CN109936874A - Uplink scheduling method for touch communication teleoperation system - Google Patents

Abstract

The invention provides an uplink scheduling method of a touch communication teleoperation system, which comprises the following steps: s1: initializing and setting parameters in the touch remote operation system; s2: establishing a QoE-delay model, and respectively giving the speed position information and force feedback information of the b-th control application and the utility value P (a, b, n) transmitted by using the nth resource block in the a-th scheduling period; s3: calculating the maximum allowable scheduling period number of the speed position information and the force feedback information of the control application bS4: speed location information of a scheduling control application; s5: judging whether resource blocks are not allocated and control applications still need to be scheduled; s6: scheduling force feedback information for the control application; s7: judging whether resource blocks are not allocated and control applications still need to be scheduled; if so, repeating S6; otherwise, ending the scheduling. The technical scheme of the invention solves the problem that the overall user experience quality is poor when multiple users exist in the same teleoperation system in the prior art.

Description

A tactile communication teleoperating system uplink scheduling method

technical field

The present invention relates to the field of communication technologies, in particular, to an uplink scheduling method of a tactile communication teleoperating system.

Background technique

As one of the most important use cases in the 5G communication network, the tactile communication network has been widely developed and applied in industrial and academic research due to its ultra-low latency and ultra-high reliability. Among them, human-in-the-loop tactile communication is a typical use case in tactile communication networks. A typical tactile teleoperation communication system consists of a master device, a slave device and a communication network. The main device (ie the operator) controls the robot to complete the operation in the remote complex environment, the speed and position information of the main device is transmitted to the remote robot in real time, and the sound, picture and tactile information (force or torque) collected by the remote robot are communicated via communication The network transmits back to the master device, which in turn creates an immersive effect. Due to the closed-loop state of the control loop in the communication network, the tactile teleoperating system is sensitive to delays. Therefore, it is necessary to combine the control field and the communication field to achieve the high sensitivity requirements of the tactile telecontrol system. Tactile teleoperation systems involve two typical control structures: Time-Domain Passivity Approach (TDPA) and Model-Mediated Teleoperation (MMT).

The time-domain passive structure is a passive control structure, which can not only ensure the stability of the teleoperating system in the variable delay network environment, but also ensure the stability of the system in the presence of packet loss. However, as the network delay increases, the system output energy also increases, and the passive controller will be frequently activated to reduce the energy, which will cause the force feedback value to drop rapidly and cause distortion. The model adjustment structure places the remote environment model in the local area of the master device, and the slave device estimates the model parameters in real time. When a new model parameter is obtained, the slave device transfers the parameters back to the master device, and then the master device updates according to the received model parameters. local model. The force feedback signal of the model adjustment structure is calculated by the local model, not transmitted through the network, and there is no communication delay. Therefore, the model adjustment structure can ensure the stability and transparency of the teleoperating system in any network environment, and the system performance depends on the matching degree between the local model and the remote environment. Therefore, under different delay conditions, TDPA and MMT have different effects on user quality of experience (QoE).

For the situation where multiple users exist in the same teleoperating system, in order to obtain the best overall user quality of experience (QoE), a new scheduling criterion is required, and users with different control structures are selected according to the delay conditions for scheduling to reduce the delay Impact on overall QoE.

SUMMARY OF THE INVENTION

According to the technical problem proposed above, an uplink scheduling method for a tactile communication teleoperating system is provided. The present invention mainly provides an uplink scheduling method on the basis of realizing control-communication fusion, that is, according to the QoE-delay model, a new scheduling criterion is designed for users with different control structures, so as to maximize the overall QoE requirements, and minimize the impact of round-trip delay on the quality of experience of teleoperating system users.

