Dependable Wireless Feedback Loop Control Schemes Considering Errors and Delay in Sensing Data and Control Command Packets

Satoshi SEIMIYA  Takumi KOBAYASHI  Ryuji KOHNO  

IEICE TRANSACTIONS on Communications   Vol.E102-B   No.6   pp.1113-1120
Publication Date: 2019/06/01
Online ISSN: 1745-1345
DOI: 10.1587/transcom.2018HMP0008
Type of Manuscript: Special Section PAPER (Special Section on Healthcare, Medical Information and Communication Technology for Safe and Secure Society)
wireless visual feedback loop control,  wireless capsule endoscopy,  IEEE 802.15.6,  QoS-Hybrid ARQ,  allowable FPS,  

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In this study, under the assumption that a robot (1) has a remotely controllable yawing camera and (2) moves in a uniform linear motion, we propose and investigate how to improve the target recognition rate with the camera, by using wireless feedback loop control. We derive the allowable data rate theoretically, and, from the viewpoint of error and delay control, we propose and evaluate QoS-Hybrid ARQ schemes under data rate constraints. Specifically, the theoretical analyses derive the maximum data rate for sensing and control based on the channel capacity is derived with the Shannon-Hartley theorem and the path-loss channel model inside the human body, i.e. CM2 in IEEE 802.15.6 standard. Then, the adaptive error and delay control schemes, i.e. QoS-HARQ, are proposed considering the two constraints: the maximum data rate and the velocity of the camera's movement. For the performance evaluations, with the 3D robot simulator GAZEBO, we evaluated our proposed schemes in the two scenarios: the static environment and the dynamic environment. The results yield insights into how to improve the recognition rate considerably in each situation.