RT-WiFi: Real-time high-speed communication protocol for wireless cyber-physical control applications

Yi Hung Wei, Quan Leng, Song Han, Aloysius K. Mok, Wenlong Zhang, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

84 Scopus citations

Abstract

Applying wireless technologies in control systems can significantly enhance the system mobility and reduce the deployment and maintenance cost. Existing wireless technology standards, however either cannot provide real-time guarantee on packet delivery or are not fast enough to support high-speed control systems which typically require 1kHz or higher sampling rate. Nondeterministic packet transmission and insufficiently high sampling rate will severely hurt the control performance. To address this problem, in this paper, we present our design and implementation of a real-time high-speed wireless communication protocol called RT-WiFi. RT-WiFi is a TDMA data link layer protocol based on IEEE 802.11 physical layer to provide deterministic timing guarantee on packet delivery and high sampling rate up to 6kHz. It incorporates configurable components for adjusting design trade-offs including sampling rate, latency variance, reliability, and compatibility to existing Wi-Fi networks, thus can serve as an ideal communication platform for supporting a wide range of high-speed wireless control systems. We implemented RT-WiFi on commercial off-the-shelf hardware and integrated it into a mobile gait rehabilitation system. Our extensive experiments demonstrate the effectiveness of RT-WiFi in providing deterministic packet delivery in both data link layer and application layer, which further eases the controller design and significantly improve the control performance.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE 34th Real-Time Systems Symposium, RTSS 2013
Pages140-149
Number of pages10
DOIs
StatePublished - Dec 1 2013
Externally publishedYes
EventIEEE 34th Real-Time Systems Symposium, RTSS 2013 - Vancouver, BC, Canada
Duration: Dec 3 2013Dec 6 2013

Publication series

NameProceedings - Real-Time Systems Symposium
ISSN (Print)1052-8725

Other

OtherIEEE 34th Real-Time Systems Symposium, RTSS 2013
CountryCanada
CityVancouver, BC
Period12/3/1312/6/13

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Networks and Communications

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  • Cite this

    Wei, Y. H., Leng, Q., Han, S., Mok, A. K., Zhang, W., & Tomizuka, M. (2013). RT-WiFi: Real-time high-speed communication protocol for wireless cyber-physical control applications. In Proceedings - IEEE 34th Real-Time Systems Symposium, RTSS 2013 (pp. 140-149). [6728869] (Proceedings - Real-Time Systems Symposium). https://doi.org/10.1109/RTSS.2013.22