la posibilidad de sistemas de control del flujo que sean amigables con el tráfico TCP (TCPFriendly) mayoritario en Internet. Se presentan resultados de simulación y comparaciones con otros esquemas, utilizando el sistema de control del flujo trinomial, pero son posibles otros sistemas de control. El esquema propuesto aprovecha la bidireccionalidad del lazo de control y el pequeño tamaño de los datos de teleoperación para la mejora de la eficiencia de la transmisión manteniendo la misma información a enviar, y pretende servir de aportación por parte de la red, a los esfuerzos de modelar la estabilidad de sistemas de teleoperación a través de redes con retardos variables mediante las actuaciones sobre los controladores Maestro y Esclavo. En el artículo se presenta una cabecera de transporte adecuada a los sistemas de control del flujo basados en ecuación (Equation-Based Flow Control), manteniendo la eficiencia, y establece unos usos de determinados campos de la cabecera actual de Internet.

Palabras clave

Teleoperation; Protocols; Transport delay; Simulation; Flow control; Network controlled systems; Data flow analysis; Headers; Telerobotics

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