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The Tactile Internet
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The Tactile Internet
by Tara Ali-Yahiya, Wrya Monnet
The Tactile Internet
Cover
Title Page
Copyright
Foreword
Preface
List of Acronyms
1 Introduction to Tactile Internet
2 Reference Architecture of the Tactile Internet
3 Tactile Internet Key Enablers
4 6G for Tactile Internet
5 IoT, IoE and Tactile Internet
6 Telerobotics
7 Haptic Data: Compression and Transmission Protocols
8 Mapping Wireless Networked Robotics into Tactile Internet
9 HoIP over 5G for Tactile Internet Teleoperation Application
10 Issues and Challenges Facing Low Latency in the Tactile Internet
List of Authors
Index
End User License Agreement
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Prev
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Title Page
Table of Contents
Cover
Title Page
Copyright
Foreword
Preface
List of Acronyms
1 Introduction to Tactile Internet
1.1. Human perception and Tactile Internet
1.2. The roadmap towards Tactile Internet
1.3. What is Tactile Internet?
1.4. Cyber-Physical Systems and TI
1.5. References
2 Reference Architecture of the Tactile Internet
2.1. Tactile Internet system architecture
2.2. IEEE 1918.1 use cases
2.3. Conclusion
2.4. References
3 Tactile Internet Key Enablers
3.1. Introduction
3.2. Conclusion
3.3. References
4 6G for Tactile Internet
4.1. Introduction
4.2. The architecture of 6G
4.3. 6G channel measurements and characteristics
4.4. 6G cellular Internet of Things
4.5. Energy self-sustainability (ESS) in 6G
4.6. IoT-integrated ultrasmart city life
4.7. AI-enabled 6G networks
4.8. AI- and ML-based security management in super IoT
4.9. Security for 6G
4.10. The WEAF Mnecosystem (water, earth, air, fire micro/nanoecosystem) with 6G and Tactile Internet
4.11. References
5 IoT, IoE and Tactile Internet
5.1. From M2M to IoT
5.2. Classification of remote monitoring and control systems
5.3. IoT-enabling technologies
5.4. Architectural design and interfaces
5.5. IoT communication protocols
5.6. Internet of Everything (IoE)
5.7. Protocol comparisons and the readiness for TI
5.8. TI-IoT models and challenges
5.9. Edge computing in the IoT
5.10. Real-time IoT and analytics versus real time in TI
5.11. From IoT towards TI
5.12. Conclusion
5.13. References
6 Telerobotics
6.1. Introduction
6.2. Teleoperation evolution to telepresence
6.3. Telepresence applications
6.4. Teleoperation system components
6.5. Architecture of bilateral teleoperation control system
6.6. Performance and transparency of telepresence systems
6.7. Other methods for time-delay mitigation
6.8. Teleoperation over the Internet
6.9. Multiple access to a teleoperation system
6.10. A use case
6.11. Conclusion
6.12. References
7 Haptic Data: Compression and Transmission Protocols
7.1. Introduction
7.2. Haptic perception
7.3. Haptic interfaces
7.4. Haptic compression
7.5. Haptic transport protocols
7.6. Multi-transport protocols
7.7. Haptic transport protocol performance metrics
7.8. Conclusion
7.9. References
8 Mapping Wireless Networked Robotics into Tactile Internet
8.1. Wireless networked robots
8.2. WNR traffic requisites
8.3. Traffic shaping and TI haptic codecs
8.4. WNRs in the Tactile Internet architecture
8.5. Conclusion
8.6. References
9 HoIP over 5G for Tactile Internet Teleoperation Application
9.1. Related works
9.2. 5G architecture design for Tactile Internet
9.3. Haptics over IP
9.4. Teleoperation case study
9.5. Simulation results
9.6. Conclusion
9.7. References
10 Issues and Challenges Facing Low Latency in the Tactile Internet
10.1. Introduction
10.2. Low latency in the Tactile Internet
10.3. Intelligence and the Tactile Internet
10.4. Edge intelligent
10.5. Open issues
10.6. Conclusion
10.7. References
List of Authors
Index
End User License Agreement
List of Illustrations
Chapter 1
Figure 1.1.
Some haptic perception
Figure 1.2. Tactile Internet architecture. For a color version of this figure, s...
Figure 1.3. Open-loop versus closed-loop systems. For a color version of this fi...
Figure 1.4.
Tactile Internet based on cyber-physical systems
Chapter 2
Figure 2.1.
TI reference architecture of IEEE 1918.1
Figure 2.2.
Tactile Internet use cases
Figure 2.3.
Teleoperation use cases
Figure 2.4.
Internet of drones use case
Figure 2.5.
