Modeling and Solution for Virtual Channel Scheduling

for Downlink Business

Yating Zhu1, Peng Wan2, Yu Chen3, Fei Tao1, and Lin Zhang1
1
School of Automation Science and Electrical Engineering,
Beihang University, Beijing 100191, China
my19900921@126.com,ftao@buaa.edu.cn,johnlin9999@163.com
2
Beijing Institute of Tracking and Telecommunications Technology,
Beijing 100094, China
wanpeng@bittt.cn
3
National Space Science Center,
Chinese Academy of Sciences, Beijing 100190,China
chenyu@nssc.ac.cn

Abstract. Virtual Channel (VC) facility in AOS protocol divides one physical
channel into multiple independent virtual channel. Virtual channel scheduling
(VCS) is an important approach to transfer large capacity of data efficiently. In
this work a comprehensive model for VCS is established, and the model con-
siders general optimal of quality of service (QoS) requirements for different da-
ta, including delay, jitter, throughput and loss packet rate. A genetic algorithm
(GA) based method is designed to solve the model, and a group of experiments
are conduced to test the established model and proposed method.

Keywords: Virtual channel scheduling, CCSDS AOS, modeling, Genetic

Algorithm.

1 Introduction

One target of space communication technology is to continue the exploration of

communication quality, especially to enhance Quality of Service (QoS) in space link.
Advanced Orbiting Systems (AOS) space data link protocol[1] corresponds to data
link layer in Open Systems Interconnection Reference Model (OSI). The former is
widely used in the creation of Agency and carries multiple classes of communication
data through space/ground, ground/space, and space/space data links. Virtual Channel
(VC) facility in AOS protocol permits one physical channel to be separated into mul-
tiple independent logical data channels, that is called a VC[2]. Thanks to VC facility,
the capacity of information transmission is expanded largely and the efficiency of the
channel is also increased obviously. For no recommendation about Virtual Channel
Scheduling (VCS) in Consultative Committee for Space Data Systems (CCSDS)
standards, how to schedule virtual channels is put forward seriously.
VCS has been under study since AOS protocol emerging. In terms of modeling,
CCSDS green book [3] proposed that input data capacity in VC equals the product of

S. Tanaka et al. (Eds.): AsiaSim 2014, CCIS 474, pp. 35–47, 2014.
© Springer-Verlag Berlin Heidelberg 2014
36 Y. Zhu et al.

data transmission rate and time. Based on this theory, European Space Agency ex-
plored a virtual channel multiplexing traffic simulation[4]. But others think Poisson
distribution[5] or Erlang distribution[6] is more suitable and reasonable to describe
the input process. Most modeling research centers on one or a few of QoS indicator
and involves in one or a few of data type. Delay indicator is analyzed with queue
model in [7] and [8]. Bie et al.[9] study different QoS indicators performance such
like delay, throughout and buffer requirement. However there is no research about
relation between those indicators. Moreover an increasing amount of data transferred
between space and ground, especially in downlink for larger amount of data, chal-
lenges us to enhance channel utilization. In AOS protocol each VC carries a certain
communication business that may have specific QoS requirements compared to those
carried on the other VCs.
As for scheduling algorithm, CCSDS only advises three scheduling schemes in-
cluding First Input First Output (FIFO), Absolute Priority (AP) and Polling Vec-
tor(PV) for SLE Forward Space Packets Protocol Service using TC-SDLP[10][11].
Nowadays VCS algorithm contains static scheduling and dynamic scheduling. Three
strategies exist in static scheduling, namely fully synchronous multiplexing, fully
asynchronous multiplexing and combination synchronous/ asynchronous multiplex-
ing[3]. Dynamic strategy is according to dynamic computing VC urgency and the
frame urgency[12][13]. But there are much more specific dynamic methods. NASA’s
Jet Propulsion Laboratory adds QoS classification capability between network and
MAC layers through VC to QoS MACHETE model[14][15]. The software model can
map IP streams to multiple VCs. Then users set different VC weights. Learning from
operating system scheduling, a new method called Multilevel Feedback Queue Sche-
duling algorithm[16] has been proposed. Besides, Zhao et al.[17] propose a method
based on packet multiplexing. Bi [18] gives a scheme of AOS cross layer transmission
system between network layer and data link layer. Those strategies don’t take com-
prehensive optimal of QoS into account.
Therefore, in this paper a novel model for VCS with four QoS indicators and six
kinds of data is built. To achieve comprehensive optimal of QoS, intelligent optimiza-
tion algorithm is designed to solve the model for its prominent searching ability.

