Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness

Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems deployed from edge to cloud. This paper reviews new architectures and technologies that enable containerized robotic applications to seamlessly run at the edge or in the cloud. We also overview systems that include solutions from extension to ROS\,2 tooling to the integration of Kubernetes and ROS\,2. Another important trend is robot learning, and how new simulators and cloud simulations are enabling, e.g., large-scale reinforcement learning or distributed federated learning solutions. This has also enabled deeper integration of continuous interaction and continuous deployment (CI/CD) pipelines for robotic systems development, going beyond standard software unit tests with simulated tests to build and validate code automatically. We discuss the current technology readiness and list the potential new application scenarios that are becoming available. Finally, we discuss the current challenges in distributed robotic systems and list open research questions in the field

Fleets: Scalable Services in a Factored Operating System

Current monolithic operating systems are designed for uniprocessor systems, and their architecture reflects this. The rise of multicore and cloud computing is drastically changing the tradeoffs in operating system design. The culture of scarce computational resources is being replaced with one of abundant cores, where spatial layout of processes supplants time multiplexing as the primary scheduling concern. Efforts to parallelize monolithic kernels have been difficult and only marginally successful, and new approaches are needed. This paper presents fleets, a novel way of constructing scalable OS services. With fleets, traditional OS services are factored out of the kernel and moved into user space, where they are further parallelized into a distributed set of concurrent, message-passing servers. We evaluate fleets within fos, a new factored operating system designed from the ground up with scalability as the first-order design constraint. This paper details the main design principles of fleets, and how the system architecture of fos enables their construction. We describe the design and implementation of three critical fleets (network stack, page allocation, and file system) and compare with Linux. These comparisons show that fos achieves superior performance and has better scalability than Linux for large multicores; at 32 cores, fos's page allocator performs 4.5 times better than Linux, and fos's network stack performs 2.5 times better. Additionally, we demonstrate how fleets can adapt to changing resource demand, and the importance of spatial scheduling for good performance in multicores

Digital Twin Based Network Latency Prediction in Vehicular Networks

Network latency is a crucial factor affecting the quality of communications networks due to the irregularity of vehicular traffic. To address the problem of performance degradation or instability caused by latency in vehicular networks, this paper proposes a time delay prediction algorithm, in which digital twin technology is employed to obtain a large quantity of actual time delay data for vehicular networks and to verify autocorrelation. Subsequently, to meet the prediction conditions of the ARMA time series model, two neural networks, i.e., Radial basis function (RBF) and Elman networks, were employed to construct a time delay prediction model. The experimental results show that the average relative error of the RBF is 7.6%, whereas that of the Elman-NN is 14.2%. This indicates that the RBF has a better prediction performance, and a better real-time performance than the Elman-NN

Condition-based maintenance for major airport baggage systems

Purpose: The aim of this paper is to develop a contribution to knowledge that adds to theempirical evidence of predictive condition-based maintenance by demonstrating how theavailability and reliability of current assets can be improved without costly capital investment,resulting in overall system performance improvements.Methodology: The empirical, experimental approach, technical action research (TAR), wasdesigned to study a major Middle-Eastern airport baggage handling operation. A predictivecondition-based maintenance prototype station was installed to monitor the condition of ahighly complex system of static and moving assets.Findings. The research provides evidence that the performance frontier for airport baggagehandling systems can be improved using automated dynamic monitoring of the vibration anddigital image data on baggage trays as they pass a service station. The introduction of low-endinnovation, which combines advanced technology and low-cost hardware, reduced assetfailures in this complex, high speed operating environment.Originality/Value: The originality derives from the application of existing hardware with thecombination of Edge and Cloud computing software through architectural innovation resultingin adaptations to an existing baggage handling system within the context of a time-criticallogistics system.Keywords: IoT, Condition-based maintenance, Predictive maintenance, Edge computing, IoT,Technical Action Research, Theory of Performance Frontiers,Case Stud

IoT and Fog-Computing-Based Predictive Maintenance Model for Effective Asset Management in Industry 4.0 Using Machine Learning

The assets in Industry 4.0 are categorised into physical, virtual and human. The innovation and popularisation of ubiquitous computing enhance the usage of smart devices: RFID tags, QR codes, LoRa tags, etc. for assets identification and tracking. The generated data from Industrial Internet of Things (IIoT) eases information visibility and process automation in Industry 4.0. Virtual assets include the data produced from IIoT. One of the applications of the industrial big data is to predict the failure of manufacturing equipment. Predictive maintenance enables the business owner to decide such as repairing or replacing the component before an actual failure which affects the whole production line. Therefore, Industry 4.0 requires an effective asset management to optimise the tasks distributions and predictive maintenance model. This paper presents the Genetic Algorithm (GA) based resource management integrating with machine learning for predictive maintenance in fog computing. The time, cost and energy performance of GA along with MinMin, MaxMin, FCFS, RoundRobin are simulated in the FogWorkflowsim. The predictive maintenance model is built in two-class logistic regression using real-time datasets. The results demonstrate that the proposed technique outperforms MinMin, MaxMin, FCFS, RoundRobin in execution time, cost and energy usage. The execution time is 0.48%faster, 5.43% lower cost and energy usage is 28.10% lower in comparison with second-best results. The training and testing accuracy of the prediction model is 95.1% and 94.5%, respectively

Privacy Protection and Mobility Enhancement in Internet

Indiana University-Purdue University Indianapolis (IUPUI)The Internet has substantially embraced mobility since last decade. Cellular data network carries majority of Internet mobile access traffic and become the de facto solution of accessing Internet in mobile fashion, while many clean-slate Internet mobility solutions were proposed but none of them has been largely deployed. Internet mobile users increasingly concern more about their privacy as both researches and real-world incidents show leaking of communication and location privacy could lead to serious consequences. Just the communication itself between mobile user and their peer users or websites could leak considerable privacy of mobile user, such as location history, to other parties. Additionally, comparing to ordinary Internet access, connecting through cellular network yet provides equivalent connection stability or longevity. In this research we proposed a novelty paradigm that leverages concurrent far-side proxies to maximize network location privacy protection and minimize interruption and performance penalty brought by mobility.To avoid the deployment feasibility hurdle we also investigated the root causes impeding popularity of existing Internet mobility proposals and proposed guidelines on how to create an economical feasible solution for this goal. Based on these findings we designed a mobility support system offered as a value-added service by mobility service providers and built on elastic infrastructure that leverages various cloud aided designs, to satisfy economic feasibility and explore the architectural trade-offs among service QoS, economic viability, security and privacy