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Measurements to Support Performance Evaluation of Wireless Communications in Tunnels for Urban Search and Rescue Robots

Published

Author(s)

Catherine A. Remley, Galen H. Koepke, Dennis G. Camell, George Hough

Abstract

We describe methods for evaluating the performance of the wireless link used for control and telemetry for urban search and recue robots. These methods are based on identification and evaluation of performance metrics that describe impairments to the wireless link. The type and level of each impairment are derived from measurement data in a given environment, here a subterranean tunnel. We illustrate how parameters are extracted from the measurement data to determine specific values for the performance metrics and discuss how these values can be used to assess, verify, or predict robot performance. Our data collection methods include both single-frequency and wideband channel-characterization tests, as well as tests of telemetry and control of a robot in the tunnel environment. Using measured data, we demonstrate methods to verify propagation models of both single-frequency path loss and channel capacity. Once such models have been verified, they can be used for predictive evaluation of robot performance in other environments, such as in tunnels of various sizes, materials, and surface roughness.
Citation
Performance Evaluation and Benchmarking of Intelligent Systems
Publisher Info
Springer Publishing Company, New York, NY

Keywords

Multipath, radiowave propagation, RMS delay spread, robot, urban search and rescue, wireless communication, wireless system

Citation

Remley, C. , Koepke, G. , Camell, D. and Hough, G. (2009), Measurements to Support Performance Evaluation of Wireless Communications in Tunnels for Urban Search and Rescue Robots, Performance Evaluation and Benchmarking of Intelligent Systems, Springer Publishing Company, New York, NY, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=901365 (Accessed July 27, 2021)
Created September 4, 2009, Updated February 19, 2017