The technical means adopted in the present invention are as follows:

An uplink scheduling method for a tactile communication teleoperating system, comprising a tactile teleoperating system composed of a master device, a slave device and a communication network, including the following steps:

S1: Initialize and set various parameters in the tactile remote operating system, including:

The number B of control applications, the ID set B ₁ ={1,...,b,...,B ₁ } of the speed and position information B ₁ of the control application, and the ID set B ₂ of the force feedback information B ₂ of the control application _{= { 1} , . {1,...,k,...,K/2}, set of IDs of available resource blocks RB that can be allocated to B ₂ N ₂ ={K/2+1,...,k,... ,K}, the maximum allowable delay MTD, and the scheduling identifier α _abk used to indicate the allocation method of resource blocks in each scheduling period, α _abk is output after the resource block allocation corresponding to each scheduling period ends:

S2: Establish a QoE-delay model, including QoE-delay parameters; respectively give the utility value P(a of the speed position information and force feedback information of the bth control application transmitted by the nth resource block in the ath scheduling cycle ,b,n);

S3: Divide the maximum allowable delay MTD into several scheduling cycles, and calculate the maximum allowable number of scheduling cycles for the speed position information and force feedback information of control application b

in, In order to control the maximum allowable delay MTD of application b, Δ is the length of one scheduling period;

S4: Schedule the speed and position information of the control application. In the scheduling period a, select the control application b with the smallest utility value P(a, b, n) for scheduling:

Select a resource block allocation mode with the smallest corresponding QoE-delay parameter among the resource block allocation modes provided by the resource block allocation mode matrix F, as the control application b to allocate the most suitable resource block k transmission speed position information, and update the remaining The resource block ID set N ₁ of the resource allocation mode, that is, N ₁ ←N ₁ -{k};

When the actual transmission rate r _bk of the control application b is greater than the requested transmission rate R _b , that is, r _bk >R _b , it indicates that the transmission is completed;

When r _bk ≤R _b , it indicates that the transmission is not completed, and it is necessary to continue to allocate the optimal resource block transmission speed position information for the control application b in the remaining resource block sets;

If the current scheduling period cannot transmit all its data, continue to transmit in the next scheduling period until the speed and position information data transmission is completed, and the control application b should complete the transmission within the maximum allowable number of scheduling periods;

S5: Determine whether in the first K/2 resource blocks of the scheduling period a, whether there are resource blocks that have not been allocated and there are still control applications that need to be scheduled;

If there is, then repeat S4, continue to select the control application that needs to be scheduled to transmit the speed and position information; otherwise, go to S6;

S6: Schedule the force feedback information of the control application that has already transmitted the speed and position information. In the scheduling period a', select the control application b' with the smallest utility value P(a', b', n) for scheduling:

Select a resource block allocation mode with the smallest corresponding QoE-delay parameter among the resource block allocation modes provided by the resource block allocation mode matrix F, as the control application b' to allocate the most appropriate resource block k' to transmit force feedback information, and update the information at the same time. The resource block ID set N ₂ of the remaining resource allocation patterns, that is, N ₂ ←N ₂ -{k′};

When the actual transmission rate r _b'k' of the control application b' is greater than the requested transmission rate R _b' , that is, r _b'k' >R _b' , it indicates that the transmission is completed;

When r _{b'k' ≤R b'} , it means that the transmission is not completed, and it is necessary to continue to allocate the most suitable resource block transmission force feedback information for the control application b' in the remaining resource block set;

If the current scheduling period cannot transmit all its data, continue to transmit in the next scheduling period until the force feedback information data transmission is completed, and the control application b' should complete the transmission within the maximum allowable number of scheduling periods;

S7: Determine whether there are resource blocks that have not been allocated in the last K/2 resource blocks of the current scheduling period a' and there are still control applications that need to be scheduled; if so, repeat S6, and continue to select the control applications that need to be scheduled for Transmission of force feedback information; otherwise end the schedule and output the schedule identifier α _abk .

