Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform

In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance capability, the target destination for each robot is provided by a global planner. The global planner and the ground vehicles (robots) constitute a multi agent system (MAS) which communicate with each other over a wireless network. Three different approaches are explored for implementation. The first two approaches make use of the distributed computing based Networked Robotics architecture and communication framework of Robot Operating System (ROS) itself while the third approach uses Rapyuta Cloud Robotics framework for this implementation. The comparative performance of these approaches are analyzed through simulation as well as real world experiment with actual robots. These analyses provide an in-depth understanding of the inner working of the Cloud Robotics Platform in contrast to the usual ROS framework. The insight gained through this exercise will be valuable for students as well as practicing engineers interested in implementing similar systems else where. In the process, we also identify few critical limitations of the current Rapyuta platform and provide suggestions to overcome them.Comment: 14 pages, 15 figures, journal pape

D5.3 European funded activities interoperability public engineering report

This deliverable explains the WaterInnEU approach to standardization and interoperability issues in the water domain and it exposes the proposal solution for integrating data from different heterogeneous sources into a centralized hydrological model execution. This deliverable describes the final implemented into the RiBaSE OGC Pilot

Towards a Cyber-Physical Manufacturing Cloud through Operable Digital Twins and Virtual Production Lines

In last decade, the paradigm of Cyber-Physical Systems (CPS) has integrated industrial manufacturing systems with Cloud Computing technologies for Cloud Manufacturing. Up to 2015, there were many CPS-based manufacturing systems that collected real-time machining data to perform remote monitoring, prognostics and health management, and predictive maintenance. However, these CPS-integrated and network ready machines were not directly connected to the elements of Cloud Manufacturing and required human-in-the-loop. Addressing this gap, we introduced a new paradigm of Cyber-Physical Manufacturing Cloud (CPMC) that bridges a gap between physical machines and virtual space in 2017. CPMC virtualizes machine tools in cloud through web services for direct monitoring and operations through Internet. Fundamentally, CPMC differs with contemporary modern manufacturing paradigms. For instance, CPMC virtualizes machining tools in cloud using remote services and establish direct Internet-based communication, which is overlooked in existing Cloud Manufacturing systems. Another contemporary, namely cyber-physical production systems enable networked access to machining tools. Nevertheless, CPMC virtualizes manufacturing resources in cloud and monitor and operate them over the Internet. This dissertation defines the fundamental concepts of CPMC and expands its horizon in different aspects of cloud-based virtual manufacturing such as Digital Twins and Virtual Production Lines. Digital Twin (DT) is another evolving concept since 2002 that creates as-is replicas of machining tools in cyber space. Up to 2018, many researchers proposed state-of-the-art DTs, which only focused on monitoring production lifecycle management through simulations and data driven analytics. But they overlooked executing manufacturing processes through DTs from virtual space. This dissertation identifies that DTs can be made more productive if they engage directly in direct execution of manufacturing operations besides monitoring. Towards this novel approach, this dissertation proposes a new operable DT model of CPMC that inherits the features of direct monitoring and operations from cloud. This research envisages and opens the door for future manufacturing systems where resources are developed as cloud-based DTs for remote and distributed manufacturing. Proposed concepts and visions of DTs have spawned the following fundamental researches. This dissertation proposes a novel concept of DT based Virtual Production Lines (VPL) in CPMC in 2019. It presents a design of a service-oriented architecture of DTs that virtualizes physical manufacturing resources in CPMC. Proposed DT architecture offers a more compact and integral service-oriented virtual representations of manufacturing resources. To re-configure a VPL, one requirement is to establish DT-to-DT collaborations in manufacturing clouds, which replicates to concurrent resource-to-resource collaborations in shop floors. Satisfying the above requirements, this research designs a novel framework to easily re-configure, monitor and operate VPLs using DTs of CPMC. CPMC publishes individual web services for machining tools, which is a traditional approach in the domain of service computing. But this approach overcrowds service registry databases. This dissertation introduces a novel fundamental service publication and discovery approach in 2020, OpenDT, which publishes DTs with collections of services. Experimental results show easier discovery and remote access of DTs while re-configuring VPLs. Proposed researches in this dissertation have received numerous citations both from industry and academia, clearly proving impacts of research contributions

A Framework for Test & Evaluation of Autonomous Systems Along the Virtuality-Reality Spectrum

Test & Evaluation of autonomous vehicles presents a challenge as the vehicles may have emergent behavior and it is frequently difficult to ascertain the reason for software decisions. Current Test & Evaluation approaches for autonomous systems place the vehicles in various operating scenarios to observe their behavior. However, this introduces dependencies between design and development lifecycle of the autonomous software and physical vehicle hardware. Simulation-based testing can alleviate the necessity to have physical hardware; however, it can be costly when transitioning the autonomous software to and from a simulation testing environment. The objective of this thesis is to develop a reusable framework for testing autonomous software such that testing can be conducted at various levels of mixed reality provided the framework components are sufficient to support data required by the autonomous software. The paper describes the design of the software framework and explores its application through use cases

Towards Data Sharing across Decentralized and Federated IoT Data Analytics Platforms