2 Decision Modelling of Virtual Channel Scheduling

The Protocol Entity includes seven services and four data-handling functions as
shown in Fig.1. Specifically, Packet Service, Bitstream Service, Virtual Channel
Access (VCA) Service, Virtual Channel Operational Control Field(VC_OCF) Ser-
vice, Virtual Channel Frame(VCF) Service, Master Channel Frame(MCF) Service
and Insert Service are provided by AOS Space Data Link Protocol[1]. Packet Service
and Bitstream Service transfer variable-length data units which are fuzzy to service
provider. The remaining services, except Insert Service, transfer a sequence of for-
matted service data units that has fixed length. It seems that how to choose a kind of
services in Protocol Entity are related to the feature of data units. In term of the result
of those services, the same AOS transfer frames are got when various data units
 Modeling and Solution for Virtual Channel Scheduling for Downlink Business 37

access homologous service interface. The only difference is how many times AOS
transfer frame length is longer than data unit length. So we can still regard these mul-
tiple data units as the same data units handled by consistent service in our problem. In
addition Insert Service transfers small fixed-length octet-aligned data units isochro-
nously. These data are reserved in the Insert Zone of every frame. AOS Space Data
Link Protocol recommends Insert Zone approach should be used when channel rates
below 1-2 Mb/s[3]. There is a good solution for small data units.
Therefore, data units from data link layer or upper layer are recognized to be a se-
ries of n AOS transfer frames (n≥1). These AOS transfer frames filled up with differ-
ent VCs will be multiplexed together in one Master Channel. We assume that data
units are generated by only one space platform, so there is no Master Channel Multip-
lex. Maybe we have insert data, but it has no effect on Virtual Channel Multiplex.
Because insert zone is separated from transfer frame data field. So virtual channel
scheduling is treated as the sequencing problem about various VCs. Which VC should
be transferred first depends on our algorithm.

Fig. 1. Channel Tree of the AOS Space Data Link Protocol

2.1 The Criteria Considered in Virtual Channel Scheduling Problem

Advanced Orbiting Systems like manned and man-tended space stations, unmanned
space platforms and free-flying spacecraft occupies more than conventional missions
in space telecommunication. Communication businesses contain not only convention-
al telemetry and telecommand, but also image, video, audio, and large capacity of
data etc. In downlink there is no telecommand.
Quality of Service (QoS) is a comprehensive reflection of the service performance.
QoS indicators are measuring standard. We find QoS indicators for different commu-
nication businesses based on business feature. Our criteria for VCS is shown in
Table1.
38 Y. Zhu et al.

Table 1. The criteria for VCS about different businesses

type business feature of processing QoS
real-time real-time continuous, periodic, fixed-length data delay,
engineering telemetry units with low transmission rate packets loss rate
data
isochronal data image similar with the feature of streaming delay,
media, following Poisson distribution jitter,
packets loss rate
video periodic, fixed-length data units with delay,
uniform time and lower transmission jitter,
rate packets loss rate,
throughput
small capacity audio periodic, fixed-length data units with delay,
of isochronal uniform time and lower transmission jitter,
data rate. packets loss rate
large capacity delayed identified with real-time telemetry, long packets loss rate,
of data telemetry delay throughput
large long length, periodic, lager amount of packets loss rate,
capacity data units with highest transmission throughput
of data rate

2.2 The Comprehensive Model of Virtual Channel Scheduling

Virtual Channel Partition. Audio is transferred using insert service for its low
transmission rate. And others are transferred with consistent service in the view of the
result. Large capacity of data will be divided into four VCs for its large capacity of
data. Our VC partition is as follows.

