| 基于Internet的实时机器人系统时延预测研究及算法 |
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| 引用本文： | 王世华,胥布工,刘云辉,刘喆. 基于Internet的实时机器人系统时延预测研究及算法[J]. 机器人, 2007, 29(6): 0-527 |
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| 作者姓名： | 王世华 胥布工 刘云辉 刘喆 |
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| 作者单位： | 华南理工大学自动化科学与工程学院基于网络和现场总线实时控制实验室,广东,广州,510640;香港中文大学机械与自动化工程学系,香港,新界,沙田;华南师范大学数学科学学院,广东,广州,510631 |
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| 基金项目： | 国家自然科学基金 , 国家自然科学基金 , 广东省自然科学基金 |
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| 摘 要： | 针对基于Internet实时机器人系统，提出了多尺度的时延预测算法，该算法是在线和实时的。基于网络结构分析了网络时延的主要组成及其时延特性。不同于传统的网络往返时延的预测，该算法预测的是能真实反映端对端数据包传递的单程时延，而且还提出了预测单向时延所需的时钟同步算法。理论分析和多点之间的网络实验验证了该算法的高效性。
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| 关 键 词： | 网络机器人 网络时延 预测算法 多尺度 |
| 文章编号： | 1002-0446（2007）06-0520-08 |
| 收稿时间： | 2007-01-30 |
| 修稿时间： | 2007-01-30 |
Delay Prediction and Algorithm for Real-time Telerobotic System via Internet |
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| WANG Shi-hua,XU Bu-gong,LIU Yun-hui,LIU Zhe. Delay Prediction and Algorithm for Real-time Telerobotic System via Internet[J]. Robot, 2007, 29(6): 0-527 |
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| Authors: | WANG Shi-hua XU Bu-gong LIU Yun-hui LIU Zhe |
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| Affiliation: | 1. Laboratory of Real-Time Control through lnternet and Fieldbuses, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China; 2. Department of Automation and Computer Aided Engineering, The Chinese University of Hong Kong, Shatin, N. T. , Hong Kong, China; 3. School of Mathematical Sciences, South China Normal University, Guangzhou 510631, China |
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| Abstract: | This paper presents a multi-scale delay prediction algorithm for real-time telerobotic systems over Internet,and this algorithm is performed in an on-line and real-time manner.Based on the structure of Internet,the main composition of network delay and its characteristics are analyzed.This algorithm is designed to predict the one trip time delay,which can reflect the real delay of data packet from peer to peer,other than the traditional round trip time delay.In order to predict the one trip time precisely,a time synchronization algorithm is also proposed.The usefulness and effectiveness of the developed algorithm are validated by theoretical analysis and Internet experiments between multiple places. |
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| Keywords: | Internet robot network delay prediction algorithm multi-scale |
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