1,021 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 Ingeniería Telemática por la Universidad Carlos III de MadridPresidente: Karl Holger.- Secretario: Joerg Widmer.- Vocal: Claudio Cicconett
Development of a High-Fidelity Simulation Environment for Shadow-Mode Assessments of Air Traffic Concepts
This paper describes the Shadow-Mode Assessment Using Realistic Technologies for the National Airspace System (SMART-NAS) Test Bed. The SMART-NAS Test Bed is an air traffic simulation platform being developed by the National Aeronautics and Space Administration (NASA). The SMART-NAS Test Bed's core purpose is to conduct high-fidelity, real-time, human-in-the-loop and automation-in-the-loop simulations of current and proposed future air traffic concepts for the United States' Next Generation Air Transportation System called NextGen. The setup, configuration, coordination, and execution of realtime, human-in-the-loop air traffic management simulations are complex, tedious, time intensive, and expensive. The SMART-NAS Test Bed framework is an alternative to the current approach and will provide services throughout the simulation workflow pipeline to help alleviate these shortcomings. The principle concepts to be simulated include advanced gate-to-gate, trajectory-based operations, widespread integration of novel aircraft such as unmanned vehicles, and real-time safety assurance technologies to enable autonomous operations. To make this possible, SNTB will utilize Web-based technologies, cloud resources, and real-time, scalable, communication middleware. This paper describes the SMART-NAS Test Bed's vision, purpose, its concept of use, and the potential benefits, key capabilities, high-level requirements, architecture, software design, and usage
Contributing to the pathway towards 5G experimentation with an SDN-controlled network box
Καθώς η απαίτηση σε ευρυζωνικές υπηρεσίες κινητών επικοινωνιών αυξάνεται ραγδαία, τα υπάρχοντα δίκτυα κινητών επικοινωνιών πλησιάζουν τα όριά τους κάνοντας επιτακτική την ανάγκη εξέλιξής τους η οποία θα επέλθει με την τεχνολογική άφιξη της επόμενης γενιάς κινητών επικοινωνιών, ευρέως γνωστής ως 5G. Το 5G μεταφέρει όλες εκείνες τις δυνατότητες οι οποίες είναι απαραίτητες για να καλυφθούν οι συνεχώς αυξανόμενες ανάγκες σε ευρυζωνικές υπηρεσίες, να υποστηρίξουν το Internet of Things καθώς και να ενοποιήσουν ετερογενείς υπηρεσίες σε διαφορετικές βιομηχανίες.
Η παρούσα διπλωματική εργασία στοχεύει να παρουσιάσει το “Network in a box”, ένα καινοτόμο εργαλείο που αναπτύξαμε στο εργαστήριο, το οποίο βασίζεται επάνω στους θεμέλιους λίθους του 5G, το SDN και το NFV. Με το SDN να είναι η νέα προσέγγιση στα δίκτυα κινητών επικοινωνιών, ο έλεγχος διαχωρίζεται από τα δεδομένα παρέχοντας τη δυνατότητα οποιεσδήποτε αποφάσεις ελέγχου, να λαμβάνονται κεντρικά, μετατρέποντας έτσι τις κλασικές δικτυακές συσκευές σε απλά προωθητικά στοιχεία του δικτύου. Η συγκεκριμένη διάταξη μιμείται ένα πραγματικό δίκτυο, το οποίο διαθέτει δυνατότητες αυτο-οργάνωσης και αυτο-βελτίωσης, προσομοιώνοντας τη λειτουργία του 5G δικτύου. Το συγκεκριμένο εργαλείο είναι επίσης ικανό να παράσχει KPI μετρικές του 5G δικτύου κάτω από πραγματικές συνθήκες ενόσω αληθινές δικτυακές συσκευές είναι συνδεδεμένες σε αυτό.
