Performance evaluation of a distributed integrative architecture for robotics

The eld of robotics employs a vast amount of coupled sub-systems. These need to interact cooperatively and concurrently in order to yield the desired results. Some hybrid algorithms also require intensive cooperative interactions internally. The architecture proposed lends it- self amenable to problem domains that require rigorous calculations that are usually impeded by the capacity of a single machine, and incompatibility issues between software computing elements. Implementations are abstracted away from the physical hardware for ease of de- velopment and competition in simulation leagues. Monolithic developments are complex, and the desire for decoupled architectures arises. Decoupling also lowers the threshold for using distributed and parallel resources. The ability to re-use and re-combine components on de- mand, therefore is essential, while maintaining the necessary degree of interaction. For this reason we propose to build software components on top of a Service Oriented Architecture (SOA) using Web Services. An additional bene t is platform independence regarding both the operating system and the implementation language. The robot soccer platform as well as the associated simulation leagues are the target domain for the development. Furthermore are machine vision and remote process control related portions of the architecture currently in development and testing for industrial environments. We provide numerical data based on the Python frameworks ZSI and SOAPpy undermining the suitability of this approach for the eld of robotics. Response times of signi cantly less than 50 ms even for fully interpreted, dynamic languages provides hard information showing the feasibility of Web Services based SOAs even in time critical robotic applications

Distributed Feature Extraction Using Cloud Computing Resources

The need to expand the computational resources in a massive surveillance network is clear but traditional means of purchasing new equipment for short-term tasks every year is wasteful. In this work I will provide evidence in support of utilizing a cloud computing infrastructure to perform computationally intensive feature extraction tasks on data streams. Efficient off-loading of computational tasks to cloud resources will require a minimization of the time needed to expand the cloud resources, an efficient model of communication and a study of the interplay between the in-network computational resources and remote resources in the cloud. This report provides strong evidence that the use of cloud computing resources in a near real-time distributed sensor network surveillance system, ASAP, is feasible. A face detection web service operating on an Amazon EC2 instance is shown to provide processing of 10-15 frames per second.Umakishore Ramachandran - Faculty Mentor ; Rajnish Kumar - Committee Member/Second Reade

Using Cloud Technologies to Optimize Data-Intensive Service Applications

The role of data analytics increases in several application domains to cope with the large amount of captured data. Generally, data analytics are data-intensive processes, whose efficient execution is a challenging task. Each process consists of a collection of related structured activities, where huge data sets have to be exchanged between several loosely coupled services. The implementation of such processes in a service-oriented environment offers some advantages, but the efficient realization of data flows is difficult. Therefore, we use this paper to propose a novel SOA-aware approach with a special focus on the data flow. The tight interaction of new cloud technologies with SOA technologies enables us to optimize the execution of data-intensive service applications by reducing the data exchange tasks to a minimum. Fundamentally, our core concept to optimize the data flows is found in data clouds. Moreover, we can exploit our approach to derive efficient process execution strategies regarding different optimization objectives for the data flows

A General Framework for Motion Sensor Based Web Services

With the development of motion sensing technology, motion sensor based services have been put into a wide range of applications in recent years. Demand of consuming such service on mobile devices has already emerged. However, as most motion sensors are specifically designed for some heavyweight clients such as PCs or game consoles, there are several technical challenges prohibiting motion sensor from being used by lightweight clients such as mobile devices, for example: There is no direct approach to connect the motion sensor with mobile devices. Most mobile devices don't have enough computational power to consume the motion sensor outputs. To address these problems, I have designed and implemented a framework for publishing general motion sensor functionalities as a RESTful web service that is accessible to mobile devices via HTTP connections. In the framework, a pure HTML5 based interface is delivered to the clients to ensure good accessibility, a websocket based data transferring scheme is adopted to guarantee data transferring efficiency, a server side gesture pipeline is proposed to reduce the client side computational burden and a distributed architecture is designed to make the service scalable. Finally, I conducted three experiments to evaluate the framework's compatibility, scalability and data transferring performance

