Toward Haptic Communications Over the 5G Tactile Internet

Αντωνάκογλου, Κωνσταντίνος; Xu, Xiao; Steinbach, Eckehard; Mahmoodi, Toktam; Dohler, Mischa

doi:10.1109/comst.2018.2851452

Cited by 213 publications

(134 citation statements)

References 218 publications

(236 reference statements)

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“…Consider the non-retransmission policy. As the successfully detected packet contains the estimated state information with a one-step delay, the receiver needs to estimate the current state based on the dynamic process model (1). If the packet detection is failed, the receiver can estimate the current state based on its previous estimation and the process model.…”

Section: Communication and Remote Estimationmentioning

confidence: 99%

To Retransmit or Not: Real-Time Remote Estimation in Wireless Networked Control

Huang

Liu

et al. 2019

ICC 2019 - 2019 IEEE International Conference on Communications (ICC)

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Real-time remote estimation is critical for missioncritical applications including industrial automation, smart grid, and the tactile Internet. In this paper, we propose a hybrid automatic repeat request (HARQ)-based real-time remote estimation framework for linear time-invariant (LTI) dynamic systems.Considering the estimation quality of such a system, there is a fundamental tradeoff between the reliability and freshness of the sensor's measurement transmission. When a failed transmission occurs, the sensor can either retransmit the previous old measurement such that the receiver can obtain a more reliable old measurement, or transmit a new but less reliable measurement. To design the optimal decision, we formulate a new problem to optimize the sensor's online decision policy, i.e., to retransmit or not, depending on both the current estimation quality of the remote estimator and the current number of retransmissions of the sensor, so as to minimize the long-term remote estimation mean-squared error (MSE). This problem is non-trivial. In particular, it is not clear what the condition is in terms of the communication channel quality and the LTI system parameters, to ensure that the long-term estimation MSE can be bounded. We give a sufficient condition of the existence of a stationary and deterministic optimal policy that stabilizes the remote estimation system and minimizes the MSE. Also, we prove that the optimal policy has a switching structure, and derive a low-complexity suboptimal policy. Our numerical results show that the proposed optimal policy notably improves the performance of the remote estimation system compared to the conventional non-HARQ policy.

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Section: Communication and Remote Estimationmentioning

confidence: 99%

To Retransmit or Not: Real-Time Remote Estimation in Wireless Networked Control

Huang

Liu

et al. 2019

ICC 2019 - 2019 IEEE International Conference on Communications (ICC)

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“…in comparison to a soft material. In TCPS with kinesthetic feedback, to support for the maximum tapping velocity of a typical human operator and thereby enable the operator to differentiate materials of wide stiffness range, the RTT of the kinematic-haptic loop, RT T khl is required to be less than 1ms [7]. RTT higher than 1ms implies that the operator has to restrict his tapping velocity and thus limit his/her ability to differentiate materials of higher stiffness.…”

Section: B Control Loop Instabilitymentioning

confidence: 99%

Quality of Control Assessment for Tactile Cyber-Physical Systems

Polachan

Prabhakar

Singh

et al. 2019

2019 16th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON)

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We evolve a methodology and define a metric to evaluate Tactile Internet based Cyber-Physical Systems or Tactile Cyber-Physical Systems (TCPS). Towards this goal, we adopt the step response analysis, a well-known control-theoretic method. The adoption includes replacing the human operator (or master) with a controller with known characteristics and analyzing its response to slave side step disturbances. The resulting step response curves demonstrate that the Quality of Control (QoC) metric is sensitive to control loop instabilities and serves as a good indicator of cybersickness experienced by human operators. We demonstrate the efficacy of the proposed methodology and metric through experiments on a TCPS testbed. The experiments include assessing the suitability of several access technologies, intercontinental links, network topologies, network traffic conditions and testbed configurations. Further, we validate our claim of using QoC to predict and quantify cybersickness through experiments on a teleoperation setup built using Mininet and VREP.Index Terms-quality of control, tactile internet, tactile cyberphysical systems.

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“…Real-time remote estimation is critical for networked control applications such as industrial automation, smart grid, vehicle platooning, drone swarming, immersive virtual reality (VR) and the tactile Internet [2]. For such real-time applications, high quality remote estimation of the states of dynamic processes over unreliable links is a major challenge.…”

Section: Introductionmentioning

confidence: 99%

“…Illustration of the state space and state transitions in the high SNR scenario, where θ = 4.Due to the successful retransmissions, it can be noted from (26) that the states in S with r > 1 and r = q are transient states. Also, since a successful retransmission must be followed by a new transmission, the states in S with r = q and r > 1 are transient states, and the state(2,2) has the action of new transmission. Furthermore, due to the switching structure of the optimal policy in Theorem 2, we set a policy-switching threshold θ ∈ N for the states with r = 1, where the states q > θ, r = 1 choose the action of retransmission, while the states with q ≤ θ, r = 1 choose the action of new transmission.…”

mentioning

confidence: 99%

Real-Time Remote Estimation With Hybrid ARQ in Wireless Networked Control

Huang

Liu

Shirvanimoghaddam

et al. 2020

IEEE Trans. Wireless Commun.

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Real-time remote estimation is critical for mission-critical applications including industrial automation, smart grid and tactile Internet. In this paper, we propose a hybrid automatic repeat request (HARQ)-based real-time remote estimation framework for linear time-invariant (LTI) dynamic systems.Considering the estimation quality of such a system, there is a fundamental tradeoff between the reliability and freshness of the sensor's measurement transmission. We formulate a new problem to optimize the sensor's online transmission control policy for static and Markov fading channels, which depends on both the current estimation quality of the remote estimator and the current number of retransmissions of the sensor, so as to minimize the long-term remote estimation mean squared error (MSE). This problem is non-trivial. In particular, it is challenging to derive the condition in terms of the communication channel quality and the LTI system parameters, to ensure a bounded long-term estimation MSE. We derive a sufficient condition of the existence of a stationary and deterministic optimal policy that stabilizes the remote estimation system and minimizes the MSE. Also, we prove that the optimal policy has a switching structure, and accordingly derive a low-complexity suboptimal policy. Numerical results show that the proposed optimal policy significantly improves the performance of the remote estimation system compared to the conventional non-HARQ policy. Index TermsAge of information, hybrid ARQ, remote estimation, stability analysis, wireless networked control systems The authors are with

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Toward Haptic Communications Over the 5G Tactile Internet

Cited by 213 publications

References 218 publications

To Retransmit or Not: Real-Time Remote Estimation in Wireless Networked Control

To Retransmit or Not: Real-Time Remote Estimation in Wireless Networked Control

Quality of Control Assessment for Tactile Cyber-Physical Systems

Real-Time Remote Estimation With Hybrid ARQ in Wireless Networked Control

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