Η δομή της παρούσας διπλωματικής εργασίας αναλύεται σε πέντε κεφάλαια. Το πρώτο κεφάλαιο παρουσιάζει τις προκλήσεις που σύντομα θα κληθούν να αντιμετωπίσουν τα δίκτυα κινητών επικοινωνιών και πώς αυτές μπορούν να καλυφθούν με την τεχνολογία του 5G. Το δεύτερο κεφάλαιο εισάγει την τάση στην αγορά των κινητών επικοινωνιών που διαφένεται πίσω από την επερχόμενη άφιξη του 5G, αποκαλύπτοντας το επιχειρηματικό πλαίσιο για επιχειρήσεις, καταναλωτές και συνεργασίες όπως επίσης και κάποιες περιπτώσεις χρήσης που αντικατοπτρίζουν την διαρκή εξέλιξη στις ευρυζωνικές υπηρεσίες κινητών επικοινωνιών. Το τρίτο κεφάλαιο εμπεριέχει μια μικρή επισκόπηση των τρέχοντων έργων πάνω στο 5G, τα οποία ξεκίνησαν υπό την αιγίδα της Ευρωπαϊκής Επιτροπής με τη συνεργασία προμηθευτών τεχνολογίας επικοινωνιών, παρόχων υπηρεσιών, μικρομεσαίων επιχειρήσεων και πανεπιστημίων. Γίνεται επίσης αναφορά στις βασικές τεχνολογίες του 5G και στις δραστηριότητες προτυποποίησής του. Προχωρώντας στο τέταρτο κεφάλαιο, περιγράφουμε σε βάθος την αρχιτεκτονική του 5G δικτύου, αναλύοντας τα SDN, NFV, MANO και εξετάζουμε πώς αυτά συνεισφέρουν στη βιωσιμότητα του δικτύου. Τέλος, στο πέμπτο κεφάλαιο εισάγουμε μια καινοτόμο ιδέα που αναπτύξαμε στο εργαστήριο δικτύων του πανεπιστημίου μας, ένα πλήρως αυτόνομο δικτυακό εργαλείο, το “Network in a box”. Παρουσιάζουμε σε βάθος πώς αυτός ο server μπορεί να εγκατασταθεί και να λειτουργήσει καθώς και τις δυνατότητές του κάτω από πραγματικές συνθήκες λειτουργίας του δικτύου, ενώ λαμβάνουν χώρα υποβάθμιση ποιότητας ή μη-διαθεσιμότητα στις δικτυακές ζεύξεις, παρέχοντας επίσης μετρικές από τη λειτουργία του δικτύου σε πραγματικό χρόνο.As the demand in mobile broadband is tremendously increased and the heterogeneity of the services to be covered is growing rapidly, current mobile networks are close to their limits imposing the need of an evolution which is going to be introduced by the next generation technology, the ITU IMT-2020, well known as 5G. 5G brings all those capabilities required to cover the increased mobile broadband needs, support the Internet of Things and bind heterogeneous services in different industries.
This diploma thesis aims at presenting the “Network in a box”, an innovative tool we developed which is based on the key 5G principles, SDN and NFV. With Software Defined Networking (SDN) being the new approach in mobile networks, control and data plane are decoupled providing the ability to make any control related decisions centrally and transform legacy network devices to simple forwarding elements. This testbed is a portable emulated network device which is self-managed and self-optimised and can be connected between any real network devices, emulating how the 5G network will perform. This plug & play black-box testbed is also capable of providing KPI metrics of the 5G network under real circumstances when real network devices are connected to it.
The structure of this diploma thesis is decomposed in five chapters. Chapter 1 presents the challenges mobile networks will shortly face due to the growing heterogeneous demands in communications towards the year 2020 and beyond and how these can be met with the upcoming 5G technology. Chapter 2 introduces the market trend behind the new era of 5G, revealing the business context for enterprises, consumers, verticals and partnerships as well as some use cases which reflect the continuous mobile broadband evolution. Chapter 3 includes a short overview of the ongoing 5G projects, initiated under the umbrella of the European Commission, with the collaboration of communications technology vendors, telecommunications operators, service providers, small and medium-sized enterprises (SMEs) and universities. There is also a reference in 5G key enabling technologies and standardisation activities as we move towards the next generation mobile networks technology. Moving forward, chapter 4 describes in detail the technological components of 5G network architecture such as SDN, NFV, MANO and examines how these 5G key enabling technologies contribute to the overall networks’ sustainability. Finally, in chapter 5 we introduce an innovative idea developed in our university’s communications network research laboratory, an autonomous emulated portable network testbed, the “Network in a box”. We present in-depth how this portable server is deployed, operates and demonstrate the way it can be connected to real network elements emulating a real 5G end-to-end customer network. Moreover, in this last chapter we present “Network in a box” capabilities under real network circumstances when link degradations or failures take place, providing also real-time network metrics
Enabling Hybrid Architectures and Mesh Network Topologies to Support the Global Multi-Domain Community
The turn of the new decade also represents the dawn of a new shift in domain operations. Concepts such as “Space Dial Tone,” reliable global access to internet, on-demand Earth observation, and remote sensing, while still not fully realized, are no longer purely imaginative. These concepts are in high demand and are coupled with the goals of Global Multi-Domain Operations (MDO). Small satellites (smallsats) have emerged as functionally reliable platforms, driving the development of next-generation satellite constellations. To achieve the potential of tomorrow’s technology, these constellations must embrace space mission architectures based on interoperable, open-system constructs such as hybrid architectures and mesh network topologies.
