【作者】 赵娜；

【导师】 柳长安；

【作者基本信息】 华北电力大学（北京） ， 计算机应用技术， 2010， 硕士

【摘要】 本论文围绕Internet下遥操作机器人系统的网络优化进行研究,主要研究内容为网络数据传输。首先,针对网络回路往返时延(RTT)的自相似性,提出基于自适应滤波的RTT预测算法；其次,通过RTT预测算法设置TCP协议的超时定时器,改进TCP协议；最后,根据遥操作机器人系统网络性能指标需求,在遥操作机器人模拟控制系统中,模拟遥操作系统数据传输过程。在论文研究的各个阶段,通过NS2模拟验证相应研究内容的有效性。通过模拟实验及应用系统的验证,基于自适应滤波的RTT预测算法及在此基础上改进的TCP协议有着良好的性能,从传输层角度上为Internet下遥操作机器人系统的网络优化提供解决办法。更多还原

【Abstract】 This paper concentrates on network optimization for Internet-based telerobotics, focusing on the phase of data transmission. First, aroused by the self-similarity of RTT, we propose an algorithm of round-trip time (RTT) estimation based on adaptive filtering. Then, we embed the algorithm into the implement of timeout timer of TCP to improve its performance. Last, on the basis of the network indicator of Internet-based telerobotics, we simulate the process of data transmission of Internet-based telerobotics by our control system. During all phases of our research, we validate the effectiveness by simulation experiments. Through the simulation experiments and the real control system, we can draw a conclusion that our algorithm and the improved protocol show a perfect performance. Thus, this research provides a good solution for network optimization of Internet-based telerobotics from the aspect of transmission layer.更多还原