20,726 research outputs found
A Tradeoff Analysis of a Cloud-Based Robot Navigation Assistant Using Stereo Image Processing
The use of Cloud Computing for computation offloading
in the robotics area has become a field of interest today.
The aim of this work is to demonstrate the viability of cloud offloading
in a low level and intensive computing task: a vision-based
navigation assistance of a service mobile robot. In order to do so,
a prototype, running over a ROS-based mobile robot (Erratic by
Videre Design LLC) is presented. The information extracted from
on-board stereo cameras will be used by a private cloud platform
consisting of five bare-metal nodes with AMD Phenom 965 4
CPU, with the cloud middleware Openstack Havana. The actual
task is the shared control of the robot teleoperation, that is, the
smooth filtering of the teleoperated commands with the detected
obstacles to prevent collisions. All the possible offloading models
for this case are presented and analyzed. Several performance
results using different communication technologies and offloading
models are explained as well. In addition to this, a real navigation
case in a domestic circuit was done. The tests demonstrate that
offloading computation to the Cloud improves the performance
and navigation results with respect to the case where all processing
is done by the robot.Ministerio de EconomĂa y Competitividad TEC2012-37868-C04-02/0
Middleware platform for distributed applications incorporating robots, sensors and the cloud
Cyber-physical systems in the factory of the future
will consist of cloud-hosted software governing an agile
production process executed by autonomous mobile robots
and controlled by analyzing the data from a vast number of
sensors. CPSs thus operate on a distributed production floor
infrastructure and the set-up continuously changes with each
new manufacturing task. In this paper, we present our OSGibased
middleware that abstracts the deployment of servicebased
CPS software components on the underlying distributed
platform comprising robots, actuators, sensors and the cloud.
Moreover, our middleware provides specific support to develop
components based on artificial neural networks, a technique that
recently became very popular for sensor data analytics and robot
actuation. We demonstrate a system where a robot takes actions
based on the input from sensors in its vicinity
Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms
The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent âdevicesâ, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew âcognitive devicesâ are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications
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