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FABRIC: A National-Scale Programmable Experimental Network Infrastructure
FABRIC is a unique national research infrastructure to enable cutting-edge and exploratory research at-scale in networking, cybersecurity, distributed computing and storage systems, machine learning, and science applications. It is an everywhere-programmable nationwide instrument comprised of novel extensible network elements equipped with large amounts of compute and storage, interconnected by high speed, dedicated optical links. It will connect a number of specialized testbeds for cloud research (NSF Cloud testbeds CloudLab and Chameleon), for research beyond 5G technologies (Platforms for Advanced Wireless Research or PAWR), as well as production high-performance computing facilities and science instruments to create a rich fabric for a wide variety of experimental activities
Edge Robotics: are we ready? An experimental evaluation of current vision and future directions
Cloud-based robotics systems leverage a wide range of Information Technologies (IT) to offer tangible benefits like cost reduction, powerful computational capabilities, data offloading, etc. However, the centralized nature of cloud computing is not well-suited for a multitude of Operational Technologies (OT) nowadays used in robotics systems that require strict real-time guarantees and security. Edge computing and fog computing are complementary approaches that aim at mitigating some of these challenges by providing computing capabilities closer to the users. The goal of this work is hence threefold: i) to analyze the current edge computing and fog computing landscape in the context of robotics systems, ii) to experimentally evaluate an end-to-end robotics system based on solutions proposed in the literature, and iii) to experimentally identify current benefits and open challenges of edge computing and fog computing. Results show that, in the case of an exemplary delivery application comprising two mobile robots, the robot coordination and range can be improved by consuming real-time radio information available at the edge. However, our evaluation highlights that the existing software, wireless and virtualization technologies still require substantial evolution to fully support edge-based robotics systems.This work has been partially funded by European
Union’s Horizon 2020 research and innovation
programme under grant agreement No 101015956,
and the Spanish Ministry of Economic Affairs and
Digital Transformation and the European Union-
NextGenerationEU through the UNICO 5G I+ D 6G-EDGEDT
and 6G-DATADRIVE
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
Fog-enabled Scalable C-V2X Architecture for Distributed 5G and Beyond Applications
The Internet of Things (IoT) ecosystem, as fostered by fifth generation (5G) applications, demands a highly available network infrastructure. In particular, the internet of vehicles use cases, as a subset of the overall IoT environment, require a combination of high availability and low latency in big volumes support. This can be enabled by a network function virtualization architecture that is able to provide resources wherever and whenever needed, from the core to the edge up to the end user proximity, in accordance with the fog computing paradigm. In this article, we propose a fog-enabled cellular vehicle-to-everything architecture that provides resources at the core, the edge and the vehicle layers. The proposed architecture enables the connection of virtual machines, containers and unikernels that form an application-as-a-service function chain that can be deployed across the three layers. Furthermore, we provide lifecycle management mechanisms that can efficiently manage and orchestrate the underlying physical resources by leveraging live migration and scaling functionalities. Additionally, we design and implement a 5G platform to evaluate the basic functionalities of our proposed mechanisms in real-life scenarios. Finally, the experimental results demonstrate that our proposed scheme maximizes the accepted requests, without violating the applications’ service level agreement.This work has been supported in part by the research projects SPOTLIGHT (722788), AGAUR (2017-SGR-891), 5G-DIVE (859881), SPOT5G (TEC2017-87456-P), MonB5G (871780) and 5G-Routes (951867)
BioClimate: a Science Gateway for Climate Change and Biodiversity research in the EUBrazilCloudConnect project
[EN] Climate and biodiversity systems are closely linked across a wide range of scales. To better understand the mutual interaction between climate change and biodiversity there is a strong need for multidisciplinary skills, scientific tools, and access to a large variety of heterogeneous, often distributed, data sources. Related to that, the EUBrazilCloudConnect project provides a user-oriented research environment built on top of a federated cloud infrastructure across Europe and Brazil, to serve key needs in different scientific domains, which is validated through a set of use cases. Among them, the most data-centric one is focused on climate change and biodiversity research. As part of this use case, the BioClimate Science Gateway has been implemented to provide end-users transparent
access to (i) a highly integrated user-friendly environment, (ii) a large variety of data sources, and (iii) different analytics & visualization tools to serve a large spectrum of users needs and requirements. This paper presents a complete overview of BioClimate and the related scientific environment, in particular its Science Gateway, delivered to the end-user community at the end of the project.This work was supported by the EU FP7 EUBrazilCloudConnect Project (Grant Agreement 614048), and CNPq/Brazil (Grant Agreement no 490115/2013-6).Fiore, S.; Elia, D.; Blanquer Espert, I.; Brasileiro, FV.; Nuzzo, A.; Nassisi, P.; Rufino, LAA.... (2019). BioClimate: a Science Gateway for Climate Change and Biodiversity research in the EUBrazilCloudConnect project. Future Generation Computer Systems. 94:895-909. https://doi.org/10.1016/j.future.2017.11.034S8959099
EdgeFaaS: A Function-based Framework for Edge Computing
The rapid growth of data generated from Internet of Things (IoTs) such as
smart phones and smart home devices presents new challenges to cloud computing
in transferring, storing, and processing the data. With increasingly more
powerful edge devices, edge computing, on the other hand, has the potential to
better responsiveness, privacy, and cost efficiency. However, resources across
the cloud and edge are highly distributed and highly diverse. To address these
challenges, this paper proposes EdgeFaaS, a Function-as-a-Service (FaaS) based
computing framework that supports the flexible, convenient, and optimized use
of distributed and heterogeneous resources across IoT, edge, and cloud systems.
EdgeFaaS allows cluster resources and individual devices to be managed under
the same framework and provide computational and storage resources for
functions. It provides virtual function and virtual storage interfaces for
consistent function management and storage management across heterogeneous
compute and storage resources. It automatically optimizes the scheduling of
functions and placement of data according to their performance and privacy
requirements. EdgeFaaS is evaluated based on two edge workflows: video
analytics workflow and federated learning workflow, both of which are
representative edge applications and involve large amounts of input data
generated from edge devices
5G-MEC Testbeds for V2X Applications
Fifth-generation (5G) mobile networks fulfill the demands of critical applications, such as Ultra-Reliable Low-Latency Communication (URLLC), particularly in the automotive industry. Vehicular communication requires low latency and high computational capabilities at the network’s edge. To meet these requirements, ETSI standardized Multi-access Edge Computing (MEC), which provides cloud computing capabilities and addresses the need for low latency. This paper presents a generalized overview for implementing a 5G-MEC testbed for Vehicle-to-Everything (V2X) applications, as well as the analysis of some important testbeds and state-of-the-art implementations based on their deployment scenario, 5G use cases, and open source accessibility. The complexity of using the testbeds is also discussed, and the challenges researchers may face while replicating and deploying them are highlighted. Finally, the paper summarizes the tools used to build the testbeds and addresses open issues related to implementing the testbeds.publishedVersio
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