Further, the QoE-delay parameter P(μ,ν _p ) is expressed by the following formula:

Among them, μ is the round-trip delay of the communication system;

ν _p represents the control structure:

When p=1, it represents TDPA, A _ν1 =2.088, B _ν1 =-1.82, C _ν1 =58.48, D ν1 = _4.585 ;

When p=2, it represents MMT, A _ν2 =0, B _ν2 =-1.187, C _ν2 =793.7, D _ν2 =3.64;

The utility value P(a,b,n) is calculated by the following formula:

Further, the resource allocation pattern matrix F is expressed as:

F=[f ₁ ,...,f _n ,...,f _N ]

F∈{0, 1} ^M×N

f _n =[F _1n ,...,F _mn ,...,F _Mn ] ^T ∈{0,1} ^M×1 , 1≤n≤N, 1≤m≤M

Wherein, N represents the number of columns of matrix F, M represents the number of rows of matrix F, N=M(M+1)/2; N represents the allowed N resource block allocation modes; M represents the number of available resource blocks at the current moment; A "1" in matrix F indicates that the resource block at this location is allocated to the control application.

Compared with the prior art, the present invention has the following advantages:

1. The tactile communication teleoperating system uplink scheduling method provided by the present invention is not only applicable to 5G networks, but also applicable to networks with time-frequency resource structure (time-frequency resource structure) in all MAC layers, such as LTE networks, LTE networks -A network, OFDMA system, etc.

2. The uplink scheduling method of the tactile communication teleoperating system provided by the present invention can be directly applied to a wireless sensor actuator network, and has full compatibility with the network.

3. The uplink scheduling method of the tactile communication teleoperating system provided by the present invention converts the control structure of the teleoperating system into a communication application/service, and realizes the compatibility of the teleoperating system under different control structures.

4. The uplink scheduling method of the tactile communication teleoperating system provided by the present invention is based on the mathematical model of QoE and communication delay of the teleoperating system applicable to different control structures in the previous research, aiming at a plurality of teleoperating systems sharing the same network Therefore, a new scheduling method is proposed to maximize the overall QoE and reduce the impact of communication delay on the quality of user experience.

In summary, applying the technical solution of the present invention provides an uplink scheduling method on the basis of realizing control-communication fusion, that is, according to the QoE-delay model, a new scheduling criterion is designed for users with different control structures, In this way, the requirement of maximizing the overall QoE is achieved, and the impact of the round-trip delay on the user experience quality of the teleoperating system is minimized. Therefore, the technical solution of the present invention solves the problem of poor overall user experience quality in the prior art when multiple users exist in the same teleoperating system.

Based on the above reasons, the present invention can be widely promoted in the fields of communication technology and the like.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Figure 1 is the basic block diagram of a typical human-in-the-loop force feedback teleoperating system.

Figure 2 shows the assumed relationship between QoE performance and communication delay for different control schemes.

FIG. 3 is the setting of the subjective test system for experimental data according to Embodiment 1 of the present invention.

FIG. 4 is a subjective test experimental result under different control structures described in Embodiment 1 of the present invention.

FIG. 5 is a flow chart of the uplink scheduling method of the tactile communication network according to the present invention

FIG. 6 is a schematic diagram of a network cluster family.

FIG. 7 is an example of data used in the simulation experiment described in Embodiment 1 of the present invention.

FIG. 8 is an example of data used in the simulation experiment described in Embodiment 1 of the present invention.

FIG. 9 is the throughput comparison result between the proposed method and the existing proportional fair method when the number of users is fixed in the simulation experiment described in Embodiment 1 of the present invention.

FIG. 10 is a comparison result of throughput between the scheduling method of the present invention and the existing proportional fairness method when the number of resource blocks is fixed in the simulation experiment described in Embodiment 1 of the present invention.

11 is a comparison result of the total throughput of the scheduling method of the present invention and the existing proportional fairness method when the number of remote operation sessions is fixed in the simulation experiment described in Embodiment 1 of the present invention.

