Robotic Inner Signal Propagation and Random Access over Hybrid Access Scheme

摘要

This paper proposes a Hybrid Access Scheme (HAS) aiming to convert a future robot's backend communication system by a finite number of sensors instead of using a lot of wires. To replace this communication, the HAS needs to assure higher reliability within stringent low latency packet transmission. In this paper, the HAS utilizes the packet diversity principle and forward multiple copies of the same packet over the massive number of subcarrier channels. The HAS assigns the random accessing to select a subcarrier channel for general packet transmitting sensors. The audio and video sensors transmit packets over the dedicated channels to avoid collisions. The HAS system allows transmitting audio, video and general sensors simultaneously. The minimum number of subcarriers to satisfy the URLLC reliability requirement of 99.999% is evaluated for different packet duplications over different arrival condition.The HAS system's reliability and collision probability are evaluated in MATLAB simulator for different packet duplication over different arrival condition. Moreover, the signal propagation expressions are captured using ANSYS HFSS software for rectangular and circular transmission medium over the 900 MHz, 2.4 GHz, 24 GHz, and 55 GHz frequency bands for different structural configurations.