Interpersonal communication use cases
Chapter 3
Figure 3.1. 5G architecture (ETSI 2018b). For a color version of this figure, se...
Figure 3.2. 5G QoS architecture. For a color version of this figure, see www.ist...
Figure 3.3. Network slicing (Rost et al. 2017). For a color version of this figu...
Figure 3.4.
Network function visualization (NFV) architecture
Figure 3.5. Software-defined networking (SDN). For a color version of this figur...
Figure 3.6. SDN with openflow. For a color version of this figure, see www.iste....
Figure 3.7. MEC integrated with 5G. For a color version of this figure, see www....
Figure 3.8. Venn diagram of the relationship between artificial intelligence, ma...
Figure 3.9. Model-mediated architecture. For a color version of this figure, see...
Chapter 4
Figure 4.1.
Timeline of development trends in mobile communication
Figure 4.2. Architecture of 6G. For a color version of this figure, see www.iste...
Figure 4.3. 6G wireless channels. Rx: receiver; Tx: transmitter. For a color ver...
Figure 4.4.
Improvement periods for satellite communications
Figure 4.5. System architecture of the 6G system. For a color version of this fi...
Figure 4.6. Multi-level architecture in 6G. For a color version of this figure, ...
Figure 4.7. AI-enabled intelligent 6G networks. For a color version of this figu...
Figure 4.8. AI/ML applications in 6G to support ultra-broadband, ultra-massive a...
Figure 4.9. Schema of vertical and horizontal MEMS-based application domains rel...
Chapter 5
Figure 5.1. Three- and five-layer IoT architectures. For a color version of this...
Figure 5.2. Five-layer IoT and its equivalent OSI layers. For a color version of...
Figure 5.3.
Possible implementation of an IoT system with its main elements
.
Figure 5.4. MQTT publisher, broker and subscriber. For a color version of this f...
Figure 5.5. MQTT standard packer structure. For a color version of this figure, ...
Figure 5.6. MQTT quality of service 2. For a color version of this figure, see w...
Figure 5.7.
The structure of the CoAP protocol message header
Figure 5.8. CoAP architecture. For a color version of this figure, see www.iste....
Figure 5.9.
Data-centric versus message-centric
Figure 5.10. Architecture of a DDS protocol to connect applications systems. For...
Figure 5.11. Architecture of the OMA-DM protocol. For a color version of this fi...
Figure 5.12. People, process, things and data interactions. For a color version ...
Figure 5.13. IEEE P1918 Tactile Internet reference architecture (Holland et al. ...
Figure 5.14. Edge computing in IoT systems. For a color version of this figure, ...
Figure 5.15. SDN and VNF in the core network and the MEC access to them. For a c...
Figure 5.16. Mission-critical communication for IoT and TI (Zhang and Fitzek 201...
Figure 5.17. Communality and difference between the IoT (bottom) and the TI (top...
Chapter 6
Figure 6.1. Telerobotics as first devised by Sheridan (Ferrell and Sheridan 1967...
Figure 6.2.
Different telepresence applications
Figure 6.3.
Components of a telerobotic
Figure 6.4.
Unilateral and bilateral teleoperation
Figure 6.5. Teleoperation system with the three domains with robotic arm and hap...
Figure 6.6.
Two-port model of the teleoperation system
Figure 6.7.
Mechanical model of the two-port teleoperation system
Figure 6.8. General four-channel bilateral teleoperator system architecture (Law...
Figure 6.9.
Direct force reflection architecture
Figure 6.10.
Discrete position force–force architecture
Figure 6.11. Wave variable architecture to absorb time delay in the transmission...
Figure 6.12.
Matched termination to improve wave-variable method
Figure 6.13. 4CH telerobotic system using wave theory for delay compensation (Az...
Figure 6.14. Detailed block diagram of the time-delay-compensated communication ...
Figure 6.15.
Internet stack with the network
Figure 6.16.
Variable delay representation in the network domain
Figure 6.17. Use of SIP for session management, SDP for codec and parameter nego...
Figure 6.18. SIP master to slave call with both users addressed on the same serv...
Figure 6.19. Twenty actuated DOF and a further four under-actuated movements for...
Figure 6.20. Hapex glove contains haptic feedback. Connecting to the shadow robo...
Chapter 7
Figure 7.1. Piezoelectric resistance characteristic with applied pressure. For a...
Figure 7.2. Two cubes: (a) is different in its local shapes from (b) which is sm...
Figure 7.3. Thin tactile sensor technology from (https://www.tekscan.com/). For ...
Figure 7.4. Some commercially available haptic interface devices. For a color ve...
Figure 7.5. A tactile interface device: Lumen (Parkes et al. 2008). For a color ...
Figure 7.6. Working principle of a piezoresistive touch sensor (Robertson and Wa...
