Integrated Play-Back, Sensing, and Networked Control

Sensing, actuation, and decision units can control a remote physical environment and enable physical actions regardless of distance. However, the effectiveness of networked control depends on its ability to tolerate network non-determinism, which in turn can be enhanced by the use of play-back buffers. Although play-back has been intensively studied in multi-media applications, play-back schemes differ significantly in networked control, which is characterized by different performance metrics and a different sequence of communication events. The primary contribution of this paper is an end-to-end algorithm that integrates play-back buffering, sensor sampling, and control. The algorithm is extensively validated on simulations and realtime wide-area emulations. The integrated algorithm canceled the effect of disturbances as much as a proportional controller under ideal network conditions.

[1]  Naresh K. Sinha,et al.  Modern Control Systems , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  David E. Culler,et al.  A blueprint for introducing disruptive technology into the Internet , 2003, CCRV.

[3]  Amarnath Mukherjee,et al.  On the Dynamics and Significance of Low Frequency Components of Internet Load , 1992 .

[4]  S. Seth,et al.  Wirelessly networked distributed controllers for real-time control of civil structures , 2005, Proceedings of the 2005, American Control Conference, 2005..

[5]  B. Bernhardsson,et al.  Optimal Control over Networks with Long Random Delays , 2000 .

[6]  Wyatt S. Newman,et al.  Compliant control and software agents for Internet robotics , 2003, Proceedings of the Eighth International Workshop on Object-Oriented Real-Time Dependable Systems, 2003. (WORDS 2003)..

[7]  Christoforos N. Hadjicostis,et al.  Feedback control utilizing packet dropping network links , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[8]  Henning Schulzrinne,et al.  Adaptive playout mechanisms for packetized audio applications in wide-area networks , 1994, Proceedings of INFOCOM '94 Conference on Computer Communications.

[9]  Yin Zhang,et al.  On the constancy of internet path properties , 2001, IMW '01.

[10]  Leslie Lamport,et al.  Distributed snapshots: determining global states of distributed systems , 1985, TOCS.

[11]  Kang G. Shin,et al.  Achieving real-time communication over Ethernet with adaptive traffic smoothing , 2000, Proceedings Sixth IEEE Real-Time Technology and Applications Symposium. RTAS 2000.

[12]  Johan Nilsson,et al.  Real-Time Control Systems with Delays , 1998 .

[13]  Stephen P. Boyd,et al.  Linear controller design: limits of performance , 1991 .

[14]  V. Liberatore,et al.  On the impact of bursty cross-traffic on distributed real-time process control , 2004, IEEE International Workshop on Factory Communication Systems, 2004. Proceedings..

[15]  Wyatt S. Newman,et al.  An experiment in Internet-based, human-assisted robotics , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[16]  Katsuhiko Ogata,et al.  Modern Control Engineering , 1970 .

[17]  Johannes Schumacher,et al.  An Introduction to Hybrid Dynamical Systems, Springer Lecture Notes in Control and Information Sciences 251 , 1999 .

[18]  Reiner Ludwig,et al.  The peak-hopper: a new end-to-end retransmission timer for reliable unicast transport , 2004, IEEE INFOCOM 2004.

[19]  Vincenzo Liberatore,et al.  Decentralized and dynamic bandwidth allocation in networked control systems , 2006, Proceedings 20th IEEE International Parallel & Distributed Processing Symposium.

[20]  Jon Rigelsford,et al.  The Robot in the Garden: Telerobotics and Telepistemology in the Age of the Internet , 2000 .

[21]  Henning Schulzrinne,et al.  RTP: A Transport Protocol for Real-Time Applications , 1996, RFC.

[22]  Wyatt S. Newman,et al.  IP Communication and Distributed Agents for Unmanned Autonomous Vehicles , 2003 .

[23]  Hayder Radha,et al.  Measurement study of low-bitrate internet video streaming , 2001, IMW '01.

[24]  Takuji Nishimura,et al.  Mersenne twister: a 623-dimensionally equidistributed uniform pseudo-random number generator , 1998, TOMC.

[25]  Anthony Tzes,et al.  Development and experimental verification of a mobile client-centric networked controlled system , 2003, 2003 European Control Conference (ECC).

[26]  Douglas C. Schmidt,et al.  A high-performance end system architecture for real-time CORBA , 1997, IEEE Commun. Mag..