12 is a comparison result of the total throughput of the scheduling method of the present invention and the existing proportional fairness method when the number of resource blocks is fixed in the simulation experiment according to Embodiment 1 of the present invention.

13 is a comparison result of the delay between the scheduling method of the present invention and the existing proportional fairness method when the number of teleoperation sessions is fixed in the simulation experiment according to Embodiment 1 of the present invention.

14 is a comparison result of the delay between the scheduling method of the present invention and the existing proportional fairness method when the number of resource blocks is fixed in the simulation experiment according to Embodiment 1 of the present invention.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments are part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

Example 1

As shown in Figure 1, a typical human-in-the-loop force feedback teleoperating system includes a master device (ie, operator), a slave device (ie, remote robot), and a communication network. The operator manipulates and controls the robot to perform a series of teleoperations in a complex remote environment. The communication network transmits the operator's position and speed information to the remote robot in real time, and then transmits the audio, visual and tactile information perceived by the remote robot through the communication network ( such as force, torque, etc.) are transmitted back to the operator to provide an immersive experience. The operator feels the corresponding tactile information and makes corresponding judgment and adjustment of the current operation, so that the remote robot can complete the corresponding task.

Unlike traditional content-based data transfer, each teleoperating system needs to transmit bidirectional data: velocity and position information from the operator to the remote robot, and force feedback information from the remote robot to the operator. Therefore, in a teleoperating system with wirelessly connected endpoints, two uplinks and two downlinks are required, as shown in Figure 1. Assuming that all radio resources are managed by uplink and downlink schedulers in the base station (BS), a downlink scheduler is provided to couple with the proposed uplink scheduler. This means that as soon as the uplink scheduler schedules the teleoperation session, the downlink scheduler will serve the teleoperation system on a first-in, first-out basis. Therefore, the queuing delay introduced into the control loop by the downlink will be constant. Furthermore, the communication delay of the teleoperating system is completely determined by the uplink.

Figure 2 shows the assumed relationship between QoE performance and communication delay for different control schemes, and the relationship model between communication delay and QoE under different control structures after curve fitting based on subjective test data. From the perspective of communication, for Remote teleoperation systems with different control structures need to dynamically allocate radio resources according to the current communication delay to achieve the best performance, as shown in the dashed envelope curve in FIG. 2 .

As shown in FIG. 5 , the present invention provides an uplink scheduling method for a tactile communication network, including a tactile teleoperation system composed of a master device, a slave device and a communication network, and the method of maximizing the minimum value is adopted, including the following steps :

S1: Initialize and set various parameters in the tactile remote operating system, including:

The number B of control applications, the ID set B ₁ ={1,...,b,...,B ₁ } of the speed and position information B ₁ of the control application, and the ID set B ₂ of the force feedback information B ₂ of the control application _{= { 1} , . {1,...,k,...,K/2}, set of IDs of available resource blocks RB that can be allocated to B ₂ N ₂ ={K/2+1,...,k,... ,K}, the maximum allowable delay MTD, and the scheduling identifier α _abk used to indicate the allocation method of resource blocks in each scheduling period, α _abk is output after the resource block allocation corresponding to each scheduling period ends:

In this embodiment, the control application in English is control application, and there is also writing controlsession to control the session, which is equivalent to the user who needs to be served;

In this embodiment, after each scheduling period ends, a corresponding allocation method for the selected resource blocks will be obtained, and the corresponding allocation form will be output according to the conditions of the selected users and the selected resource blocks. The scheduling identifier refers to a scheduler During the period, whether a user uses a certain resource block, the number of output scheduling identifiers is determined according to the selection of the user and the resource block;

S2: Establish a QoE-delay model, including QoE-delay parameters; respectively give the utility value P(a of the speed position information and force feedback information of the bth control application transmitted by the nth resource block in the ath scheduling cycle ,b,n); the larger the utility value, the better the QoE, and the optimization goal of the scheduling algorithm is to maximize the sum of the utility values of all teleoperating system applications;