Distributed Handler Architecture

Thesis (PhD) - Indiana University, Computer Sciences, 2007Over the last couple of decades, distributed systems have been demonstrated an architectural evolvement based on models including client/server, multi-tier, distributed objects, messaging and peer-to-peer. One recent evolutionary step is Service Oriented Architecture (SOA), whose goal is to achieve loose-coupling among the interacting software applications for scalability and interoperability. The SOA model is engendered in Web Services, which provide software platforms to build applications as services and to create seamless and loosely-coupled interactions. Web Services utilize supportive functionalities such as security, reliability, monitoring, logging and so forth. These functionalities are typically provisioned as handlers, which incrementally add new capabilities to the services by building an execution chain. Even though handlers are very important to the service, the way of utilization is very crucial to attain the potential benefits. Every attempt to support a service with an additive functionality increases the chance of having an overwhelmingly crowded chain: this makes Web Service fat. Moreover, a handler may become a bottleneck because of having a comparably higher processing time. In this dissertation, we present Distributed Handler Architecture (DHArch) to provide an efficient, scalable and modular architecture to manage the execution of the handlers. The system distributes the handlers by utilizing a Message Oriented Middleware and orchestrates their execution in an efficient fashion. We also present an empirical evaluation of the system to demonstrate the suitability of this architecture to cope with the issues that exist in the conventional Web Service handler structures

RESTful framework for collaborative internet of things based on IEC 61850

El contenido de los capítulos 2 y 3 está sujeto a confidencialidad 161 p.En 1991, Mark Weiser formuló el paradigma de Computación Ubicua definiendo el concepto de Entorno Inteligente como un espacio físico repleto de dispositivos, muy integrados en el entorno, y con capacidades de identificación, sensorización y actuación. Internet de las Cosas (IoT) expande el ámbito de localización de estos dispositivos y servicios ubicuos, representados como cosas, de un entorno local a internet como red global. Para la implementación de estos escenarios de aplicación, la colaboración entre las cosas es uno de los principales retos de investigación. El objetivo de esta colaboración es ser capaces de satisfacer necesidades globales mediante la combinación de servicios individuales. Esta Tesis propone una arquitectura colaborativa entre las cosas desplegadas en internet.Las tecnologías alrededor de los Servicios Web SOAP/XML, adecuadas para IoT, soportan aspectos claves para un sistema colaborativo como la publicación, descubrimiento, control y gestión de eventos de los dispositivos. Como alternativa, REST ha ganado terreno en este ámbito por ser considerada una opción más ligera, sencilla y natural para la comunicación en internet. Sin embargo, no existen protocolos para descubrimiento y gestión de eventos para recursos REST. Esta Tesis aborda dicha carencia proponiendo una especificación de estos protocolos para arquitecturas REST. Otro aspecto importante es la representación, a nivel de aplicación, de las cosas distribuidas. Entre las propuestas para la estandarización de los modelos de información y comunicación en este dominio que podrían aplicarse, de manera similar, a IoT, destaca el estándar IEC 61850. Sin embargo, los protocolos de comunicación definidos por el estándar no son adecuados para IoT. Esta Tesis analiza la idoneidad del IEC 61850 para escenarios IoT y propone un protocolo de comunicación REST para sus servicios.Por último, se trata la problemática asociada a la confiabilidad que debe proporcionar una arquitectura IoT para dominios de aplicación relacionados con la salud o sistemas de seguridad funcional (Safety)

A bluetooth educational content distribution system modelled on a service-oriented architecture

In this research, we design and prototype an educational content distribution system modeled on a Service-Oriented Architecture (SOA) paradigm and implemented using Web services, XML and Bluetooth technology. In the prototype, we use an Open Source Learning Management System (LMS) Sakai implemented in Java and branded Vula for the University of Cape Town (UCT). Web services and its specification of SOAP, XML and Bluetooth technology are used to integrate the disparate technologies that form the service architecture. The disparate technologies include among others Bluetooth enabled mobile phones and PDAs, services (modules) which may be running on different operating systems, and deployed over Local Area Networks (LANs) or Internet. The service is meant to leverage the existing infrastructure to provide a new, cheap channel for education content distribution to mobile devices in learning institutions especially Universities in the developing world and Africa in particular. We design, implement and evaluate the prototype for performance and scalability. During the designing and implementation of the architecture, we incorporate SOA principles of service/module re-use, service composition, loose-coupling, standard data exchange within the system or services, and extensibility of the services among others. The aim of the service is to distribute education content uploaded in Learning Management Systems (LMSs) to Bluetooth enabled mobile devices that are increasingly held by students in developing world Universities. The service is intended to supplement existing Web-based and lecture room content distribution channels by opening up the mobile device space. For the prototype, we focus on repackaging structured text content and distributing it to Bluetooth enabled phones and PDAs using Bluetooth technology. We evaluate our prototype for performance using experimental studies