Tactile internet applications allow robotic devices to be remotely controlled over a communication medium with an unnoticeable time delay. In a bilateral communication, the acceptable round trip latency is usually in the order of 1ms up to 10ms depending on the application requirements. It is estimated that 70% of the total latency is generated by the communication network, and the remaining 30% is produced by master and slave devices. Thus, this paper aims to propose a strategy to reduce 30% of the total latency that is produced by such devices. The strategy is to apply reconfigurable computation using FPGAs to minimize the execution time of device-associated algorithms. With this in mind, this work presents a hardware reference model for modules that implement nonlinear positioning and force calculations as well as a tactile system formed by two robotic manipulators. In addition to presenting the implementation details, simulations and experimental tests are performed in order to validate the proposed model. Results associated with the FPGA sampling rate, throughput, latency, and post-synthesis occupancy area are analyzed.

中文翻译：

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可重构计算应用于触觉互联网的延迟减少

触觉互联网应用程序允许机器人设备通过通信介质以不明显的时间延迟进行远程控制。在双边通信中，可接受的往返延迟通常在 1ms 到 10ms 的数量级，具体取决于应用程序要求。据估计，总延迟的 70% 是由通信网络产生的，其余 30% 是由主从设备产生的。因此，本文旨在提出一种策略，以减少此类设备产生的总延迟的 30%。该策略是使用 FPGA 应用可重新配置的计算，以最大限度地减少设备相关算法的执行时间。考虑到这一点，这项工作为实现非线性定位和力计算的模块以及由两个机器人机械手形成的触觉系统提供了一个硬件参考模型。除了介绍实现细节外，还进行了模拟和实验测试，以验证所提出的模型。分析了与 FPGA 采样率、吞吐量、延迟和综合后占用区域相关的结果。