Table 2. Virtual channel partition

business virtual channel
real-time telemetry VC0
delayed telemetry VC1
audio none
video VC2
image VC3
large capacity of data 1 VC4
large capacity of data 2 VC5
large capacity of data 3 VC6
large capacity of data 4 VC7

The Structure of Model Expression. In order to describe the VCS problem in detail,
the following model is presented. These notations and definitions are considered:
t : time slot duration
i: sequence number of VC
l: number of VCs
 Modeling and Solution for Virtual Channel Scheduling for Downlink Business 39

M: number of time slots

Lf: the AOS frame length
Lf : the data zone length of AOS frame
Lp : packet length of VCi
β : proportion of the data zone length of AOS frame and packet length of VCi
C: data transmission rate for downlink
L
Z: number of frame handling in every t , subject to t = Z (Z N )
C

Definition1. Matrix is a decision variable in solving VCS model.

( ) (M)
n n
n=
( ) (M)
n n

( ) 1, VCi is scheduled in kth time slot

n = (1)
0, others

Definition2. Matrix is a state variable of input data in VCS process. There are
four types of input data models:

─ For image and video, input data model can be described Possion distribution.
When S is the waiting time until data unit i arriving,

S =∑ X (2)

waiting time S follows Gamma /Г distribution with parameter λ and n [24]

.
( ) E N( )
InFr = = (3)

─ For real-time telemetry and delayed telemetry, input data model is a continuous
periodic process.
( )
InFr = (4)
L

─ For audio, input data model is a intermittent periodic process with the same num-
ber packets(n_packet_audio) at every arrival time(audio_time).
( ) ( )
InFr = InFr n_packet_audio, k audio_time (5)

─ For large capacity of data, input data model is a intermittent periodic process with
the random number packets (rand_packet_load) at every arrival time (load_time).
40 Y. Zhu et al.

( ) ( )
InFr = InFr rand_packet_load, k load_time (6)

Definition3. Matrix and are state variable of data storage and packets loss
in VCS process.
( ) ( ) ( )
if - +
( )
=0
( ) ( ) ( )
if - +
( ) ( ) ( ) ( ) ( )
= + - + -Z
else
( ) ( )
=
else
( )
=
( ) ( ) ( ) ( )
=

Definition4. Matrix is a state variable of input data in VCS process.

( ) ( ) ( )
if - +
( ) ( )
=
else
( ) ( ) ( ) ( ) ( )
=

QoS indicators are computed.

1. Delay
( )
M ∑M
Delay (n ) = (M) (7)
O F

2. Jitter
If we set w = SolveT(n ) which means interval between output frames in VCi,
(M)
O F
Jitter (n ) = max w w , j = 2, … 1 (8)
Z

3. Loss packets rate

( )
∑M FL
Loss (n ) = (M) (9)
O F

4. Throughput
The average efficiency of MPDU multiplexing is
E N (M ) M
ω = (M) = (M) (10)
I F I F

(M)
L L L L O F
Throughput (n ) = R ω (11)
L L M
 Modeling and Solution for Virtual Channel Scheduling for Downlink Business 41

Formulation.

Maximize ∑ w Throughput (n ) ∑ w Loss (n ) (12)

Subject to.
( )
∑ n =1 (13)

Jitter (n ) Jit (only when i =2,3) (14)

Delay (n ) Del (only when i=0,2,3) (15)

( )
∑M
c=B (16)
M
( )
∑M
B c 1.4 B (only when i = 1,2) (17)
M

3 The Solution Method about the Model of Virtual Channel

Scheduling

The model built in Section 2 is a combinatorial optimization model for its dis-
crete variable. At present there are two methods solving combinatorial optimization
problem, that is deterministic algorithm and approximate algorithm[15] as shown in
Tab.3. Our model has 15 child subject functions and 7 constraints. In the model de-
scription non-polynomial function is adopted which increases complexity for solving
the model. As a result Genetic Algorithm as one of the most widely used of intelligent
optimization algorithm is chosen to solve our model.

Table 3. The comparison among combinatorial optimization algorithms

type feature method
deterministic get a global optimal solution, integer programming,
algorithm be particular about problem model, circumscribed polyhedron,
tend to curse of dimensionality when solving cutting plane algorithm,
complex problem dynamic programming etc.
conventional can solve large scale of problem, local search,
heuristic tend to trap in local searching, greed method,
algorithm weak random hill climbing method etc.
intelligent can solve large scale of problem, simulated annealing,
optimization loose demand for objective function constraint, tabu search,
algorithm strong random ant colony optimization
genetic algorithm etc.

