RobotKube: Orchestrating Large-Scale Cooperative Multi-Robot Systems with Kubernetes and ROS

Modern cyber-physical systems (CPS) such as Cooperative Intelligent Transport Systems (C-ITS) are increasingly defined by the software which operates these systems. In practice, microservice architectures can be employed, which may consist of containerized microservices running in a cluster comprised of robots and supporting infrastructure. These microservices need to be orchestrated dynamically according to ever changing requirements posed at the system. Additionally, these systems are embedded in DevOps processes aiming at continually updating and upgrading both the capabilities of CPS components and of the system as a whole. In this paper, we present RobotKube, an approach to orchestrating containerized microservices for large-scale cooperative multi-robot CPS based on Kubernetes. We describe how to automate the orchestration of software across a CPS, and include the possibility to monitor and selectively store relevant accruing data. In this context, we present two main components of such a system: an event detector capable of, e.g., requesting the deployment of additional applications, and an application manager capable of automatically configuring the required changes in the Kubernetes cluster. By combining the widely adopted Kubernetes platform with the Robot Operating System (ROS), we enable the use of standard tools and practices for developing, deploying, scaling, and monitoring microservices in C-ITS. We demonstrate and evaluate RobotKube in an exemplary and reproducible use case that we make publicly available at https://github.com/ika-rwth-aachen/robotkube .Comment: 7 pages, 2 figures, 2 tables; Accepted to be published as part of the 26th IEEE International Conference on Intelligent Transportation Systems (ITSC), Bilbao, Spain, September 24-28, 202

How Thioredoxin Dissociates Its Mixed Disulfide

The dissociation mechanism of the thioredoxin (Trx) mixed disulfide complexes is unknown and has been debated for more than twenty years. Specifically, opposing arguments for the activation of the nucleophilic cysteine as a thiolate during the dissociation of the complex have been put forward. As a key model, the complex between Trx and its endogenous substrate, arsenate reductase (ArsC), was used. In this structure, a Cys29Trx-Cys89ArsC intermediate disulfide is formed by the nucleophilic attack of Cys29Trx on the exposed Cys82ArsC-Cys89ArsC in oxidized ArsC. With theoretical reactivity analysis, molecular dynamics simulations, and biochemical complex formation experiments with Cys-mutants, Trx mixed disulfide dissociation was studied. We observed that the conformational changes around the intermediate disulfide bring Cys32Trx in contact with Cys29Trx. Cys32Trx is activated for its nucleophilic attack by hydrogen bonds, and Cys32Trx is found to be more reactive than Cys82ArsC. Additionally, Cys32Trx directs its nucleophilic attack on the more susceptible Cys29Trx and not on Cys89ArsC. This multidisciplinary approach provides fresh insights into a universal thiol/disulfide exchange reaction mechanism that results in reduced substrate and oxidized Trx