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首頁> 外文期刊>Journal of network and computer applications >A time synchronization protocol for large-scale distributed embedded systems with low-precision clocks and neighbor-to-neighbor communications
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A time synchronization protocol for large-scale distributed embedded systems with low-precision clocks and neighbor-to-neighbor communications

機(jī)譯：具有低精度時(shí)鐘和鄰居間通信的大規(guī)模分布式嵌入式系統(tǒng)的時(shí)間同步協(xié)議

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In this paper, we propose the Modular Robot Time Protocol (MRTP), a network-wide time synchronization protocol for modular robots (a class of distributed embedded systems) with neighbor-to-neighbor communications and potentially low-precision clocks. Our protocol achieves its performance by combining several mechanisms: central time master election, fast and recursive propagation of synchronization waves along the edges of a breadth-first spanning-tree, low-level timestamping and per-hop compensation for communication delays using the most-appropriate method, and clock skew compensation using linear regression. We evaluate our protocol on the Slinky Blocks system both on hardware and through simulations. Experimental results show that MRTP can potentially manage real systems composed of up to 27, 775 Slinky Blocks. We observe that the synchronization precision depends on the hop distance to the time master, the synchronization periods and the number of synchronization points used for the linear regressions. Furthermore, we show that our protocol is able to keep a Slinky Blocks system synchronized to a few milliseconds, using few network resources at runtime, even-though the Blinky Blocks hardware clocks exhibit very poor accuracy and resolution. We compare MRTP to existing synchronization protocols ported to fit our system model. Simulation results show that MRTP can achieve better synchronization precision than the most precise compared protocols while sending more than half less messages in compact systems.
機(jī)譯：在本文中，我們提出了模塊化機(jī)器人時(shí)間協(xié)議（MRTP），這是一種用于具有鄰居間通信和潛在的低精度時(shí)鐘的模塊化機(jī)器人（一類分布式嵌入式系統(tǒng)）的全網(wǎng)時(shí)間同步協(xié)議。我們的協(xié)議通過結(jié)合以下幾種機(jī)制來實(shí)現(xiàn)其性能：中央時(shí)間主站選舉，同步波沿著廣度優(yōu)先的生成樹的邊緣快速遞歸傳播，低級(jí)時(shí)間戳和使用最大延遲的通信延遲進(jìn)行逐跳補(bǔ)償。適當(dāng)?shù)姆椒?，并使用線性回歸進(jìn)行時(shí)鐘偏斜補(bǔ)償。我們通過硬件和仿真評(píng)估Slinky Blocks系統(tǒng)上的協(xié)議。實(shí)驗(yàn)結(jié)果表明，MRTP可以潛在地管理由27個(gè)，775個(gè)Slinky塊組成的實(shí)際系統(tǒng)。我們觀察到同步精度取決于到時(shí)間主站的跳距，同步周期以及用于線性回歸的同步點(diǎn)的數(shù)量。此外，我們證明了我們的協(xié)議能夠在運(yùn)行時(shí)使用很少的網(wǎng)絡(luò)資源，使Slinky Blocks系統(tǒng)保持同步到幾毫秒，即使Blinky Blocks硬件時(shí)鐘顯示出非常差的精度和分辨率。我們將MRTP與移植到適合我們系統(tǒng)模型的現(xiàn)有同步協(xié)議進(jìn)行了比較。仿真結(jié)果表明，相比于最精確的協(xié)議，MRTP可以實(shí)現(xiàn)更好的同步精度，同時(shí)在緊湊型系統(tǒng)中發(fā)送的消息要少一半以上。

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