The original of Genetic Algorithm (GA) has been proposed by John Holland in
1975. GA is a kind of global optimal searching algorithm deriving from Darwin’s
biological evolution theory and Mendel’s genetics and mutation theory. Pseudo-code
for VSC model solved by GA is shown in Table 4.
42 Y. Zhu et al.

Table 4. Pseudo-code for VSC model solved by GA

// num number of population
// maxgen maximum generation
1 coding for time slot matrix n and probabilistic initialization for population
2 for pop[i] from 1 to num
3 compute expressions of QoS indicators
4 if(satisfy constraints)
5 return object value
6 else
7 return 0.0
8 while(generation < maxgen)
9 selection operator
10 crossover operator in one population
11 mutate operator
12 for pop[i] from 1 to num
13 compute expressions of QoS indicators
14 if(satisfy constraints)
15 return object value
16 else
17 return 0.0
18 output the time slot matrix n and QoS value

Compared to standard GA, the following three points are modified for solving
VCS.

1. Decimal coding
It assumed that a chromosome or population has M genes. M is the number of time
slots, and L is the number of VCs. Array gene[i] means VCj occupies the physical
channel in the ith time slot in the following equation. Decimal coding is suitable to our
problem for reducing dimension of solving variable.

gene i = j i Z|0 i ,j Z|0 j (18)

2. Probabilistic initialization for population

In the standard GA, initialization of population is equal probability. On account of
bandwidth constraint, equal probability initialization is not applicable at all. The
number of allocation of time slots is in proportion to bandwidth. We expect that the
higher upper bound of bandwidth constraint of VCi is allocated much more time slot.
If the upper bound of bandwidth constraint of VCj accounts for β of the total band-
width, gene i may be j in the probability β.

3. Crossover operator in one population

In basic crossover operator, child population is generated by two or more father popu-
lation substituting and recombining. But we must amend child population for severe
constraints and make sure new population is a feasible solution. It takes much time in
the amending population. That’s why we choose crossover operator in one population.
As shown Fig.2, we choose the same genes in two different parts of a population
and swap them. New population is satisfied with constraints and no adjustment is
needed.
 Modeling and Solution for Virtual Channel Scheduling for Downlink Business 43

7213 095746 9835 9835 095746 7213

Fig. 2. Crossover operator in one population

4 Experiment and Discussion

4.1 Parameters Setting in Experiments

For verifying the proposed model, some experiments are designed and tested. Our
parameters can be separated into three parts. One is scene parameters, another part in
data source parameters and the last part is algorithm parameters. The following data
and parameters refer to literatures.

Scene Parameters. Data transmission rate for downlink is very much higher than
transmission rate for uplink which approaches to 10Mbps. Because Reed-
Solomon(255,223) with interleaving I requires the frame length less than 223*I Byte
and interleaving I can be set 1~5 generally[16]. Common interleaving I=4 is chosen,
and frame length is fixed if there is no virtual fill. Besides 1200 time slots is set and
every time slot equals data transmission rate for downlink divided by 1200.

Data Source Parameters. Large capacity of data has the highest transmission rate
and at opposite real-time telemetry has smaller size of data and lower transmission
rate. With an eye to packet length increasing, we reserve a growing buffer capacity
from VC0 to VC7. Delay demand and jitter demand are set by user. More detail pa-
rameters are put in table.5.

Algorithm Parameters. According to GA recommend, we set parameters as follows.

Number of population equals 10 and maximum generation equals 50. Crossover prob-
ability and mutate probability are 0.8 and 0.15. Fifteen weights need be set when a
multi-object problem is transformed to a single object problem. Here weight value is
based on the degree of importance of different VCs which is shown in table.6. In fact
records about spacecraft operation will transferred with delayed telemetry. Delayed
telemetry is more crucial information than audio. So weight value of VC1 in through-
out is more than weight value of VC2. For the user, more throughout and less loss
packet rate is always expected. Because of maximized object function, weight of child
object function about throughout should be positive, and weight of child object func-
tion about loss packet rate should be negative. For the same sensitivity of GA fitness,
the latter weight is much more than the former. The effect on GA fitness function
depends on the absolute value of weight.
44 Y. Zhu et al.

