论文标题
演示：使用低功率无线控制技术进行核退役的不受束缚的触觉遥控
Demo: Untethered Haptic Teleoperation for Nuclear Decommissioning using a Low-Power Wireless Control Technology
论文作者
论文摘要
通常，通过有线网络技术（例如以太网）来实现触觉远程操作，该技术可以保证控制循环的性能在通信介质上封闭，尤其是在延迟，抖动和可靠性方面。该演示表明，在核退役用例中，在新型的低功率无线控制技术（称为gallop）上进行触觉远距离的能力。它显示了疾驰的生存能力，可以满足触觉远程运行的潜伏期，及时性和安全要求。作为演示的一部分进行的评估表明，在现成的蓝牙5.0芯片组上实施的疾驰可以替代传统的有线TCP/IP连接，并且在同一用例中胜过基于WiFi的无线解决方案。
Haptic teleoperation is typically realized through wired networking technologies (e.g., Ethernet) which guarantee performance of control loops closed over the communication medium, particularly in terms of latency, jitter, and reliability. This demonstration shows the capability of conducting haptic teleoperation over a novel low-power wireless control technology, called GALLOP, in a nuclear decommissioning use-case. It shows the viability of GALLOP for meeting latency, timeliness, and safety requirements of haptic teleoperation. Evaluation conducted as part of the demonstration reveals that GALLOP, which has been implemented over an off-the-shelf Bluetooth 5.0 chipset, can be a replacement for conventional wired TCP/IP connection, and outperforms WiFi-based wireless solution in same use-case.