This paper presents the full timeline for realization of multi-node, disparate (sovereign, coalition, commercial, etc.) multi-domain (Space, Air, Maritime, Land, and Cyber) systems to support future space mission architectures. It identifies and discusses the underlying technologies needed to bring new “system-of-systems” concepts to operational capability. Technologies to be discussed include: message-agnostic physical/protocol “Bridges”; Machine-to-Machine (M2M) data sharing enabled through Electronic Data Sheet (EDS) standards; and, new concepts related to Artificial Intelligence (AI) enabled human decision making. Tying these technologies together effectively will positively impact the smallsat market and fundamentally change mission architectures in the near future
UAS Integration in the NAS FY15 Annual Review
This presentation gives insight into the research activities and efforts being executed in order to integrate unmanned aircraft systems into the national airspace system. This briefing is to inform others of the UAS-NAS progress and future directions
Tackling different aspects of drone services utilizing technologies from cross-sectional industries
Enabling autonomous and Beyond Visual Line of Sight (BVLOS) operation
of Unmanned Aerial Vehicles (UAVs) in the Very Low Level (VLL) airspace requires
further advancement of technologies such as sensing the environment or secure and reliable
communication. This paper addresses these challenges by presenting solutions developed within
the project Airborne Data Collection on Resilient System Architectures (ADACORSA). Here,
findings from cross-sectional areas such as the automotive industry are being further enhanced
to fulfill the demands of aviation, in particular for use in the UAV domain. The developed
technologies include an advanced Ethernet-based deterministic network for reliable onboard
communication, a multi-sensor architecture for sensing the spatial environment as well as a
multi-link communication gateway that provides reliable communication to the ground and a
secure handover architecture.ADACORSA has received funding from the ECSEL Joint Undertaking (JU) and National
Authorities under grant agreement No 876019. Follow www.adacorsa.eu for more informatio
TOWARD ASSURANCE AND TRUST FOR THE INTERNET OF THINGS
Kevin Ashton first used the term Internet of Things (IoT) in 1999 to describe a system in which objects in the physical world could be connected to the Internet by sensors. Since the inception of the term, the total number of Internet-connected devices has skyrocketed, resulting in their integration into every sector of society. Along with the convenience and functionality IoT devices introduce, there is serious concern regarding security, and the IoT security market has been slow to address fundamental security gaps. This dissertation explores some of these challenges in detail and proposes solutions that could make the IoT more secure. Because the challenges in IoT are broad, this work takes a broad view of securing the IoT.
Each chapter in this dissertation explores particular aspects of security and privacy of the IoT, and introduces approaches to address them. We outline security threats related to IoT. We outline trends in the IoT market and explore opportunities to apply machine learning to protect IoT. We developed an IoT testbed to support IoT machine learning research. We propose a Connected Home Automated Security Monitor (CHASM) system that prevents devices from becoming invisible and uses machine learning to improve the security of the connected home and other connected domains. We extend the machine learning algorithms in CHASM to the network perimeter via a novel IoT edge sensor device. We assess the ways in which cybersecurity analytics will need to evolve and identify the potential role of government in promoting needed changes due to IoT adoptions. We applied supervised learning and deep learning classifiers to an IoT network connection log dataset to effectively identify varied botnet activity. We proposed a methodology, based on trust metrics and Delphic and Analytic Hierarchical Processes, to identify vulnera¬bilities in a supply chain and better quantify risk. We built a voice assistant for cyber in response to the increased rigor and associated cognitive load needed to maintain and protect IoT networks
- …