Distributed computational model for shared processing on Cyber-Physical System environments

Cyber-Physical Systems typically consist of a combination of mobile devices, embedded systems and computers to monitor, sense, and actuate with the surrounding real world. These computing elements are usually wireless, interconnected to share data and interact with each other, with the server part and also with cloud computing services. In such a heterogeneous environment, new applications arise to meet ever-increasing needs and these are an important challenge to the processing capabilities of devices. For example, automatic driving systems, manufacturing environments, smart city management, etc. To meet the requirements of said application contexts, the system can create computing processes to distribute the workload over the network and/or a cloud computing server. Multiple options arise in relation to what network nodes should support the execution of the processes. This paper focuses on this problem by introducing a distributed computational model to dynamically share these tasks among the computing nodes and considering the inherent variability of the context in these environments. Our novel approach promotes the integration of the computing resources, with externally supplied cloud services, to fulfill modern application requirements. A prototype implementation for the proposed model has been built and an application example has been designed to validate the proposal in a real working environment

Smooth Sensor Motion Planning for Robotic Cyber Physical Social Sensing (CPSS)

Although many researchers have begun to study the area of Cyber Physical Social Sensing (CPSS), few are focused on robotic sensors. We successfully utilize robots in CPSS, and propose a sensor trajectory planning method in this paper. Trajectory planning is a fundamental problem in mobile robotics. However, traditional methods are not suited for robotic sensors, because of their low efficiency, instability, and non-smooth-generated paths. This paper adopts an optimizing function to generate several intermediate points and regress these discrete points to a quintic polynomial which can output a smooth trajectory for the robotic sensor. Simulations demonstrate that our approach is robust and efficient, and can be well applied in the CPSS field

Smooth Sensor Motion Planning for Robotic Cyber Physical Social Sensing (CPSS)

Although many researchers have begun to study the area of Cyber Physical Social Sensing (CPSS), few are focused on robotic sensors. We successfully utilize robots in CPSS, and propose a sensor trajectory planning method in this paper. Trajectory planning is a fundamental problem in mobile robotics. However, traditional methods are not suited for robotic sensors, because of their low efficiency, instability, and non-smooth-generated paths. This paper adopts an optimizing function to generate several intermediate points and regress these discrete points to a quintic polynomial which can output a smooth trajectory for the robotic sensor. Simulations demonstrate that our approach is robust and efficient, and can be well applied in the CPSS field

A methodology for the design of application-specific cyber-physical social sensing co-simulators

Cyber-Physical Social Sensing (CPSS) is a new trend in the context of pervasive sensing. In these new systems, various domains coexist in time, evolve together and influence each other. Thus, application-specific tools are necessary for specifying and validating designs and simulating systems. However, nowadays, different tools are employed to simulate each domain independently. Mainly, the cause of the lack of co-simulation instruments to simulate all domains together is the extreme difficulty of combining and synchronizing various tools. In order to reduce that difficulty, an adequate architecture for the final co-simulator must be selected. Therefore, in this paper the authors investigate and propose a methodology for the design of CPSS co-simulation tools. The paper describes the four steps that software architects should follow in order to design the most adequate co-simulator for a certain application, considering the final users’ needs and requirements and various additional factors such as the development team’s experience. Moreover, the first practical use case of the proposed methodology is provided. An experimental validation is also included in order to evaluate the performing of the proposed co-simulator and to determine the correctness of the proposal