Cloud-Centric PaaS Framework for Robots Operation
Modern trends in industrial technology include theoretical and applied research aimed at finding effective methods to control distributed dynamic systems. This research has particular importance for scientific foundations of field robotics that were greatly improved in recent years by the cyber phys...
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| Format: | Article |
| Language: | English |
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FRUCT
2015-04-01
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| Series: | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| Subjects: | |
| Online Access: | https://www.fruct.org/publications/abstract17/files/Luk.pdf
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| _version_ | 1811268770496249856 |
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| author | Alexey Lukashin Vladimir Zaborovsky Vladimir Muliukha |
| author_facet | Alexey Lukashin Vladimir Zaborovsky Vladimir Muliukha |
| author_sort | Alexey Lukashin |
| collection | DOAJ |
| description | Modern trends in industrial technology include theoretical and applied research aimed at finding effective methods to control distributed dynamic systems. This research has particular importance for scientific foundations of field robotics that were greatly improved in recent years by the cyber physical ideas. In this paper we provide constructive analysis focused on possibilities of application of cyber physical approach to robots' motion planning and coordination to achieve control objectives in spatially and temporally undefined conditions. Proposed approach is based on multi-invariant actor-information representation and cooperative interaction of all components that describes a robotics system both on the physical (local or actor-based) and informational (knowledge or ontological-based) levels which are implemented using distributed resources of private cloud computing environment as IaaS and Hadoop. Actor-based representation (model) of each physical objects or artificial machine (robot) has specific attributes including name, data stack and parameters. The model describes environmental characteristics of mechanical, sensor, navigation and computer-communication components, the local interaction of which takes place onboard the robot and is needed to achieve declared control objectives. An informational model is proposed to represent common system characteristics, objective features, and robot as mobile carrier of specific operations. It is shown that system control requirements may be reduced to a "constraint satisfaction" problem. The decision of such problem is expressed by two sets of entities: a set of operations performed by robots of the group, and a set of messages that are generated by the informational model and delivered to each robots of the group using network infrastructure. |
| first_indexed | 2024-04-12T21:28:54Z |
| format | Article |
| id | doaj.art-3719bcf57d334d25b4b144d9ecad01c7 |
| institution | Directory Open Access Journal |
| issn | 2305-7254 2343-0737 |
| language | English |
| last_indexed | 2024-04-12T21:28:54Z |
| publishDate | 2015-04-01 |
| publisher | FRUCT |
| record_format | Article |
| series | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| spelling | doaj.art-3719bcf57d334d25b4b144d9ecad01c72022-12-22T03:16:05ZengFRUCTProceedings of the XXth Conference of Open Innovations Association FRUCT2305-72542343-07372015-04-0138817310317Cloud-Centric PaaS Framework for Robots OperationAlexey Lukashin0Vladimir Zaborovsky1Vladimir Muliukha2St. Petersburg Polytechnic University, Saint-Petersburg, RussiaSt. Petersburg Polytechnic University, Saint-Petersburg, RussiaSt. Petersburg Polytechnic University, Saint-Petersburg, RussiaModern trends in industrial technology include theoretical and applied research aimed at finding effective methods to control distributed dynamic systems. This research has particular importance for scientific foundations of field robotics that were greatly improved in recent years by the cyber physical ideas. In this paper we provide constructive analysis focused on possibilities of application of cyber physical approach to robots' motion planning and coordination to achieve control objectives in spatially and temporally undefined conditions. Proposed approach is based on multi-invariant actor-information representation and cooperative interaction of all components that describes a robotics system both on the physical (local or actor-based) and informational (knowledge or ontological-based) levels which are implemented using distributed resources of private cloud computing environment as IaaS and Hadoop. Actor-based representation (model) of each physical objects or artificial machine (robot) has specific attributes including name, data stack and parameters. The model describes environmental characteristics of mechanical, sensor, navigation and computer-communication components, the local interaction of which takes place onboard the robot and is needed to achieve declared control objectives. An informational model is proposed to represent common system characteristics, objective features, and robot as mobile carrier of specific operations. It is shown that system control requirements may be reduced to a "constraint satisfaction" problem. The decision of such problem is expressed by two sets of entities: a set of operations performed by robots of the group, and a set of messages that are generated by the informational model and delivered to each robots of the group using network infrastructure.https://www.fruct.org/publications/abstract17/files/Luk.pdf Robotscloud computingplatformcyber physicsactor systems |
| spellingShingle | Alexey Lukashin Vladimir Zaborovsky Vladimir Muliukha Cloud-Centric PaaS Framework for Robots Operation Proceedings of the XXth Conference of Open Innovations Association FRUCT Robots cloud computing platform cyber physics actor systems |
| title | Cloud-Centric PaaS Framework for Robots Operation |
| title_full | Cloud-Centric PaaS Framework for Robots Operation |
| title_fullStr | Cloud-Centric PaaS Framework for Robots Operation |
| title_full_unstemmed | Cloud-Centric PaaS Framework for Robots Operation |
| title_short | Cloud-Centric PaaS Framework for Robots Operation |
| title_sort | cloud centric paas framework for robots operation |
| topic | Robots cloud computing platform cyber physics actor systems |
| url | https://www.fruct.org/publications/abstract17/files/Luk.pdf
|
| work_keys_str_mv | AT alexeylukashin cloudcentricpaasframeworkforrobotsoperation AT vladimirzaborovsky cloudcentricpaasframeworkforrobotsoperation AT vladimirmuliukha cloudcentricpaasframeworkforrobotsoperation |