Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform

In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance capability, the target destination for each robot is provided by a global planner. The global planner and the ground vehicles (robots) constitute a multi agent system (MAS) which communicate with each other over a wireless network. Three different approaches are explored for implementation. The first two approaches make use of the distributed computing based Networked Robotics architecture and communication framework of Robot Operating System (ROS) itself while the third approach uses Rapyuta Cloud Robotics framework for this implementation. The comparative performance of these approaches are analyzed through simulation as well as real world experiment with actual robots. These analyses provide an in-depth understanding of the inner working of the Cloud Robotics Platform in contrast to the usual ROS framework. The insight gained through this exercise will be valuable for students as well as practicing engineers interested in implementing similar systems else where. In the process, we also identify few critical limitations of the current Rapyuta platform and provide suggestions to overcome them.Comment: 14 pages, 15 figures, journal pape

Distributed Linear Quadratic Regulator Robust to Communication Dropouts

We present a solution to deal with information package dropouts in distributed controllers for large-scale networks. We do this by leveraging the System Level Synthesis approach, a control framework particularly suitable for large-scale networks that addresses information exchange in a very transparent manner. To this end, we propose two different schemes for controller synthesis and implementation. The first one synthesizes a controller inherently robust to dropouts, which is later implemented in an offline fashion. For the second approach, we synthesize a collection of controllers offline and then switch between different controllers online depending on the current dropouts detected in the system. The two approaches are illustrated and compared by means of a simulation example.Comment: Accepted contribution to the 21st World Congress of the International Federation of Automatic Control, 202

Modeling, Monitoring and Fault Diagnosis of Spacecraft Air Contaminants

Progress and results in the development of an integrated air quality modeling, monitoring, fault detection, and isolation system are presented. The focus was on development of distributed models of the air contaminants transport, the study of air quality monitoring techniques based on the model of transport process and on-line contaminant concentration measurements, and sensor placement. Different approaches to the modeling of spacecraft air contamination are discussed, and a three-dimensional distributed parameter air contaminant dispersion model applicable to both laminar and turbulent transport is proposed. A two-dimensional approximation of a full scale transport model is also proposed based on the spatial averaging of the three dimensional model over the least important space coordinate. A computer implementation of the transport model is considered and a detailed development of two- and three-dimensional models illustrated by contaminant transport simulation results is presented. The use of a well established Kalman filtering approach is suggested as a method for generating on-line contaminant concentration estimates based on both real time measurements and the model of contaminant transport process. It is shown that high computational requirements of the traditional Kalman filter can render difficult its real-time implementation for high-dimensional transport model and a novel implicit Kalman filtering algorithm is proposed which is shown to lead to an order of magnitude faster computer implementation in the case of air quality monitoring

The Application of New Software Technology to the Architecture of the National Cycle Program

As part of the Numerical Propulsion System Simulation (NPSS) effort of NASA Lewis in conjunction with the United States aeropropulsion industry, a new system simulation framework, the National Cycle Program (NCP), capable of combining existing empirical engine models with new detailed component-based computational models is being developed. The software architecture of the NCP program involves a generalized object- oriented framework and a base-set of engine component models along with supporting tool kits which will support engine simulation in a distributed environment. As the models are extended to contain two and three dimensions the computing load increases rapidly and it is intended that this load be distributed across multiple work stations executing concurrently in order to get acceptably fast results. The research carried out was directed toward performance analysis of the distributed object system. More specifically, the performance of the actor-based distributed object design I created earlier was desired. To this end, the research was directed toward the design and implementation of suitable performance-analysis techniques and software to demonstrate those techniques. There were three specific results which are reported in two separate reports submitted separately as NASA Technical Memoranda. The results are: (1) Design, implementation, and testing of a performance analysis program for a set of active objects (actor based objects) which allowed the individual actors to be assigned to arbitrary processes on an arbitrary set of machines. (2) The global-balance-equation approach has the fundamental limitation that the number of equations increases exponentially with the number of actors. Hence, unlike many approximate approaches to this problem, the nearest-neighbor approach allows checking of the solution and an estimate of the error. The technique was demonstrated in a prototype analysis program as part of this research. The results of the program were checked against the global-balance solution discussed above. Late during the grant, a much better approximation was developed and this is discussed in result below. As a consequence, a proposal was submitted to continue the research by developing the new approximation including development of a complete program from the prototype. (3) The source of approximation in the nearest-neighbor algorithm is the requirement for estimating some joint probabilities from some marginal distributions. A completely ad hoc estimate was used in the prototype

CyberWalk : a web-based distributed virtual walkthrough environment

A distributed virtual walkthrough environment allows users connected to the geometry server to walk through a specific place of interest, without having to travel physically. This place of interest may be a virtual museum, virtual library or virtual university. There are two basic approaches to distribute the virtual environment from the geometry server to the clients, complete replication and on-demand transmission. Although the on-demand transmission approach saves waiting time and optimizes network usage, many technical issues need to be addressed in order for the system to be interactive. CyberWalk is a web-based distributed virtual walkthrough system developed based on the on-demand transmission approach. It achieves the necessary performance with a multiresolution caching mechanism. First, it reduces the model transmission and rendering times by employing a progressive multiresolution modeling technique. Second, it reduces the Internet response time by providing a caching and prefetching mechanism. Third, it allows a client to continue to operate, at least partially, when the Internet is disconnected. The caching mechanism of CyberWalk tries to maintain at least a minimum resolution of the object models in order to provide at least a coarse view of the objects to the viewer. All these features allow CyberWalk to provide sufficient interactivity to the user for virtual walkthrough over the Internet environment. In this paper, we demonstrate the design and implementation of CyberWalk. We investigate the effectiveness of the multiresolution caching mechanism of CyberWalk in supporting virtual walkthrough applications in the Internet environment through numerous experiments, both on the simulation system and on the prototype system

When Should I Use Network Emulation?