S3: Divide the maximum allowable delay MTD into several scheduling cycles, and calculate the maximum allowable number of scheduling cycles for the speed position information and force feedback information of control application b

in, In order to control the maximum allowable delay MTD of application b, Δ is the length of one scheduling period;

S4: Schedule the speed and position information of the control application. In the scheduling period a, select the control application b with the smallest utility value P(a, b, n) for scheduling:

Select a resource block allocation mode with the smallest corresponding QoE-delay parameter among the resource block allocation modes provided by the resource block allocation mode matrix F, as the control application b to allocate the most suitable resource block k transmission speed position information, and update the remaining The resource block ID set N ₁ of the resource allocation mode, that is, N ₁ ←N ₁ -{k};

When the actual transmission rate r _bk of the control application b is greater than the requested transmission rate R _b , that is, r _bk >R _b , it indicates that the transmission is completed;

When r _bk ≤R _b , it indicates that the transmission is not completed, and it is necessary to continue to allocate the optimal resource block transmission speed position information for the control application b in the remaining resource block sets;

If the current scheduling period cannot transmit all its data, continue to transmit in the next scheduling period until the speed and position information data transmission is completed, and the control application b should complete the transmission within the maximum allowable number of scheduling periods;

S5: Determine whether in the first K/2 resource blocks of the scheduling period a, whether there are resource blocks that have not been allocated and there are still control applications that need to be scheduled;

If there is, then repeat S4, continue to select the control application that needs to be scheduled to transmit the speed and position information; otherwise, go to S6;

S6: Schedule the force feedback information of the control application that has already transmitted the speed and position information. In the scheduling period a', select the control application b' with the smallest utility value P(a', b', n) for scheduling:

Select a resource block allocation mode with the smallest corresponding QoE-delay parameter among the resource block allocation modes provided by the resource block allocation mode matrix F, as the control application b' to allocate the most appropriate resource block k' to transmit force feedback information, and update the information at the same time. The resource block ID set N ₂ of the remaining resource allocation patterns, that is, N ₂ ←N ₂ -{k'};

When the actual transmission rate r _b'k' of the control application b' is greater than the requested transmission rate R _b' , that is, r _b'k' >R _b' , it indicates that the transmission is completed;

When r _{b'k' ≤R b'} , it means that the transmission is not completed, and it is necessary to continue to allocate the most suitable resource block transmission force feedback information for the control application b' in the remaining resource block set;

If the current scheduling period cannot transmit all its data, continue to transmit in the next scheduling period until the force feedback information data transmission is completed, and the control application b' should complete the transmission within the maximum allowable number of scheduling periods;

S7: Determine whether there are resource blocks that have not been allocated in the last K/2 resource blocks of the current scheduling period a' and there are still control applications that need to be scheduled; if so, repeat S6, and continue to select the control applications that need to be scheduled for Transmission of force feedback information; otherwise end the schedule and output the schedule identifier α _abk .

Further, in order to study the QoE performance of force feedback teleoperating systems with different control structures under different delay conditions, a virtual environment (VR) based on Chai3D library is built, the master device is Phantom Omni, and the slave device is a separate quality negligible. The haptic interconnect nodes and use a local PC to simulate a communication network with adjustable delays; return delays are set to 0 ms, 10 ms, 25 ms, 50 ms, 100 ms, and 200 ms. P(μ,ν _p ) is obtained by curve fitting of the subjective test results of a one-dimensional spring system that explores the relationship between QoE and round-trip delay. The specific performance is that systems with different control structures have different coefficients, resulting in their round-trip delay. The different influences on QoE are shown in Figure 3 for the subjective test system settings, and Figure 4 for the subjective test experimental results under different control structures. According to the experimental results, the QoE-delay parameter P(μ, ν _p ) is expressed by the following formula:

Among them, μ is the round-trip delay of the communication system;

ν _p represents the control structure:

When p=1, it represents TDPA, A _ν1 =2.088, B _ν1 =-1.82, C _ν1 =58.48, D ν1 = _4.585 ;

When p=2, it represents MMT, A _ν2 =0, B _ν2 =-1.187, C _ν2 =793.7, D _ν2 =3.64;

The utility value P(a,b,n) is the normalized result of P(μ,ν _p ) and is calculated by the following formula:

In this embodiment, the fixed delay times of two uplinks and two downlinks are used when transmitting the speed and position information. When the force feedback information is transmitted, since the transmission of the speed and position information has been completed, the previous The delay is known, and it is only necessary to use a fixed delay of an uplink and a downlink in the return link, which can be added to the delay caused by the transmission of the speed and position information.

Further, the concept of "network clustering" is introduced into the wireless resource allocation of the specific 5G network. As shown in Figure 6, it is assumed that the base station allocates at least A sub-channels to the control application to ensure real-time transmission of control signals and ensure control. The stability of the system, the scheduler is responsible for allocating A resource blocks to the control application in each scheduling cycle. Since the data of the same control application must be allocated to adjacent resource blocks, the present invention defines the resource allocation pattern matrix F as :

F=[f ₁ ,...,f _n ,...,f _N ]

F∈{0, 1} ^M×N

f _n =[F _1n ,...,F _mn ,...,F _Mn ] ^T ∈{0,1} ^M×1 , 1≤n≤N, 1≤m≤M

Wherein, N represents the number of columns of matrix F, M represents the number of rows of matrix F, N=M(M+1)/2; N represents the allowed N resource block allocation modes; M represents the number of available resource blocks at the current moment; "1" in matrix F indicates that the resource block of this position is allocated to the control application;

The following is an example to illustrate the calculation process of the resource allocation pattern matrix F:

If M=3, then N=6, that is, there are 3 available resource blocks, corresponding to 6 resource block allocation modes;

The six specific resource block allocation modes are:

(1,0,0): select resource block 1;

(0,1,0): select resource block 2;

(0,0,1): select resource block 3;

(1,1,0): select resource blocks 1 and 2;

(0,1,1): select resource blocks 2 and 3;

(1,1,1): Select resource blocks 1, 2 and 3.

According to the QoE-delay model, this embodiment designs a new scheduling method for users with different control structures (time domain passive structure TDPA or model adjustment structure MMT). Scheduling criteria can select users with different control structures for scheduling according to delay conditions; and can minimize the impact of communication delay on QoE, that is, minimize the value of QoE-delay model under limited bandwidth; this method transforms the original problem into In order to maximize the minimum value problem, according to the characteristics of the QoE-delay model, it is divided into forward and backward channel resource allocation.

The whole scheduling process is divided into two parts: position and velocity information resource scheduling and force feedback information resource scheduling; each part can be allocated up to N/2 resource blocks (let the number of allocable resource blocks in the whole process be N). Since the proposed QoE metric increases with the increase of delay, the algorithm selects the application with the smallest QoE value for scheduling, and then achieves the goal of maximizing the overall QoE.

In order to further verify the performance and effect of the technical solution of the present invention, the technical solution of the present invention is further described below through a simulation experiment in which the force feedback teleoperating systems under a plurality of different control structures share the same network:

The uplink scheduler is implemented using LTE-Sim, an open-source simulator for LTE networks, and its performance is evaluated by comparison with the PF algorithm.

The experimental scenario is a multi-cellular scenario consisting of two cells. The service radius of each cell is 1km, with uplink and downlink links. Each link has 25 sub-channels and a bandwidth of 5MHz. Remote operation sessions are served by the eNB in each cell. It is assumed that the two cells are adjacent to each other, the information exchange delay is negligible, and it is assumed that all teleoperation sessions share the same radio resources.

