1,200 research outputs found
Towards edge robotics: the progress from cloud-based robotic systems to intelligent and context-aware robotic services
Current robotic systems handle a different range of applications such as video surveillance, delivery
of goods, cleaning, material handling, assembly, painting, or pick and place services. These systems
have been embraced not only by the general population but also by the vertical industries to
help them in performing daily activities. Traditionally, the robotic systems have been deployed in
standalone robots that were exclusively dedicated to performing a specific task such as cleaning the
floor in indoor environments. In recent years, cloud providers started to offer their infrastructures
to robotic systems for offloading some of the robot’s functions. This ultimate form of the distributed
robotic system was first introduced 10 years ago as cloud robotics and nowadays a lot of robotic solutions
are appearing in this form. As a result, standalone robots became software-enhanced objects
with increased reconfigurability as well as decreased complexity and cost. Moreover, by offloading
the heavy processing from the robot to the cloud, it is easier to share services and information from
various robots or agents to achieve better cooperation and coordination.
Cloud robotics is suitable for human-scale responsive and delay-tolerant robotic functionalities
(e.g., monitoring, predictive maintenance). However, there is a whole set of real-time robotic applications
(e.g., remote control, motion planning, autonomous navigation) that can not be executed with
cloud robotics solutions, mainly because cloud facilities traditionally reside far away from the robots.
While the cloud providers can ensure certain performance in their infrastructure, very little can be
ensured in the network between the robots and the cloud, especially in the last hop where wireless
radio access networks are involved. Over the last years advances in edge computing, fog computing,
5G NR, network slicing, Network Function Virtualization (NFV), and network orchestration are stimulating
the interest of the industrial sector to satisfy the stringent and real-time requirements of their
applications. Robotic systems are a key piece in the industrial digital transformation and their benefits
are very well studied in the literature. However, designing and implementing a robotic system
that integrates all the emerging technologies and meets the connectivity requirements (e.g., latency,
reliability) is an ambitious task.
This thesis studies the integration of modern Information andCommunication Technologies (ICTs)
in robotic systems and proposes some robotic enhancements that tackle the real-time constraints of
robotic services. To evaluate the performance of the proposed enhancements, this thesis departs
from the design and prototype implementation of an edge native robotic system that embodies the concepts of edge computing, fog computing, orchestration, and virtualization. The proposed edge
robotics system serves to represent two exemplary robotic applications. In particular, autonomous
navigation of mobile robots and remote-control of robot manipulator where the end-to-end robotic
system is distributed between the robots and the edge server. The open-source prototype implementation
of the designed edge native robotic system resulted in the creation of two real-world testbeds
that are used in this thesis as a baseline scenario for the evaluation of new innovative solutions in
robotic systems.
After detailing the design and prototype implementation of the end-to-end edge native robotic
system, this thesis proposes several enhancements that can be offered to robotic systems by adapting
the concept of edge computing via the Multi-Access Edge Computing (MEC) framework. First, it
proposes exemplary network context-aware enhancements in which the real-time information about
robot connectivity and location can be used to dynamically adapt the end-to-end system behavior to
the actual status of the communication (e.g., radio channel). Three different exemplary context-aware
enhancements are proposed that aim to optimize the end-to-end edge native robotic system. Later,
the thesis studies the capability of the edge native robotic system to offer potential savings by means of
computation offloading for robot manipulators in different deployment configurations. Further, the
impact of different wireless channels (e.g., 5G, 4G andWi-Fi) to support the data exchange between a
robot manipulator and its remote controller are assessed.
In the following part of the thesis, the focus is set on how orchestration solutions can support
mobile robot systems to make high quality decisions. The application of OKpi as an orchestration algorithm
and DLT-based federation are studied to meet the KPIs that autonomously controlledmobile
robots have in order to provide uninterrupted connectivity over the radio access network. The elaborated
solutions present high compatibility with the designed edge robotics system where the robot
driving range is extended without any interruption of the end-to-end edge robotics service. While the
DLT-based federation extends the robot driving range by deploying access point extension on top of
external domain infrastructure, OKpi selects the most suitable access point and computing resource
in the cloud-to-thing continuum in order to fulfill the latency requirements of autonomously controlled
mobile robots.
To conclude the thesis the focus is set on how robotic systems can improve their performance by
leveraging Artificial Intelligence (AI) and Machine Learning (ML) algorithms to generate smart decisions.
