可重构计算在减少触觉互联网延迟中的应用
Reconfigurable Computing Applied to Latency Reduction for the Tactile Internet
摘要：
触觉互联网应用程序允许机器人设备通过通信介质进行远程控制，时间延迟不明显。在双向通信中，根据应用要求，可接受的往返延迟通常在1ms到10ms的量级。据估计，总延迟的70%由通信网络产生，其余30%由主设备和从设备产生。因此，本文旨在提出一种策略，以减少30%的总延迟，这是由这样的设备产生的。该策略是使用FPGA应用可重构计算，以最大限度地减少设备相关算法的执行时间。考虑到这一点，这项工作提出了一个硬件参考模型的模块，实现非线性定位和力的计算，以及由两个机器人操作器形成的触觉系统。除了提出的实施细节，模拟和实验测试进行，以验证所提出的模型。与FPGA的采样率，吞吐量，延迟和合成后占用面积的结果进行了分析。
英文摘要：
Tactile internet applications allow robotic devices to be remotely controlled over a communication medium with an unnoticeable time delay. In a bilateral communication, the acceptable round trip latency is usually in the order of 1ms up to 10ms depending on the application requirements. It is estimated that 70% of the total latency is generated by the communication network, and the remaining 30% is produced by master and slave devices. Thus, this paper aims to propose a strategy to reduce 30% of the total latency that is produced by such devices. The strategy is to apply reconfigurable computation using FPGAs to minimize the execution time of device-associated algorithms. With this in mind, this work presents a hardware reference model for modules that implement nonlinear positioning and force calculations as well as a tactile system formed by two robotic manipulators. In addition to presenting the implementation details, simulations and experimental tests are performed in order to validate the proposed model. Results associated with the FPGA sampling rate, throughput, latency, and post-synthesis occupancy area are analyzed.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
