Offloading SLAM for Indoor Mobile Robots with Edge-Fog-Cloud Computing

Indoor mobile robots are widely used in industrial environments such as large logistic warehouses. They are often in charge of collecting or sorting products. For such robots, computation-intensive operations account for a significant per- centage of the total energy consumption and consequently affect battery life. Besides, in order to keep both the power con- sumption and hardware complexity low, simple micro-controllers or single-board computers are used as onboard local control units. This limits the computational capabilities of robots and consequently their performance. Offloading heavy computation to Cloud servers has been a widely used approach to solve this problem for cases where large amounts of sensor data such as real-time video feeds need to be analyzed. More recently, Fog and Edge computing are being leveraged for offloading tasks such as image processing and complex navigation algorithms involving non-linear mathematical operations. In this paper, we present a system architecture for offloading computationally expensive localization and mapping tasks to smart Edge gateways which use Fog services. We show how Edge computing brings computational capabilities of the Cloud to the robot environment without compromising operational reliability due to connection issues. Furthermore, we analyze the power consumption of a prototype robot vehicle in different modes and show how battery life can be significantly improved by moving the processing of data to the Edge layer

Offloading SLAM for Indoor Mobile Robots with Edge, Fog, Cloud Computing

Indoor mobile robots are widely used in industrial environments such as large logistic warehouses. They are often in charge of collecting or sorting products. For such robots, computation-intensive operations account for a significant per- centage of the total energy consumption and consequently affect battery life. Besides, in order to keep both the power con- sumption and hardware complexity low, simple micro-controllers or single-board computers are used as onboard local control units. This limits the computational capabilities of robots and consequently their performance. Offloading heavy computation to Cloud servers has been a widely used approach to solve this problem for cases where large amounts of sensor data such as real-time video feeds need to be analyzed. More recently, Fog and Edge computing are being leveraged for offloading tasks such as image processing and complex navigation algorithms involving non-linear mathematical operations. In this paper, we present a system architecture for offloading computationally expensive localization and mapping tasks to smart Edge gateways which use Fog services. We show how Edge computing brings computational capabilities of the Cloud to the robot environment without compromising operational reliability due to connection issues. Furthermore, we analyze the power consumption of a prototype robot vehicle in different modes and show how battery life can be significantly improved by moving the processing of data to the Edge layer

Assessing The Accuracy Of Radio Astronomy Source Finding Algorithms

This work presents a method for determining the accuracy of a source finder algorithm for spectral line radio astronomy data and the Source Finder Accuracy Evaluator (SFAE), a program that implements this method. The accuracy of a source finder is defined in terms of its completeness, reliability, and accuracy of the parameterisation of the sources that were found. These values are calculated by executing the source finder on an image with a known source catalogue, then comparing the output of the source finder to the known catalogue. The intended uses of SFAE include determining the most accurate source finders for use in a survey, determining the types of radio sources a particular source finder is capable of accurately locating, and identifying optimum parameters and areas of improvement for these algorithms. This paper demonstrates a sample of accuracy information that can be obtained through this method, using a simulated ASKAP data cube and the Duchamp source finder.Comment: 8 pages, 6 figures, to be published in Publications of the Astronomical Society of Australi

Hairpins in the conformations of a confined polymer

If a semiflexible polymer confined to a narrow channel bends around by 180 degrees, the polymer is said to exhibit a hairpin. The equilibrium extension statistics of the confined polymer are well understood when hairpins are vanishingly rare or when they are plentiful. Here we analyze the extension statistics in the intermediate situation via experiments with DNA coated by the protein RecA, which enhances the stiffness of the DNA molecule by approximately one order of magnitude. We find that the extension distribution is highly non-Gaussian, in good agreement with Monte Carlo simulations of confined discrete wormlike chains. We develop a simple model that qualitatively explains the form of the extension distribution. The model shows that the tail of the distribution at short extensions is determined by conformations with one hairpin.Comment: Revised version. 22 pages, 7 figures, 2 tables, supplementary materia

Extension of nano-confined DNA: quantitative comparison between experiment and theory

The extension of DNA confined to nanochannels has been studied intensively and in detail. Yet quantitative comparisons between experiments and model calculations are difficult because most theoretical predictions involve undetermined prefactors, and because the model parameters (contour length, Kuhn length, effective width) are difficult to compute reliably, leading to substantial uncertainties. Here we use a recent asymptotically exact theory for the DNA extension in the "extended de Gennes regime" that allows us to compare experimental results with theory. For this purpose we performed new experiments, measuring the mean DNA extension and its standard deviation while varying the channel geometry, dye intercalation ratio, and ionic buffer strength. The experimental results agree very well with theory at high ionic strengths, indicating that the model parameters are reliable. At low ionic strengths the agreement is less good. We discuss possible reasons. Our approach allows, in principle, to measure the Kuhn length and effective width of a single DNA molecule and more generally of semiflexible polymers in solution.Comment: Revised version, 6 pages, 2 figures, 1 table, supplementary materia