To do so, the edge native robotic system is presented as a true embodiment of a Cyber-Physical
System (CPS) in Industry 4.0, showing the mission of AI in such concept. It presents the key enabling
technologies of the edge robotic system such as edge, fog, and 5G, where the physical processes are
integrated with computing and network domains. The role of AI in each technology domain is identified
by analyzing a set of AI agents at the application and infrastructure level. In the last part of the
thesis, the movement prediction is selected to study the feasibility of applying a forecast-based recovery
mechanism for real-time remote control of robotic manipulators (FoReCo) that uses ML to infer
lost commands caused by interference in the wireless channel. The obtained results are showcasing
the its potential in simulation and real-world experimentation.Programa de Doctorado en IngenierÃa Telemática por la Universidad Carlos III de MadridPresidente: Karl Holger.- Secretario: Joerg Widmer.- Vocal: Claudio Cicconett
Toward 6G TK Extreme Connectivity: Architecture, Key Technologies and Experiments
Sixth-generation (6G) networks are evolving towards new features and
order-of-magnitude enhancement of systematic performance metrics compared to
the current 5G. In particular, the 6G networks are expected to achieve extreme
connectivity performance with Tbps-scale data rate, Kbps/Hz-scale spectral
efficiency, and s-scale latency. To this end, an original three-layer 6G
network architecture is designed to realise uniform full-spectrum cell-free
radio access and provide task-centric agile proximate support for diverse
applications. The designed architecture is featured by super edge node (SEN)
which integrates connectivity, computing, AI, data, etc. On this basis, a
technological framework of pervasive multi-level (PML) AI is established in the
centralised unit to enable task-centric near-real-time resource allocation and
network automation. We then introduce a radio access network (RAN) architecture
of full spectrum uniform cell-free networks, which is among the most attractive
RAN candidates for 6G TK extreme connectivity. A few most promising key
technologies, i.e., cell-free massive MIMO, photonics-assisted Terahertz
wireless access and spatiotemporal two-dimensional channel coding are further
discussed. A testbed is implemented and extensive trials are conducted to
evaluate innovative technologies and methodologies. The proposed 6G network
architecture and technological framework demonstrate exciting potentials for
full-service and full-scenario applications.Comment: 15 pages, 12 figure
Experimental Validation and Proof-of-concept of 5G Dense Small Cells Networks in Indoor Environments
Project Final Report – FREEDOM ICT-248891
This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.Preprin
Edge inference for UWB ranging error correction using autoencoders
Indoor localization knows many applications, such as industry 4.0, warehouses, healthcare, drones, etc., where high accuracy becomes more critical than ever. Recent advances in ultra-wideband localization systems allow high accuracies for multiple active users in line-of-sight environments, while they still introduce errors above 300 mm in non-line-of-sight environments due to multi-path effects. Current work tries to improve the localization accuracy of ultra-wideband through offline error correction approaches using popular machine learning techniques. However, these techniques are still limited to simple environments with few multi-path effects and focus on offline correction. With the upcoming demand for high accuracy and low latency indoor localization systems, there is a need to deploy (online) efficient error correction techniques with fast response times in dynamic and complex environments. To address this, we propose (i) a novel semi-supervised autoencoder-based machine learning approach for improving ranging accuracy of ultra-wideband localization beyond the limitations of current improvements while aiming for performance improvements and a small memory footprint and (ii) an edge inference architecture for online UWB ranging error correction. As such, this paper allows the design of accurate localization systems by using machine learning for low-cost edge devices. Compared to a deep neural network (as state-of-the-art, with a baseline error of 75 mm) the proposed autoencoder achieves a 29% higher accuracy. The proposed approach leverages robust and accurate ultra-wideband localization, which reduces the errors from 214 mm without correction to 58 mm with correction. Validation of edge inference using the proposed autoencoder on a NVIDIA Jetson Nano demonstrates significant uplink bandwidth savings and allows up to 20 rapidly ranging anchors per edge GPU
Estimation of Web Proxy Response Times in Community Networks Using Matrix Factorization Algorithms
Producción CientÃficaIn community networks, users access the web using a proxy selected from a list, normally without regard to its performance. Knowing which proxies offer good response times for each client would improve the user experience when navigating, but would involve intensive probing that would in turn cause performance degradation of both proxies and the network. This paper explores the feasibility of estimating the response times for each client/proxy pair by probing only a few of the existing pairs and then using matrix factorization. To do so, response times are collected in a community network emulated on a testbed platform, then a small part of these measurements are used to estimate the remaining ones through matrix factorization. Several algorithms are tested; one of them achieves estimation accuracy with low computational cost, which renders its use feasible in real networks.Ministerio de Ciencia, Innovación y Universidades - Fondo Europeo de Desarrollo Regional (grants TIN2017-85179-C3-2-R and TIN2016-77836-C2-2-R)Generalitat de Catalunya (contract AGAUR SGR 990
Dense Moving Fog for Intelligent IoT: Key Challenges and Opportunities
As the ratification of 5G New Radio technology is being completed, enabling
network architectures are expected to undertake a matching effort. Conventional
cloud and edge computing paradigms may thus become insufficient in supporting
the increasingly stringent operating requirements of
\emph{intelligent~Internet-of-Things (IoT) devices} that can move unpredictably
and at high speeds. Complementing these, the concept of fog emerges to deploy
cooperative cloud-like functions in the immediate vicinity of various moving
devices, such as connected and autonomous vehicles, on the road and in the air.
Envisioning gradual evolution of these infrastructures toward the increasingly
denser geographical distribution of fog functionality, we in this work put
forward the vision of dense moving fog for intelligent IoT applications. To
this aim, we review the recent powerful enablers, outline the main challenges
and opportunities, and corroborate the performance benefits of collaborative
dense fog operation in a characteristic use case featuring a connected fleet of
autonomous vehicles.Comment: 7 pages, 5 figures, 1 table. The work has been accepted for
publication in IEEE Communications Magazine, 2019. Copyright may be
transferred without notice, after which this version may no longer be
accessibl
On the Road to 6G: Visions, Requirements, Key Technologies and Testbeds
Fifth generation (5G) mobile communication systems have entered the stage of commercial development, providing users with new services and improved user experiences as well as offering a host of novel opportunities to various industries. However, 5G still faces many challenges. To address these challenges, international industrial, academic, and standards organizations have commenced research on sixth generation (6G) wireless communication systems. A series of white papers and survey papers have been published, which aim to define 6G in terms of requirements, application scenarios, key technologies, etc. Although ITU-R has been working on the 6G vision and it is expected to reach a consensus on what 6G will be by mid-2023, the related global discussions are still wide open and the existing literature has identified numerous open issues. This paper first provides a comprehensive portrayal of the 6G vision, technical requirements, and application scenarios, covering the current common understanding of 6G. Then, a critical appraisal of the 6G network architecture and key technologies is presented. Furthermore, existing testbeds and advanced 6G verification platforms are detailed for the first time. In addition, future research directions and open challenges are identified for stimulating the on-going global debate. Finally, lessons learned to date concerning 6G networks are discussed
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