715 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 IngenierĂa Telemática por la Universidad Carlos III de MadridPresidente: Karl Holger.- Secretario: Joerg Widmer.- Vocal: Claudio Cicconett
Do we all really know what a fog node is? Current trends towards an open definition
Fog computing has emerged as a promising technology that can bring cloud applications closer to the physical IoT devices at the network edge. While it is widely known what cloud computing is, how data centers can build the cloud infrastructure and how applications can make use of this infrastructure, there is no common picture on what fog computing and particularly a fog node, as its main building block, really is. One of the first attempts to define a fog node was made by Cisco, qualifying a fog computing system as a “mini-cloud” located at the edge of the network and implemented through a variety of edge devices, interconnected by a variety, mostly wireless, communication technologies. Thus, a fog node would be the infrastructure implementing the said mini-cloud. Other proposals have their own definition of what a fog node is, usually in relation to a specific edge device, a specific use case or an application. In this paper, we first survey the state of the art in technologies for fog computing nodes, paying special attention to the contributions that analyze the role edge devices play in the fog node definition. We summarize and compare the concepts, lessons learned from their implementation, and end up showing how a conceptual framework is emerging towards a unifying fog node definition. We focus on core functionalities of a fog node as well as in the accompanying opportunities and challenges towards their practical realization in the near future.Postprint (author's final draft
Software Defined Networks based Smart Grid Communication: A Comprehensive Survey
The current power grid is no longer a feasible solution due to
ever-increasing user demand of electricity, old infrastructure, and reliability
issues and thus require transformation to a better grid a.k.a., smart grid
(SG). The key features that distinguish SG from the conventional electrical
power grid are its capability to perform two-way communication, demand side
management, and real time pricing. Despite all these advantages that SG will
bring, there are certain issues which are specific to SG communication system.
For instance, network management of current SG systems is complex, time
consuming, and done manually. Moreover, SG communication (SGC) system is built
on different vendor specific devices and protocols. Therefore, the current SG
systems are not protocol independent, thus leading to interoperability issue.
Software defined network (SDN) has been proposed to monitor and manage the
communication networks globally. This article serves as a comprehensive survey
on SDN-based SGC. In this article, we first discuss taxonomy of advantages of
SDNbased SGC.We then discuss SDN-based SGC architectures, along with case
studies. Our article provides an in-depth discussion on routing schemes for
SDN-based SGC. We also provide detailed survey of security and privacy schemes
applied to SDN-based SGC. We furthermore present challenges, open issues, and
future research directions related to SDN-based SGC.Comment: Accepte
A Survey on Data Plane Programming with P4: Fundamentals, Advances, and Applied Research
With traditional networking, users can configure control plane protocols to
match the specific network configuration, but without the ability to
fundamentally change the underlying algorithms. With SDN, the users may provide
their own control plane, that can control network devices through their data
plane APIs. Programmable data planes allow users to define their own data plane
algorithms for network devices including appropriate data plane APIs which may
be leveraged by user-defined SDN control. Thus, programmable data planes and
SDN offer great flexibility for network customization, be it for specialized,
commercial appliances, e.g., in 5G or data center networks, or for rapid
prototyping in industrial and academic research. Programming
protocol-independent packet processors (P4) has emerged as the currently most
widespread abstraction, programming language, and concept for data plane
programming. It is developed and standardized by an open community and it is
supported by various software and hardware platforms. In this paper, we survey
the literature from 2015 to 2020 on data plane programming with P4. Our survey
covers 497 references of which 367 are scientific publications. We organize our
work into two parts. In the first part, we give an overview of data plane
programming models, the programming language, architectures, compilers,
targets, and data plane APIs. We also consider research efforts to advance P4
technology. In the second part, we analyze a large body of literature
considering P4-based applied research. We categorize 241 research papers into
different application domains, summarize their contributions, and extract
prototypes, target platforms, and source code availability.Comment: Submitted to IEEE Communications Surveys and Tutorials (COMS) on
2021-01-2
Recommended from our members
Architectures and algorithms for dynamic overlay networks
Most of today’s Internet of Things (IoT) applications assume that data will be moved offdevices into centralized cloud platforms. While existing IoT systems leverage cloud-based analytics for meaningful data reasoning, the assumption that data should always be moved off the devices is problematic. The amount of data to be moved from devices over Internet gateways to cloud platforms is huge which potentially make it cost inefficient. In other scenarios, privacy concerns of customers or organizational rules complicate the process of transferring data to third-party data centers.This dissertation proposes architectures and dynamic overlay network algorithms for in-networkand edge processing of data offered by the globally available IoT devices and provides a global platform for meaningful and responsive data analysis and decision making. The proposed techniques shift IoT analytics from a ”collect data now and analyze it later” scenario to directlyproviding meaningful information from the in-network processing of devices data at or near thedevices. The techniques serve future IoT use cases including distributed context awareness, on-demand data analysis, and in-network decision making. The dissertation comprises three main components.The first component is a device management protocol for cloning devices’ data in proximateEdge Computing platforms. Unlike existing application-layer IoT management protocols theproposed protocol uses the LTE LTE-A radio frame structure, device-to-device communication,and IoT data properties to avoid excessive network access latency in existing technologies.The second component realizes distributed IoT analytics as overlay networks of devices clones. By means of virtual network embedding, it selects and interconnects devices’ clones to efficiently realize applications’ virtual topologies to achieve goals such as minimum latency, minimum infrastructure cost, or maximum infrastructure utilization.Finally, the dissertation presents a communication middleware that allows autonomous discovery, self-deployment, and online migration of devices’ clones across heterogeneous Edge computing platforms. The middleware ensures that communication latency between clones is kept minimum despite the uncontrolled variability of the network and hosting platforms conditions.We evaluate the proposed architectures and algorithms through simulations and prototypeimplementation of various components in controlled testbed environments, which we evaluateusing real user applications. We explore the feasibility of the proposed techniques from boththeoretical and practical perspectives.Keywords: Cloud Computing, Internet of Things, Algorithmic Game Theory, Compressive Sensin
- …