Architecture reseau sans fil pour de la téléopération long distance d'un systeme embarqué

Networked teleoperation (NT) is an emerging area of technology, where human assisted Master and remote Slave devices communicate over a communication network for the exchange of command and sensor feedback information. For long range mobile teleoperation, this information travels over different types of heterogeneous/hybrid networks interconnected together with a compulsory network segment over wireless to permit increased mobility. The independent design of control and network promotes the isolated objectives and the performance is degraded after an integration. It is also challenging if internet is used for teleoperation, instead of point to point communication. The mechanisms of QoS in one network protocol of the heterogeneous network needs mapping on any other network which is usually carried out with a multimedia point of view and not for the critical teleoperation data. The approach for networked teleoperation can be given a new dimension by adding quality of service (QoS) to different flows on need based priority and as a function of control and transparence criteria. This means to alter the network resources for teleoperation objective in order to transport the information to satisfy the end-to-end application needs. The network QoS perspective is important to consider in the co-design approach for teleoperation. However, the true meaning of end to end QoS must be defined for teleoperation. If we consider the QoS from the network point of view, it refers to the management of various flows or users as per their need and precedence. Whereas, from the teleoperation perspective, QoS is related to the quality of control (QoC) which includes stability, transparence and telepresence. Moreover, the human interface may have different requirements as per telepresence feeling which will result in varying network load. To control network QoS, we need to measure or estimate it. Therefore, classification of QoS is performed with a fuzzy inference system which is able to distinguish between varying levels of QoS. In addition, it is also a challenging task for online decision for reconfiguration of network and control performance. We have used supervised methods for classification and prediction of QoS to be used in the proposed approach. Thus, data communication networks treat control information as best effort most of the time. conclusion the communication used in teleoperation uses a dedicated network/communication. In short, a co-design approach is formulated to treat the network QoS as a function of teleoperation objectives which are related to the quality of transparence and control. Alternatively, the video flow is managed in order to effectively reduce the necessary throughput for instants when the network quality is not sufficient. We have considered two cases. First, without taking into account any network QoS mechanism (best effort flows only) and adapting application needs as per the teleoperation objectives. The second one considers a QoS oriented network in between the master and slave, where different priorities can be assigned to the teleoperation flows as per need. In the end, the proposed methodology is implemented on the NeCS-Car benchmark.La téléopération en réseau est une thématique émergente, où un humain (le maître) communique avec un esclave commandé à distance à travers un réseau de communication, pour l'échange des données de commande et de mesure. Pour la téléopération longue distance, ces informations traversent divers réseaux hétérogènes ou hybrides interconnectés ensemble. Nous traitons également le cas où un segment sera sans fil, ce qui permet d'envisager que l'esclave soit mobile (véhicule télé-opéré par exemple). Une étude indépendante des aspects commande et des aspects réseau entraîne l'atteinte d'objectifs locaux, qui peuvent le cas échéant être ensuite fortement dégradés après l'intégration des deux aspects. L'utilisation de réseaux partagés, comme internet, en lieu et place d'une liaison dédiée (point à point, liaison virtuelle) est également un défi, en particulier dans le cas de la longue distance. Les mécanismes de qualité de service (QdS) d'un réseau, en particulier du réseau hétérogène, doivent pouvoir être traités par les autres réseaux ; ces points sont assez souvent traités avec un point de vue d'applications multimedia, plus rarement avec le point de vue de la téléopération critique. L'approche de téléopération en réseau peut profiter de ces mécanismes de qualité de service en utilisant des priorités ou des réservations de bandes passantes en fonction des critères de commande et de transparence. Cela peut entraîner une adaptation des ressources réseau en fonction des besoins des objectifs de téléopération afin de transporter l'information en satisfaisant les besoins bout en bout de l'application, cette notion devant être précisée. Lorsqu'on considère la QdS avec un point de vue réseau, elle consiste principalement à la gestion de flux de communication, en prenant en compte des paramètres de besoin et d'ordonnancement. Si l'on prend en compte le point de vue de la téléopération, la QdS entraîne des conséquences sur la qualité de commande (QdC) ce qui inclut la stabilité, la transparence et la téléprésence. De plus, l'interface humaine peut également avoir des besoins spécifiques en termes de téléprésence, ce qui peut entraîner des conséquences sur la répartition de la charge du réseau. Afin d'intégrer les deux approches de QdS et de QdC pour apporter une meilleure réponse au problème posé, nous proposons une approche de coconception avec d'une part une adaptation de la QdS aux besoins de la Qdc (qualité de la transparence) et d'autre part une adaptation de la Qdc (par exemple dégradation de la qualité du flux vidéo) à la disponibilité du réseau. Nous avons considéré deux cas de figures. Dans un premier temps, sans tenir compte des mécanismes de QdS du réseau (approche dite du meilleur effort ou best effort) et par l'adaptation au mieux de l'application, pour répondre aux besoins de la téléopération. La seconde approche considère un réseau orienté QdS entre le maître et l'esclave, où différentes priorités peuvent être attribuées aux flux nécessaires à la téléopération, en fonction des contextes. L'approche proposée est finalement mise en oeuvre sur NeCS-Car, la voiture téléopérée disponible au Laboratoire

The potential role of renewable energy sources in robot's power system: A case study of Pakistan

