We evolve a methodology and define a metric to evaluate Tactile Internet based Cyber-Physical Systems or Tactile Cyber-Physical Systems (TCPS). Towards this goal, we adopt the step response analysis, a well-known control-theoretic method. The adoption includes replacing the human operator (or master) with a controller with known characteristics and analyzing its response to slave side step disturbances. The resulting step response curves demonstrate that the \textit{Quality of Control} (QoC) metric is sensitive to control loop instabilities and serves as a good indicator of cybersickness experienced by human operators. We demonstrate the efficacy of the proposed methodology and metric through experiments on a TCPS testbed. The experiments include assessing the suitability of several access technologies, intercontinental links, network topologies, network traffic conditions and testbed configurations. Further, we validate our claim of using QoC to predict and quantify cybersickness through experiments on a teleoperation setup built using Mininet and VREP.

中文翻译：

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基于触觉互联网的信息物理系统的控制质量评估

我们发展了一种方法并定义了一个度量标准来评估基于触觉互联网的网络物理系统或触觉网络物理系统 (TCPS)。为了实现这一目标，我们采用了著名的控制理论方法——阶跃响应分析。采用包括用具有已知特性的控制器替换人工操作员（或主），并分析其对从端阶跃干扰的响应。由此产生的阶跃响应曲线表明 \textit{Quality of Control} (QoC) 指标对控制回路不稳定性很敏感，并且可以作为人类操作员经历的网络病的良好指标。我们通过 TCPS 测试台上的实验证明了所提出的方法和指标的有效性。实验包括评估几种接入技术、洲际链路、网络拓扑、网络流量状况和测试平台配置。此外，我们通过对使用 Mininet 和 VREP 构建的遥操作设置进行实验，验证了我们使用 QoC 预测和量化网络病的说法。