3 research outputs found
Testing AMQP protocol on unstable and mobile networks
The final publication is available at Springer via http://dx.doi.org/ 10.1007/978-3-319-11692-1_22AMQP is a middleware protocol extensively used for exchanging
messages in distributed applications. It provides an abstraction
of the different participating parts and simplifies communication
programming details. AMQP provides reliability features and alleviates
the coordination of different entities of an application.
However, implementations of this protocol have not been well tested in
the context of mobile or unstable networks. This paper is the starting
point of an experimental evaluation of AMQP protocol in such kind of
scenarios. Our goal is to identify the limits of applicability of this middleware,
assessing its the capacity in terms of message losses, latencies
or jitter, when wireless devices are interrupted and reconnected. This
evaluation is of interest for the upcoming applications in which personal
devices and vehicles will collaborate, forming part of large complex systems.Luzuriaga Quichimbo, JE.; Pérez, M.; Boronat, P.; Cano Escribá, JC.; Tavares De Araujo Cesariny Calafate, CM.; Manzoni, P. (2014). Testing AMQP protocol on unstable and mobile networks. En Internet and Distributed Computing Systems. Springer. 250-260. doi:10.1007/978-3-319-11692-1_22S250260O’Hara, J.: Toward a Commodity Enterprise Middleware. Communications Magazine (2007)Gusmeroli, S., Piccione, S., Rotondi, D.: IoT@Work automation middleware system design and architecture. In: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA (2012)Foundation OpenStack. AMQP and Nova (2014)Corporation IMatix. Security and Robustness (2014)Subramoni, H., Marsh, G., Narravula, S., Lai, P., Panda, D.K.: Design and evaluation of benchmarks for financial applications using advanced message queuing protocol (AMQP) over infiniband. In: 2008 Workshop on High Performance Computational Finance, WHPCF 2008 (2008)Appel, S., Sachs, K., Buchmann, A.: Towards benchmarking of amqp. In: Proceedings of the Fourth ACM International Conference on Distributed Event-Based Systems, pp. 99–100. ACM (2010)Fernandes, J.L., Lopes, I.C., Rodrigues, J.J.P.C., Ullah, S.: Performance evaluation of RESTful web services and AMQP protocol. In: IEEE ICUFN, pp. 810–815 (2013)Lee, S., Kim, H., Hong, D.K., Ju, H.: Correlation analysis of MQTT loss and delay according to QoS level. In: International Conference on Information Networking, pp. 714–717 (2013)Inc. Pivotal Software. Messaging that just works (2014
A distributed architecture for unmanned aerial systems based on publish/subscribe messaging and simultaneous localisation and mapping (SLAM) testbed
A dissertation submitted in fulfilment for the degree of Master of Science.
School of Computational and Applied Mathematics, University of the Witwatersrand, Johannesburg, South Africa, November 2017The increased capabilities and lower cost of Micro Aerial Vehicles (MAVs) unveil big opportunities for a rapidly growing number of civilian and commercial applications. Some missions require direct control using a receiver in a point-to-point connection, involving one or very few MAVs. An alternative class of mission is remotely controlled, with the control of the drone automated to a certain extent using mission planning software and autopilot systems.
For most emerging missions, there is a need for more autonomous, cooperative control of MAVs, as well as more complex data processing from sensors like cameras and laser scanners. In the last decade, this has given rise to an extensive research from both academia and industry. This research direction applies robotics and computer vision concepts to Unmanned Aerial Systems (UASs). However, UASs are often designed for specific hardware and software, thus providing limited integration, interoperability and re-usability across different missions. In addition, there are numerous open issues related to UAS command, control and communication(C3), and multi-MAVs.
We argue and elaborate throughout this dissertation that some of the recent standardbased publish/subscribe communication protocols can solve many of these challenges and meet the non-functional requirements of MAV robotics applications. This dissertation assesses the MQTT, DDS and TCPROS protocols in a distributed architecture of a UAS control system and Ground Control Station software. While TCPROS has been the leading robotics communication transport for ROS applications, MQTT and DDS are lightweight enough to be used for data exchange between distributed systems of aerial robots. Furthermore, MQTT and DDS are based on industry standards to foster communication interoperability of “things”. Both protocols have been extensively presented to address many of today’s needs related to networks based on the internet of things (IoT). For example, MQTT has been used to exchange data with space probes, whereas DDS was employed for aerospace defence and applications of smart cities.
We designed and implemented a distributed UAS architecture based on each publish/subscribe protocol TCPROS, MQTT and DDS. The proposed communication systems were tested with a vision-based Simultaneous Localisation and Mapping (SLAM) system involving three Parrot AR Drone2 MAVs. Within the context of this study, MQTT and DDS messaging frameworks serve the purpose of abstracting UAS complexity and heterogeneity. Additionally, these protocols are expected to provide low-latency communication and scale up to meet the requirements of real-time remote sensing applications. The most important contribution of this work is the implementation of a complete distributed communication architecture for multi-MAVs. Furthermore, we assess the viability of this architecture and benchmark the performance of the protocols in relation to an autonomous quadcopter navigation testbed composed of a SLAM algorithm, an extended Kalman filter and a PID controller.XL201
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A service orientated architecture and wireless sensor network approach applied to the measurement and visualisation of a micro injection moulding process. Design, development and testing of an ESB based micro injection moulding platform using Google Gadgets and business processes for the integration of disparate hardware systems on the factory shop floor
Factory shop floors of the future will see a significant increase in interconnected devices for monitoring and control. However, if a Service Orientated Architecture (SOA) is implemented on all such devices then this will result in a large number of permutations of services and composite services. These services combined with other business level components can pose a huge challenge to manage as it is often difficult to keep an overview of all the devices, equipment and services. This thesis proposes an SOA based novel assimilation architecture for integrating disparate industrial hardware based processes and business processes of an enterprise in particular the plastics machinery environment. The key benefits of the proposed architecture are the reduction of complexity when integrating disparate hardware platforms; managing the associated services as well as allowing the Micro Injection Moulding (µIM) process to be monitored on the web through service and data integration. An Enterprise Service Bus (ESB) based middleware layer integrates the Wireless Sensor Network (WSN) based environmental and simulated machine process systems with frontend Google Gadgets (GGs) based web visualisation applications. A business process framework is proposed to manage and orchestrate the resulting services from the architecture.
Results from the analysis of the WSN kits in terms of their usability and reliability showed that the Jennic WSN was easy to setup and had a reliable communication link in the polymer industrial environment with the PER being below 0.5%. The prototype Jennic WSN based µIM process monitoring system had limitations when monitoring high-resolution machine data, therefore a novel hybrid integration architecture was proposed. The assimilation architecture was implemented on a distributed server based test bed. Results from test scenarios showed that the architecture was highly scalable and could potentially allow a large number of disparate sensor based hardware systems and services to be hosted, managed, visualised and linked to form a cohesive business process