The domain of ‘robotics’ is undergoing a major transformation in dimension as well as scope. Recent advances in various disciplines of technology have revolutionized this domain at an incredible pace far beyond the contemporary state of the art. Highlighting the forecasted population of robots in future and the resulting demand of massive energy consumption, this review addresses the application of renewable energy sources in uninterruptible supply for robots. The study analyzes the extensive field of renewable energy technology and discovers that comparing with traditional sources; green energies like solar, wind and biological have significant potential to drive robots. Listing the world-wide achievements attained by the applications of renewable energy technology for robots, the review finally presents the subject matter in context of Pakistan. It is shown that being rich in renewable energy resources, broad possibilities for robot technologies exist here. With a discussion on challenges to exploit this potential, suggestions are outlined. It is anticipated that wider dissemination of research developments in the integration of these streams will stimulate more exchanges and collaborations among the research community and contribute to further advancements

Design and Implementation of a Low Cost USB Duplicator

USB devices and flash disks are the most common storage device being used but very little work has been done on it at university project level. Considering the increasing capacity and popularity of USB flash disks, it is believed that in the near future they will replace CDs/DVDs and will be used as a primary storage medium. For this purpose, a USB flash disk duplicator will also be required just as a CD/DVD duplicator is required today. The aim of the present work is to develop a portable and stand-alone device capable of copying the contents of one USB flash disk/mass storage device to another USB flash drive without the use of an intermediary computer

Robotics Utilization for Healthcare Digitization in Global COVID-19 Management

This paper describes the evolving role of robotics in healthcare and allied areas with special concerns relating to the management and control of the spread of the novel coronavirus disease 2019 (COVID-19). The prime utilization of such robots is to minimize person-to-person contact and to ensure cleaning, sterilization and support in hospitals and similar facilities such as quarantine. This will result in minimizing the life threat to medical staff and doctors taking an active role in the management of theCOVID-19 pandemic. The intention of the present research is to highlight the importance of medical robotics in general and then to connect its utilization with the perspective of COVID-19 management so that the hospital management can direct themselves to maximize the use of medical robots for various medical procedures. This is despite the popularity of telemedicine, which is also effective in similar situations. In essence, the recent achievement of the Korean and Chinese health sectors in obtaining active control of the COVID-19 pandemic was not possible without the use of state of the art medical technology

Effect of Packet Loss on the Quality of Control of a Networked Mobile Robot

International audienceThis paper describes a wireless network based control of a Khepera mobile robot moving in a WLAN distributed infrastructure. Due to the dependence of quality of control (QoC) over network quality of service (QoS), a simulation is performed for packet losses and compared to actual results in the lab environment. The network effects are examined and critical limit is determined for which control quality is acceptable. A Bayesian network approach is proposed for the decision of switching between the embedded and off-board controller as well as the horizontal handoff in multi-station scenario

A Co-design Approach for Bilateral Teleoperation over Hybrid Network

International audienceThis paper describes a joint approach for control and communication network design for the application of bilateral teleoperation system (BTS). By ensuring a QoS oriented network architecture, a better quality of control (QoC) can be guaranteed despite the presence of time delays and packet losses. In this work, a joint approach is presented for the co-design problem to observe the improvements in QoC by network QoS for the bilateral teleoperation application

Wireless Network architecture for Diagnosis and Monitoring Applications

International audienceThis paper describes a distributed wireless network architecture for remote diagnosis and monitoring. A windmill farm is considered as a target application, which is further grouped into small clusters of windmills communicating with each other for the purpose of distributed diagnosis. Wireless links are commonly used for long-range communication in SCADA systems. In order to extend wireless networks for remote diagnosis applications, strict requirements on availability, robustness, reliability and performance have to be satisfied in order to meet industrial standards. This paper is intended to present a wireless network architecture for tele-operation of large industrial applications

Drive-by-Wireless Teleoperation with Network QoS Adaptation

ISSN : 2230-7818International audienceThis paper describes an adaptation scheme for driveby- wireless teleoperation of an electric vehicle. The performance variation due to the varying time delay and packet losses is investigated and catered for by using an adaptive gain scheduling as well as varying network load in the co-design framework. A support vector machine (SVM) predictor is proposed for network delay and packet loss prediction while, fuzzy based estimation and control is employed for QoS evaluation and corresponding reconfiguration for video packet rate and controller gain in order to ensure passivity and improved transparence

Wireless Network Architecture for Diagnosis and Monitoring Applications

International audienceThis paper describes a distributed wireless network architecture for remote diagnosis and monitoring. Wind energy conversion system (WECS) is considered as the target application, where windmills are grouped into small clusters communicating with each other for the purpose of distributed diagnosis. The evaluation of this network is simulated to support effective communication needs required for fault detection and as a result to send an alarm or caution message to the remote monitoring station. However, as the sensitivity of application increases, strict requirements on availability, robustness, reliability and performance of network resources must be satisfied in order to meet industrial standards

Wireless Network Architecture for Long range teleoperation of Autonomous Systems

International audienceOur aim is to design a network architecture for long range teleoperation of an autonomous system. In Networked Control Systems (NCS), the architecture of the network plays a vital role in the successful teleoperation which includes remote control, diagnosis and surveillance applications. Management of network resources with respect to application and ensuring all the way an acceptable level of quality of service (QoS) requires a network centric control/communication Codesign approach