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TIM : a novel quality of service metric for tactile internet

Kees Kroep, Vineet Gokhale (UGent) , Ashutosh Simha, R Venkatesha Prasad and Vijay S Rao
(2023) PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023. p.199-208
Author
Organization
Abstract
Tactile Internet (TI) envisions communicating haptic sensory information and kinesthetic feedback over the network and is expected to transfer human skills remotely. For mission-critical TI applications, the network latency is commonly mandated to be between 1-10 ms, due to the sensitivity of human touch, and the packet delivery ratio to be 99.99999%, failing which can lead to catastrophic outcomes. However, with humans-in-the-loop, their dexterity and adaptability to varying responses to stimuli under different network conditions, measuring the performance of a TI session only with latency and packet losses are insufficient and presents an incorrect representation of the experience of the TI application. To develop an objective measure of the quality of TI sessions, we propose a framework that models TI applications as networked control systems, including humans-in-the-loop. We derive a closedform expression for measuring the difference between the application performance in ideal and non-ideal network conditions. Based on Weber’s law of Just Noticeable Difference, we provide a metric called TIM to estimate the impact of the network on haptic feedback. We implemented TIM on multiple applications on a TI testbed to show that our approach is feasible and TIM strongly follows real subjective measurements. Further, we propose a channel compensation spring based on TIM, to alleviate the network conditions’ negative effects. We demonstrate the efficacy of the channel compensation spring in improving the user experience. We also present implementation notes for TI application developers.
Keywords
teleoperation, QoS, user experience, Tactile internet

Citation

Please use this url to cite or link to this publication:

MLA
Kroep, Kees, et al. “TIM : A Novel Quality of Service Metric for Tactile Internet.” PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023, Association for Computing Machinery (ACM), 2023, pp. 199–208, doi:10.1145/3576841.3585917.
APA
Kroep, K., Gokhale, V., Simha, A., Prasad, R. V., & Rao, V. S. (2023). TIM : a novel quality of service metric for tactile internet. PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023, 199–208. https://doi.org/10.1145/3576841.3585917
Chicago author-date
Kroep, Kees, Vineet Gokhale, Ashutosh Simha, R Venkatesha Prasad, and Vijay S Rao. 2023. “TIM : A Novel Quality of Service Metric for Tactile Internet.” In PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023, 199–208. Association for Computing Machinery (ACM). https://doi.org/10.1145/3576841.3585917.
Chicago author-date (all authors)
Kroep, Kees, Vineet Gokhale, Ashutosh Simha, R Venkatesha Prasad, and Vijay S Rao. 2023. “TIM : A Novel Quality of Service Metric for Tactile Internet.” In PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023, 199–208. Association for Computing Machinery (ACM). doi:10.1145/3576841.3585917.
Vancouver
1.
Kroep K, Gokhale V, Simha A, Prasad RV, Rao VS. TIM : a novel quality of service metric for tactile internet. In: PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023. Association for Computing Machinery (ACM); 2023. p. 199–208.
IEEE
[1]
K. Kroep, V. Gokhale, A. Simha, R. V. Prasad, and V. S. Rao, “TIM : a novel quality of service metric for tactile internet,” in PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023, San Antonio, TX, USA, 2023, pp. 199–208.
@inproceedings{01HKW2R50EYVVM195V3QVYMKT7,
  abstract     = {{Tactile Internet (TI) envisions communicating haptic sensory information and kinesthetic feedback over the network and is expected
to transfer human skills remotely. For mission-critical TI applications, the network latency is commonly mandated to be between
1-10 ms, due to the sensitivity of human touch, and the packet delivery ratio to be 99.99999%, failing which can lead to catastrophic
outcomes. However, with humans-in-the-loop, their dexterity and
adaptability to varying responses to stimuli under different network
conditions, measuring the performance of a TI session only with
latency and packet losses are insufficient and presents an incorrect
representation of the experience of the TI application.
To develop an objective measure of the quality of TI sessions,
we propose a framework that models TI applications as networked
control systems, including humans-in-the-loop. We derive a closedform expression for measuring the difference between the application performance in ideal and non-ideal network conditions. Based
on Weber’s law of Just Noticeable Difference, we provide a metric
called TIM to estimate the impact of the network on haptic feedback.
We implemented TIM on multiple applications on a TI testbed to
show that our approach is feasible and TIM strongly follows real
subjective measurements. Further, we propose a channel compensation spring based on TIM, to alleviate the network conditions’
negative effects. We demonstrate the efficacy of the channel compensation spring in improving the user experience. We also present
implementation notes for TI application developers.}},
  author       = {{Kroep, Kees and Gokhale, Vineet and Simha, Ashutosh and Prasad, R Venkatesha and Rao, Vijay S}},
  booktitle    = {{PROCEEDINGS OF THE 2023 ACM/IEEE 14TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, WITH CPS-IOTWEEK 2023}},
  isbn         = {{9798400700361}},
  keywords     = {{teleoperation,QoS,user experience,Tactile internet}},
  language     = {{eng}},
  location     = {{San Antonio, TX, USA}},
  pages        = {{199--208}},
  publisher    = {{Association for Computing Machinery (ACM)}},
  title        = {{TIM : a novel quality of service metric for tactile internet}},
  url          = {{http://doi.org/10.1145/3576841.3585917}},
  year         = {{2023}},
}
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