It is assumed that the data packet sizes of velocity position information and force feedback information in TDPA are 24 bytes and 24 bytes, respectively, while the packet sizes of velocity position information and force feedback information in MMT are 12 bytes and 48 bytes, respectively. According to the concept of network cluster family, in each TTI, one resource block (subchannel) will be allocated to only one teleoperation session. Furthermore, the simulation experiments introduce a downlink scheduler coupled with the proposed uplink scheduler, which is achieved by adding a constant delay of 7.5ms, a constant 17.5ms due to the handshake protocol during the channel access process Latency is also added to the system. Furthermore, considering the particularity of human-in-the-loop teleoperating systems, force feedback information can only be sent after the corresponding velocity-position information has been successfully received.

Three sets of service volumes (50% TDPA and 50% MMT) are chosen experimentally to evaluate the proposed uplink scheduler: 1) 6 teleoperation sessions per cell; 2) 8 teleoperations per cell Sessions; 3) 10 teleoperation sessions per cell. In the experiment, three characteristics of throughput, total throughput, and communication delay are selected to analyze the performance of the proposed algorithm, and the performance of the proposed algorithm is compared with the existing proportional fair (PF, Proportional Fair) algorithm, and its feasibility and superiority are further analyzed. .

The simulation results are shown in Figures 7 to 14. Examples of subjective test data are shown in Figures 7 and 8. As shown in Figure 9, for a fixed number of users, the throughput increases with the number of resource blocks, and the proposed scheduler outperforms the PF scheduler in all cases. Similar conclusions can also be drawn when the number of resource blocks is fixed, as shown in Figure 10. As shown in Figure 11, when the number of remote operation sessions is fixed, the total throughput of both schedulers increases with the increase of resource blocks. But the total throughput of the proposed scheduler is always greater than that of the PF scheduler. Similar conclusions can be drawn for the case of a fixed number of resource blocks, as shown in FIG. 12 . Since QoE is inversely proportional to communication delay, the performance of QoE can be judged by the change of communication delay, as shown in Figure 13. When the number of teleoperation sessions is fixed, the communication delay decreases as the number of resource blocks increases. But the communication delay of the proposed scheduler is always smaller than the smaller delay of the PF scheduler. When the number of resource blocks is fixed, the delay of the proposed uplink scheduler increases with the number of teleoperation sessions, but it can always keep its communication delay smaller than that of the PF scheduler, as shown in Figure 14.

Compared with the PF scheduling, the post-delay effect of the scheduling mechanism of the scheme of the present invention is reduced, so that the QoE is better than that of the PF scheduler, which proves the feasibility of the scheme of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some or all of the technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (3)

1. A touch-sensing communication teleoperation system uplink scheduling method comprises a touch-sensing teleoperation system composed of a master device, a slave device and a communication network, and is characterized by comprising the following steps:

s1: initializing and setting parameters in the touch remote operation system, comprising:

control application number B, speed position information B of control application₁ID set B of₁＝{1,...,b,...,B₁And force feedback information B of control application₂ID set B of₂＝{1,...,b,...,B₂Each scheduleThe number K of available resource blocks RB in the periodic TTI can be allocated to B₁ID set N of available resource blocks RB₁One may assign B to 1₂ID set N of available resource blocks RB₂K, a, and a scheduling identifier α indicating the allocation of resource blocks in each scheduling cycle_abk，α_abkAnd outputting after the resource block corresponding to each scheduling period is distributed:

s2: establishing a QoE-delay model comprising QoE-delay parameters; respectively providing the speed position information and the force feedback information of the b-th control application, and using the utility value P (a, b, n) transmitted by the nth resource block in the a-th scheduling period;

s3: dividing the maximum allowable delay MTD into a plurality of scheduling periods, and calculating the maximum allowable scheduling period number of the speed position information and the force feedback information of the control application b