Table 5. Data source parameters for different VCs in VCS

buffer bit rate Delay Jitter
VC (KB) (10E %) (/ms) demand Demand
(ms) (ms)
VC0 32 -6 \ 100 \
VC1 32 -6 \ \ \
VC2 64 -5 5 50 30
VC3 62 -6 0.3 50 50
Buffer Bit rate
VC (KB) (10E %) data source simulation
VC4 448 -6 interval of large capacity of data
VC5 256 -6 packet
VC6 256 -6 15 t
VC7 128 -6 period of large capacity of data packet
arrival 10*15 t

Table 6. Weight of child object function in VCS

VC Throughout Loss packet rate
VC0 \ -100.00
VC1 1.00 -100.00
VC2 0.25 -100.00
VC3 5.00 -100.00
VC4 0.10 -500.00
VC5 0.20 -200.00
VC6 0.20 -300.00
VC7 0.20 -100.00

4.2 Results and Discussion

Fifty experiments are carried on. How these indicators change in iteration process is
shown in Fig,3. The object in established model is to maximize the fitness value.
There are obvious four step of fitness value from Fig.3(a), and with algorithm itera-
tion fitness value is gradually increased. Because real-time telemetry needs fixed
bandwidth, delay is also a steady value and just video(VC3) and image(VC2) is
shown in Fig.3(b). The delay of them tends declining and to be a tolerant value. The
same trend happens in jitter indicator during iteration process which displays in
Fig.3(c). As for throughput and loss packet rate indicator, the iterative curve is much
more complex which shown in Fig.3(d) and (e). To complete comprehensive optimal
of QoS, some performance of business must be sacrificed. Therefore, sometimes
curve of throughput is going down, such like VC6 in Fig.3(d). On the other hand an
evident rise in the curve of VC6 happens in Fig.3(e). That is related to weighted fac-
tors set before.
The average result optimized by GA shows that throughput of VC1(delayed tele-
metry) and VC2(video) approaches their transmission rate and throughput of VC4-
7(large capacity of data) is much more than 50Mbps. Furthermore, packets loss rate of
different VCs is less than 10%. At the same time jitter and delay of VC2(video) and
VC3(image) are satisfied with our tolerance.
 Modeling and Solution for Virtual Channel Scheduling for Downlink Business 45

130

fitness
120

110

100

90
1 6 11 16 21 26 31 36 41 46 51
generation

(a)
1.5 5
4
1 3
t/ms

t/ms
2
0.5
1
0 0
1 6 11 16 21 26 31 36 41 46 51 1 6 11 16 21 26 31 36 41 46 51
generation generation
VC2 VC3 VC2 VC3
(b) (c)
12
120
%
Mbt/s

10
100

8
80

60 6

40 4

20 2

0 0
1 6 11 16 21 26 31 36 41 46 51 1 6 11 16 21 26 31 36 41 46 51
generation
generation
VC1 VC2 VC4 VC0 VC1 VC2 VC3
VC5 VC6 VC7 VC4 VC5 VC6 VC7

(d) (e)
Fig. 3. Change of fitness and indicators in iteration process (a) optimal value in iteration
process, (b) delay indicator value in iteration process, (c) jitter indicator value in iteration
process, (d) throughput indicator value in iteration process, (e) packet loss rate value in
iteration process
46 Y. Zhu et al.

5 Conclusion and Future Works

In this paper, a novel model for VCS is proposed and a valid method for the model is
investigated. In VCS model four QoS indicators and six kinds of data are considered
for implementing comprehensive optimal of QoS of several data types. An optimiza-
tion model is put forward for VCS and solved by GA which is studied widely.
Although the result of QoS indicators is satisfactory, the convergence of GA for
VCS problem needs to be improved and a stable solution should be guaranteed when
the program is running several times. Besides time cost of algorithm is also one of our
future works.

Acknowledgements. This work was financially supported by the National Key Tech-
nology Research and Development Program (No. 2011BAK16B03) and 863 program
(No.2013AA041302) of China.

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