A dozen colliding wind X-ray binaries in the star cluster R136 in the 30Doradus region

We analyzed archival Chandra X-ray observations of the central portion of the 30 Doradus region in the Large Magellanic Cloud. The image contains 20 X-ray point sources with luminosities between $5 \times 10^{32}$ and $2 \times 10^{35}$ erg s$^{-1}$ (0.2 -- 3.5 keV). A dozen sources have bright WN Wolf-Rayet or spectral type O stars as optical counterparts. Nine of these are within $\sim 3.4$pc of R136, the central star cluster of NGC2070. We derive an empirical relation between the X-ray luminosity and the parameters for the stellar wind of the optical counterpart. The relation gives good agreement for known colliding wind binaries in the Milky Way Galaxy and for the identified X-ray sources in NGC2070. We conclude that probably all identified X-ray sources in NGC2070 are colliding wind binaries and that they are not associated with compact objects. This conclusion contradicts Wang (1995) who argued, using ROSAT data, that two earlier discovered X-ray sources are accreting black-hole binaries. Five of the eighteen brightest stars in R136 are not visible in our X-ray observations. These stars are either single, have low mass companions or very wide orbits. The resulting binary fraction among early type stars is then unusually high (at least 70%).Comment: 23 pages, To appear in August in Ap

HD148937: a multiwavelength study of the third Galactic member of the Of?p class

Three Galactic O-type stars belong to the rare class of Of?p objects: HD108, HD191612, and HD148937. The first two stars show a wealth of phenomena, including magnetic fields and strong X-ray emission, light variability, and dramatic periodic spectral variability. We present here the first detailed optical and X-ray study of the third Galactic Of?p star, HD148937. Spectroscopic monitoring has revealed low-level variability in the Balmer and HeII4686 lines, but constancy at HeI and CIII4650. The Ha line exhibits profile variations at a possible periodicity of ~7d. Model atmosphere fits yield T_{eff}=41000+-2000K, log(g)=4.0+-0.1, Mdot_{sph}<~ 10^{-7}Msol/yr and a surabondance of nitrogen by a factor of four. At X-ray wavelengths, HD148937 resembles HD108 and HD191612 in having a thermal spectrum dominated by a relatively cool component (kT=0.2keV), broad lines (>1700km/s), and an order-of-magnitude overluminosity compared to normal O stars (log [L_X^unabs/L_BOL] ~ -6).Comment: accepted by AJ; 15p, 15fig available in jp

The Initial Mass Function of the Stellar Association NGC 602 in the Small Magellanic Cloud with Hubble Space Telescope ACS Observations

We present our photometric study of the stellar association NGC 602 in the wing of the Small Magellanic Cloud (SMC). The data were taken in the filters F555W and F814W using the Advanced Camera for Surveys (ACS) on-board the Hubble Space Telescope (HST). Photometry was performed using the ACS module of the stellar photometry package DOLPHOT. We detected more than 5,500 stars with a magnitude range of 14 \lsim m_{555} \lsim 28 mag. Three prominent stellar concentrations are identified with star counts in the observed field, the association NGC 602 itself, and two clusters, one of them not being currently in any known catalog. The Color-Magnitude Diagrams (CMDs) of both clusters show features typical for young open clusters, while that of the association reveals bright main sequence (MS) and faint pre-main sequence (PMS) stars as the members of the system. We construct the initial mass spectrum (IMS) of the association by applying an age-independent method of counting the PMS stars within evolutionary tracks, while for the bright MS stars we transform their magnitudes to masses with the use of mass-luminosity relations. The IMS of NGC 602 is found to be well represented by a single-power law, corresponding to an Initial Mass Function (IMF) of slope \Gamma\approx -1.2 for 1 \lsim M/M{\solar} \lsim 45. This indicates that the shape of the IMF of a star forming system in the SMC for stars with masses higher than 1 M{\solar} seems to be quite similar to the field IMF in the solar neighborhood.Comment: Accepted for publication in ApJ, 13 pages, 14 figures, emulateapj.cls LaTeX style, full resolution version available on http://www.astro.uni-bonn.de/~dgoulier/Science/NGC602/ms.pd