Wherein,in order to control the maximum allowable delay MTD of the application b, delta is the length of one scheduling period;

s4: scheduling speed position information of the control application, and selecting the control application b with the minimum utility value P (a, b, n) for scheduling in a scheduling period a:

selecting one resource block allocation mode with the minimum QoE-delay parameter in the resource block allocation modes provided by the resource block allocation mode matrix F as the transmission speed position information of the most suitable resource block k allocated by the control application b, and updating the resources of the rest resource allocation modesSet of Block IDs N₁I.e. N₁←N₁-{k}；

When controlling the actual transmission rate r of the application b_bkGreater than the requested transmission rate R_bI.e. r_bk＞R_bWhen, it indicates that the transfer is complete;

when r is_bk≤R_bWhen the transmission is not finished, the transmission speed and the position information of the optimal resource block transmission speed need to be continuously distributed for the control application b in the rest resource block set;

if the current scheduling period can not transmit all the data, continuing to transmit in the next scheduling period until the speed and position information data transmission is completed, and controlling the application b to complete the transmission within the maximum allowable scheduling period number;

s5: judging whether resource blocks are not distributed and control applications still need to be scheduled in the first K/2 resource blocks of the scheduling period a;

if yes, repeating S4, and continuously selecting the control application needing to be scheduled to transmit the speed position information; otherwise, go to S6;

s6: scheduling force feedback information of the control application which has transmitted the completion speed position information, and selecting the control application b 'with the minimum utility value P (a', b ', n) for scheduling in a scheduling period a':

selecting one resource block allocation mode with the minimum QoE-delay parameter in the resource block allocation modes provided by the resource block allocation mode matrix F as the transmission force feedback information of the most suitable resource block k 'allocated by the control application b', and updating the resource block ID set N of the rest resource allocation modes₂I.e. N₂←N₂-{k′}；

When controlling the actual transmission rate r of the application b_b′k′Greater than the requested transmission rate R_b′I.e. r_b′k′＞R_b′When, it indicates that the transfer is complete;

when r is_b′k′≤R_b′When the transmission is not completed, the optimal resource block transmission force feedback information needs to be continuously distributed for the control application b' in the rest resource block set;

if the current scheduling period can not transmit all the data, continuing to transmit in the next scheduling period until the force feedback information data transmission is completed, and controlling the application b' to complete the transmission within the maximum allowable scheduling period number;

s7, judging whether there is resource block not distributed and still needs to be scheduled in the last K/2 resource blocks of the current scheduling period a', if so, repeating S6, continuing to select the control application needing to be scheduled to transmit force feedback information, otherwise, ending scheduling and outputting a scheduling identifier α_abk。

2. A touch-sensitive communication teleoperation system uplink scheduling method according to claim 1, characterized in that: QoE-delay parameter P (mu, v)_p) Expressed by the following formula:

wherein μ is the round-trip delay of the communication system;

ν_prepresentative control structure:

when p is 1, represents TDPA, A_ν1＝2.088，B_ν1＝-1.82，C_ν1＝58.48，D_ν1＝4.585；

When p is 2, it stands for MMT, A_ν2＝0，B_ν2＝-1.187，C_ν2＝793.7，D_ν2＝3.64；

The utility value P (a, b, n) is calculated by the following formula:

3. a touch-sensitive communication teleoperation system uplink scheduling method according to claim 1, characterized in that: the resource allocation pattern matrix F is represented as:

F＝[f₁,...,f_n,...,f_N]

F∈{0，1}^M×N

f_n＝[F_1n,...,F_mn,...,F_Mn]^T∈{0,1}^M×1,1≤n≤N,1≤m≤M

wherein N represents the number of columns of the matrix F, M represents the number of rows of the matrix F, and N is M (M + 1)/2; n represents the allowed N resource block allocation modes; m represents the number of available resource blocks at the current moment; a "1" in the matrix F indicates that the resource block at that location is allocated to the control application.