In the past decade the Internet-of-Things concept has overwhelmingly entered all of the fields where data are produced and processed, thus, resulting in a plethora of IoT platforms, typically cloud-based, that centralize data and services management. In this scenario, the development of IoT services in domains such as smart cities, smart industry, e-health, automotive, are possible only for the owner of the IoT deployments or for ad-hoc business one-to-one collaboration agreements. The realization of "smarter" IoT services or even services that are not viable today envisions a complete data sharing with the usage of multiple data sources from multiple parties and the interconnection with other IoT services. In this context, this work studies several aspects of data sharing focusing on Internet-of-Things. We work towards the hyperconnection of IoT services to analyze data that goes beyond the boundaries of a single IoT system. This thesis presents a data analytics platform that: i) treats data analytics processes as services and decouples their management from the data analytics development; ii) decentralizes the data management and the execution of data analytics services between fog, edge and cloud; iii) federates peers of data analytics platforms managed by multiple parties allowing the design to scale into federation of federations; iv) encompasses intelligent handling of security and data usage control across the federation of decentralized platforms instances to reduce data and service management complexity. The proposed solution is experimentally evaluated in terms of performances and validated against use cases. Further, this work adopts and extends available standards and open sources, after an analysis of their capabilities, fostering an easier acceptance of the proposed framework. We also report efforts to initiate an IoT services ecosystem among 27 cities in Europe and Korea based on a novel methodology. We believe that this thesis open a viable path towards a hyperconnection of IoT data and services, minimizing the human effort to manage it, but leaving the full control of the data and service management to the users' will

Attributes of Big Data Analytics for Data-Driven Decision Making in Cyber-Physical Power Systems

Big data analytics is a virtually new term in power system terminology. This concept delves into the way a massive volume of data is acquired, processed, analyzed to extract insight from available data. In particular, big data analytics alludes to applications of artificial intelligence, machine learning techniques, data mining techniques, time-series forecasting methods. Decision-makers in power systems have been long plagued by incapability and weakness of classical methods in dealing with large-scale real practical cases due to the existence of thousands or millions of variables, being time-consuming, the requirement of a high computation burden, divergence of results, unjustifiable errors, and poor accuracy of the model. Big data analytics is an ongoing topic, which pinpoints how to extract insights from these large data sets. The extant article has enumerated the applications of big data analytics in future power systems through several layers from grid-scale to local-scale. Big data analytics has many applications in the areas of smart grid implementation, electricity markets, execution of collaborative operation schemes, enhancement of microgrid operation autonomy, management of electric vehicle operations in smart grids, active distribution network control, district hub system management, multi-agent energy systems, electricity theft detection, stability and security assessment by PMUs, and better exploitation of renewable energy sources. The employment of big data analytics entails some prerequisites, such as the proliferation of IoT-enabled devices, easily-accessible cloud space, blockchain, etc. This paper has comprehensively conducted an extensive review of the applications of big data analytics along with the prevailing challenges and solutions

SciTech News Volume 71, No. 1 (2017)

Columns and Reports From the Editor 3 Division News Science-Technology Division 5 Chemistry Division 8 Engineering Division Aerospace Section of the Engineering Division 9 Architecture, Building Engineering, Construction and Design Section of the Engineering Division 11 Reviews Sci-Tech Book News Reviews 12 Advertisements IEEE

From Sensor to Observation Web with Environmental Enablers in the Future Internet

This paper outlines the grand challenges in global sustainability research and the objectives of the FP7 Future Internet PPP program within the Digital Agenda for Europe. Large user communities are generating significant amounts of valuable environmental observations at local and regional scales using the devices and services of the Future Internet. These communities’ environmental observations represent a wealth of information which is currently hardly used or used only in isolation and therefore in need of integration with other information sources. Indeed, this very integration will lead to a paradigm shift from a mere Sensor Web to an Observation Web with semantically enriched content emanating from sensors, environmental simulations and citizens. The paper also describes the research challenges to realize the Observation Web and the associated environmental enablers for the Future Internet. Such an environmental enabler could for instance be an electronic sensing device, a web-service application, or even a social networking group affording or facilitating the capability of the Future Internet applications to consume, produce, and use environmental observations in cross-domain applications. The term ?envirofied? Future Internet is coined to describe this overall target that forms a cornerstone of work in the Environmental Usage Area within the Future Internet PPP program. Relevant trends described in the paper are the usage of ubiquitous sensors (anywhere), the provision and generation of information by citizens, and the convergence of real and virtual realities to convey understanding of environmental observations. The paper addresses the technical challenges in the Environmental Usage Area and the need for designing multi-style service oriented architecture. Key topics are the mapping of requirements to capabilities, providing scalability and robustness with implementing context aware information retrieval. Another essential research topic is handling data fusion and model based computation, and the related propagation of information uncertainty. Approaches to security, standardization and harmonization, all essential for sustainable solutions, are summarized from the perspective of the Environmental Usage Area. The paper concludes with an overview of emerging, high impact applications in the environmental areas concerning land ecosystems (biodiversity), air quality (atmospheric conditions) and water ecosystems (marine asset management)

Environmental Observing Systems for Assessing Impacts of Land Use Change

The purpose of this research is to evaluate the application of technology solutions for enabling environmental research. This project develops a complete environmental observing system in support of an investigation of the hydrological and ecological impacts of land use change on the coast of South Carolina. The land use change study is an ongoing multi-disciplinary effort involving the collection of a large number of monitored and sampled parameters at Bannockburn Plantation, which is located near the City of Georgetown in South Carolina. Long term monitoring will support a hydrological and ecological assessment of the study site before, during, and after proposed residential and commercial development. There are three primary objectives of this work. The first is the comprehensive instrumentation of a portion of the Bannockburn study site for hydrological parameters. The second is the implementation of a wireless sensor network to support the remote acquisition of monitored data. The third objective is the creation of a reliable and robust software solution for transmitting and distributing real time observation data. Collectively, these three objectives provide a complete environmental observing system. Results of this work will benefit land use change research by providing access to real time observation data and enabling the integration of powerful analysis tools. This research will provide a basis for the development of future environmental observation systems