A ROS2 based communication architecture for control in collaborative and intelligent automation systems

Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot Operating System (ROS) provides a communication platform and a vast variety of tools and utilities that can aid that development. However, it is hard to use ROS in large-scale automation systems due to communication issues in a distributed setup, hence the development of ROS2. In this paper, a ROS2 based communication architecture is presented together with an industrial use-case of a collaborative and intelligent automation system.Comment: 9 pages, 4 figures, 3 tables, to be published in the proceedings of 29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019), June 201

Experimental Evaluation of the Real-Time Performance of Publish-Subscribe Middlewares

REACTION 2013. 2nd International Workshop on Real-time and distributed computing in emerging applications. December 3rd, 2013, Vancouver, Canada.The integration of the complex network of modules composing a modern distributed embedded systems calls for a middleware solution striking a good tradeoff between conflicting needs such as: modularity, architecture independence, re-use, easy access to the limited hardware resources and ability to respect real–time constraints. Several middleware architectures proposed in the last years offer reliable and easy to use abstractions and intuitive publish-subscribe mechanism that can simplify system development to a good degree. However, a complete compliance with the different requirements of assistive robotics application (first and foremost real–time constraints) remains to be investigated. This paper evaluates the performance of these solutions in terms of latency and scalability

IOT future in Edge Computing

With the advent of Internet of Things (IoT) and data convergence using rich cloud services, data computing has been pushed to new horizons. However, much of the data generated at the edge of the network leading to the requirement of high response time. A new computing paradigm, edge computing, processing the data at the edge of the network is the need of the time. In this paper, we discuss the IoT architecture, predominant application protocols, definition of edge computing and its research opportunities

Internet of Things future in Edge Computing

With the advent of Internet of Things (IoT) and data convergence using rich cloud services, data computing has been pushed to new horizons. However, much of the data generated at the edge of the network leading to the requirement of high response time. A new computing paradigm, edge computing, processing the data at the edge of the network is the need of the time. In this paper, we discuss the IoT architecture, predominant application protocols, definition of edge computing and its research opportunitie

A role-based software architecture to support mobile service computing in IoT scenarios

The interaction among components of an IoT-based system usually requires using low latency or real time for message delivery, depending on the application needs and the quality of the communication links among the components. Moreover, in some cases, this interaction should consider the use of communication links with poor or uncertain Quality of Service (QoS). Research efforts in communication support for IoT scenarios have overlooked the challenge of providing real-time interaction support in unstable links, making these systems use dedicated networks that are expensive and usually limited in terms of physical coverage and robustness. This paper presents an alternative to address such a communication challenge, through the use of a model that allows soft real-time interaction among components of an IoT-based system. The behavior of the proposed model was validated using state machine theory, opening an opportunity to explore a whole new branch of smart distributed solutions and to extend the state-of-the-art and the-state-of-the-practice in this particular IoT study scenario.Peer ReviewedPostprint (published version

Users' perception of relevance of spoken documents

We present the results of a study of user's perception of relevance of documents. The aim is to study experimentally how users' perception varies depending on the form that retrieved documents are presented. Documents retrieved in response to a query are presented to users in a variety of ways, from full text to a machine spoken query-biased automatically-generated summary, and the difference in users' perception of relevance is studied. The experimental results suggest that the effectiveness of advanced multimedia information retrieval applications may be affected by the low level of users' perception of relevance of retrieved documents

OGC® Ocean Science Interoperability Experiment : Phase II Report

This OGC Engineering Report documents the work performed by the participants of the Ocean Science Interoperability Experiment Phase II.This OGC Engineering Report documents the work performed by the participants of the Ocean Science Interoperability Experiment Phase II. This work is a follow-on to the OGC Oceans IE Phase 1 activity. Specifically, this IE addressed the following tasks: • Automated metadata/software installation via PUCK protocol. • Offering of complex systems (e.g. observations systems containing other systems) such as collection of stations. • Linking data from SOS to out-of-band offerings. • Semantic Registry and Services. • Catalogue Service-Web Registry. • IEEE-1451/OGC-SWE harmonization As a result of this experiment, a number of recommendations and conclusions were identified.Postprint (published version