DSSM: Distributed Streaming Data Sharing Manager
Developing robot control software systems is difficult because of a wide variety of requirements, including hardware systems and sensors, even though robots are demanding nowadays. Middleware systems, such as Robot Operating System (ROS), are being developed and widely used to tackle this difficulty...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/4/1344 |
| _version_ | 1827589291785584640 |
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| author | Hiroaki Fukuda Ryota Gunji Tadahiro Hasegawa Paul Leger Ismael Figueroa |
| author_facet | Hiroaki Fukuda Ryota Gunji Tadahiro Hasegawa Paul Leger Ismael Figueroa |
| author_sort | Hiroaki Fukuda |
| collection | DOAJ |
| description | Developing robot control software systems is difficult because of a wide variety of requirements, including hardware systems and sensors, even though robots are demanding nowadays. Middleware systems, such as Robot Operating System (ROS), are being developed and widely used to tackle this difficulty. Streaming data Sharing Manager (SSM) is one of such middleware systems that allow developers to write and read sensor data with timestamps using a Personal Computer (PC). The timestamp feature is essential for the robot control system because it usually uses multiple sensors with their own measurement cycles, meaning that measured sensor values with different timestamps become useless for the robot control. Using SSM allows developers to use measured sensor values with the same timestamps; however, SSM assumes that only one PC is used. Thereby, if one process consumes CPU resources intensively, other processes cannot finish their assumed deadlines, leading to the unexpected behavior of a robot. This paper proposes an SSM middleware, named Distributed Streaming data Sharing Manager (DSSM), that enables distributing processes on SSM to different PCs. We have developed a prototype of DSSM and confirmed its behavior so far. In addition, we apply DSSM to an existing real SSM based robot control system that autonomously controls an unmanned vehicle robot. We then reveal its advantages and disadvantages via several experiments by measuring resource usages. |
| first_indexed | 2024-03-09T00:53:33Z |
| format | Article |
| id | doaj.art-6d9848e015fd410bb9785229358c73b2 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T00:53:33Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6d9848e015fd410bb9785229358c73b22023-12-11T17:02:47ZengMDPI AGSensors1424-82202021-02-01214134410.3390/s21041344DSSM: Distributed Streaming Data Sharing ManagerHiroaki Fukuda0Ryota Gunji1Tadahiro Hasegawa2Paul Leger3Ismael Figueroa4Department of Computer Science and Engineering, Shibaura Institute of Technology, Tokyo 135-8548, JapanGraduate School of Electrical Engineering and Computer Science, Shibaura Institute of Technology, Tokyo 135-8548, JapanDepartment of Electrical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, JapanEscuela de Ingeniería, Universidad Católica del Norte, Coquimbo 1780000, ChileEscuela de Auditoría, Universidad de Valparaíso, Valparaíso 2340000, ChileDeveloping robot control software systems is difficult because of a wide variety of requirements, including hardware systems and sensors, even though robots are demanding nowadays. Middleware systems, such as Robot Operating System (ROS), are being developed and widely used to tackle this difficulty. Streaming data Sharing Manager (SSM) is one of such middleware systems that allow developers to write and read sensor data with timestamps using a Personal Computer (PC). The timestamp feature is essential for the robot control system because it usually uses multiple sensors with their own measurement cycles, meaning that measured sensor values with different timestamps become useless for the robot control. Using SSM allows developers to use measured sensor values with the same timestamps; however, SSM assumes that only one PC is used. Thereby, if one process consumes CPU resources intensively, other processes cannot finish their assumed deadlines, leading to the unexpected behavior of a robot. This paper proposes an SSM middleware, named Distributed Streaming data Sharing Manager (DSSM), that enables distributing processes on SSM to different PCs. We have developed a prototype of DSSM and confirmed its behavior so far. In addition, we apply DSSM to an existing real SSM based robot control system that autonomously controls an unmanned vehicle robot. We then reveal its advantages and disadvantages via several experiments by measuring resource usages.https://www.mdpi.com/1424-8220/21/4/1344sensorsrobot operating systemstreaming data sharing managerdistributed streaming data sharing manager |
| spellingShingle | Hiroaki Fukuda Ryota Gunji Tadahiro Hasegawa Paul Leger Ismael Figueroa DSSM: Distributed Streaming Data Sharing Manager Sensors sensors robot operating system streaming data sharing manager distributed streaming data sharing manager |
| title | DSSM: Distributed Streaming Data Sharing Manager |
| title_full | DSSM: Distributed Streaming Data Sharing Manager |
| title_fullStr | DSSM: Distributed Streaming Data Sharing Manager |
| title_full_unstemmed | DSSM: Distributed Streaming Data Sharing Manager |
| title_short | DSSM: Distributed Streaming Data Sharing Manager |
| title_sort | dssm distributed streaming data sharing manager |
| topic | sensors robot operating system streaming data sharing manager distributed streaming data sharing manager |
| url | https://www.mdpi.com/1424-8220/21/4/1344 |
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