The design and development of a complex system requires an adequate methodology and efficient instrumental support in order to early detect and correct anomalies in the functional and non-functional properties of the tested protocols. Among the various tools used to provide experimental support for such developments, network emulation relies on real-time production of impairments on real traffic according to a communication model, either realistically or not. This paper aims at simply presenting to newcomers in network emulation (students, engineers, ...) basic principles and practices illustrated with a few commonly used tools. The motivation behind is to fill a gap in terms of introductory and pragmatic papers in this domain. The study particularly considers centralized approaches, allowing cheap and easy implementation in the context of research labs or industrial developments. In addition, an architectural model for emulation systems is proposed, defining three complementary levels, namely hardware, impairment and model levels. With the help of this architectural framework, various existing tools are situated and described. Various approaches for modeling the emulation actions are studied, such as impairment-based scenarios and virtual architectures, real-time discrete simulation and trace-based systems. Those modeling approaches are described and compared in terms of services and we study their ability to respond to various designer needs to assess when emulation is needed

Parallel and Distributed Simulation from Many Cores to the Public Cloud (Extended Version)

In this tutorial paper, we will firstly review some basic simulation concepts and then introduce the parallel and distributed simulation techniques in view of some new challenges of today and tomorrow. More in particular, in the last years there has been a wide diffusion of many cores architectures and we can expect this trend to continue. On the other hand, the success of cloud computing is strongly promoting the everything as a service paradigm. Is parallel and distributed simulation ready for these new challenges? The current approaches present many limitations in terms of usability and adaptivity: there is a strong need for new evaluation metrics and for revising the currently implemented mechanisms. In the last part of the paper, we propose a new approach based on multi-agent systems for the simulation of complex systems. It is possible to implement advanced techniques such as the migration of simulated entities in order to build mechanisms that are both adaptive and very easy to use. Adaptive mechanisms are able to significantly reduce the communication cost in the parallel/distributed architectures, to implement load-balance techniques and to cope with execution environments that are both variable and dynamic. Finally, such mechanisms will be used to build simulations on top of unreliable cloud services.Comment: Tutorial paper published in the Proceedings of the International Conference on High Performance Computing and Simulation (HPCS 2011). Istanbul (Turkey), IEEE, July 2011. ISBN 978-1-61284-382-

When should I use network emulation ?

The design and development of a complex system requires an adequate methodology and efficient instrumental support in order to early detect and correct anomalies in the functional and non-functional properties of the tested protocols. Among the various tools used to provide experimental support for such developments, network emulation relies on real-time production of impairments on real traffic according to a communication model, either realistically or not. This paper aims at simply presenting to newcomers in network emulation (students, engineers, ...) basic principles and practices illustrated with a few commonly used tools. The motivation behind is to fill a gap in terms of introductory and pragmatic papers in this domain. The study particularly considers centralized approaches, allowing cheap and easy implementation in the context of research labs or industrial developments. In addition, an architectural model for emulation systems is proposed, defining three complementary levels, namely hardware, impairment and model levels. With the help of this architectural framework, various existing tools are situated and described. Various approaches for modeling the emulation actions are studied, such as impairment-based scenarios and virtual architectures, real-time discrete simulation and trace-based systems. Those modeling approaches are described and compared in terms of services and we study their ability to respond to various designer needs to assess when emulation is needed

Distributed Hybrid Simulation of the Internet of Things and Smart Territories

This paper deals with the use of hybrid simulation to build and compose heterogeneous simulation scenarios that can be proficiently exploited to model and represent the Internet of Things (IoT). Hybrid simulation is a methodology that combines multiple modalities of modeling/simulation. Complex scenarios are decomposed into simpler ones, each one being simulated through a specific simulation strategy. All these simulation building blocks are then synchronized and coordinated. This simulation methodology is an ideal one to represent IoT setups, which are usually very demanding, due to the heterogeneity of possible scenarios arising from the massive deployment of an enormous amount of sensors and devices. We present a use case concerned with the distributed simulation of smart territories, a novel view of decentralized geographical spaces that, thanks to the use of IoT, builds ICT services to manage resources in a way that is sustainable and not harmful to the environment. Three different simulation models are combined together, namely, an adaptive agent-based parallel and distributed simulator, an OMNeT++ based discrete event simulator and a script-language simulator based on MATLAB. Results from a performance analysis confirm the viability of using hybrid simulation to model complex IoT scenarios.Comment: arXiv admin note: substantial text overlap with arXiv:1605.0487