Figure 7.7. Parallel plate capacitor consisting of two parallel plates of area A...
Figure 7.8. Principle of optical tactile sensor (Ohka 2007). For a color version...
Figure 7.9.
Magnetic touch sensor based on Hall effect (Torres-Jara et al. 2006)
Figure 7.10. Single traction stress sensor consisting of a suspended plate/bridg...
Figure 7.11. Conversation in a video teleconferencing is two times unidirectiona...
Figure 7.12. Perceptual deadband compression. For a color version of this figure...
Figure 7.13. Multi-DoF isotropic perceptual dead band PD |, from (Kammerl 2012)....
Figure 7.14.
ALPHAN header format from Osman
et al.
(2008)
Figure 7.15.
SCTP packet format
Figure 7.16.
Communication framework (Eid
et al.
2009)
Figure 7.17. The frame of HoIP protocol (Gokhale et al. 2013). For a color versi...
Figure 7.18.
IRTP protocol header consisting of nine bytes
Figure 7.19.
BTP packet information
Chapter 8
Figure 8.1. A subset of two robots in a WNR that is used to relay the video of a...
Figure 8.2. Example of a WNR for Mobile Cellular Infrastructure inside its Missi...
Figure 8.3.
A WNR implementing the
Mobile Cellular Infrastructure scenario. The ...
Figure 8.4.
Identification of the TI infrastructure in a WNR scenario. The
remot...
Figure 8.5. Identification of TI Interfaces in a WNR scenario. Interface Tb is u...
Figure 8.6. A WNR uses aggregate Ta TI interfaces to support high-frequency sens...
Chapter 9
Figure 9.1. GNC architecture. For a color version of this figure, see www.iste.c...
Figure 9.2. MEC integrated with 5G. For a color version of this figure, see www....
Figure 9.3.
User and control planes of TI and 5G integration
Figure 9.4.
HoIP in the protocol stack
Figure 9.5. HoIP in the protocol stack. For a color version of this figure, see ...
Figure 9.6. Teleoperation system design. For a color version of this figure, see...
Figure 9.7. Moore FSM for E2E communication in an integrated 5G and IEEE 1918.1 ...
Figure 9.8.
User and control planes of the use case
Figure 9.9.
Simulation scenario
Figure 9.10.
IP header
Figure 9.11.
UDP header
Figure 9.12. End-to-end network architecture. For a color version of this figure...
Figure 9.13.
Delay versus number of UEs for low load (LoS and NLoS)
. For a color...
Figure 9.14. End-to-end network architecture. For a color version of this figure...
Figure 9.15. Delay versus number of UEs for high load (LoS and NLoS). For a colo...
Figure 9.16.
Throughput versus number of UEs for high load (LoS and NLoS)
. For a...
Figure 9.17. Delay versus number of UEs for LoS (low load and high load). For a ...
Figure 9.18. Delay versus number of UEs for NLoS (low load and high load). For a...
Figure 9.19.
Throughput versus number of UEs for LoS (low load and high load)
. F...
Figure 9.20.
Throughput versus number of UEs for NLoS (low load and high load)
. ...
Chapter 10
Figure 10.1. MEC node-based gossip protocol. For a color version of this figure,...
Figure 10.2. Gossip protocol. For a color version of this figure, see www.iste.c...
Figure 10.3. Labeling dataset using K-means clustering algorithm. For a color ve...
List of Tables
Chapter 1
Table 1.1.
Physiological time constant of different human senses
Chapter 4
Table 4.1.
Comparison of 6G and 5G (Lu and Zheng 2020)
Chapter 5
Table 5.1. The matrix of IoT classification and the performance requirements (Zh...
Table 5.2.
Comparison IoT protocols
Table 5.3.
Summary of IoT-TI comparison
Chapter 7
Table 7.1. Overview of computational techniques applied to tactile sensing signa...
Table 7.2.
QoS requirement for different media streams (Kokkonis
et al. 2018)
Table 7.3.
Frame field description (Osman
et al. 2008)
Table 7.4.
HoIP frame description (Gokhale
et al.
2013)
Table 7.5.
IRTP header description
Chapter 8
Table 8.1.
WNR use case for TI features
Chapter 9
Table 9.1.
IEEE 1918.1 and 5G Mapping Functions
Table 9.2.
Table of 5G NR use case parameters
Table 9.3.
Simulation parameters
Table 9.4.
SINR versus delay and throughput for NLoS (low load – 1,400)
Table 9.5.
SINR versus delay and throughput for NLoS (high load – 4,200)
Guide
Cover
Table of Contents
Title Page
Copyright
Foreword
Preface
List of Acronyms
Begin Reading
List of Authors
Index
End User License Agreement
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