A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces
Since the Internet of Robotic Things (IoRT) is composed of robots with actuators, interferences with the real-world activities are necessary, and safety is essential. In addition, some IoRT services may require bidirectional communication between multiple machines. One of the communication protocols...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9656749/ |
| _version_ | 1798033657829523456 |
|---|---|
| author | Daishi Yoshino Yutaka Watanobe Keitaro Naruse |
| author_facet | Daishi Yoshino Yutaka Watanobe Keitaro Naruse |
| author_sort | Daishi Yoshino |
| collection | DOAJ |
| description | Since the Internet of Robotic Things (IoRT) is composed of robots with actuators, interferences with the real-world activities are necessary, and safety is essential. In addition, some IoRT services may require bidirectional communication between multiple machines. One of the communication protocols that satisfy these requirements is AMQP, a broker architecture that emphasizes reliability and high functionality in communication. Therefore, using AMQP as the communication infrastructure between components in an IoRT system, it can contribute to improving the reliability of robot operations in IoRT and diversifying messaging between robots. To verify AMQP’s communication advantages, we have implemented the communication interface of AMQP in RT-Middleware, which is one of the robot middlewares, and have conducted performance and reliability tests on the effectiveness of RT-Middleware as a platform for constructing a reliable IoRT system. In the tests, we compared the communication performance of the platform with CORBA and MQTT communication interfaces implemented in RT-Middleware. The results show that although AMQP causes a small amount of latency compared to other communication interfaces, the distribution range of the latency is small, and relatively stable communication is performed. Furthermore, in the messaging quality test results, the data loss during communication by AMQP is almost a hundred times better than CORBA, and ten times better than MQTT, which mean that highly reliable messaging is possible. Based on this study’s findings, we conclude that AMQP should be fully used as a communication protocol for constructing IoRT systems. |
| first_indexed | 2024-04-11T20:32:36Z |
| format | Article |
| id | doaj.art-a3475c905566453d9c653d9e85afbcc3 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T20:32:36Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a3475c905566453d9c653d9e85afbcc32022-12-22T04:04:27ZengIEEEIEEE Access2169-35362021-01-01916722916724110.1109/ACCESS.2021.31368559656749A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication InterfacesDaishi Yoshino0https://orcid.org/0000-0002-8078-943XYutaka Watanobe1Keitaro Naruse2https://orcid.org/0000-0002-2029-2472School of Computer Science and Engineering, The University of Aizu, Fukushima, Aizuwakamatsu-shi, JapanSchool of Computer Science and Engineering, The University of Aizu, Fukushima, Aizuwakamatsu-shi, JapanSchool of Computer Science and Engineering, The University of Aizu, Fukushima, Aizuwakamatsu-shi, JapanSince the Internet of Robotic Things (IoRT) is composed of robots with actuators, interferences with the real-world activities are necessary, and safety is essential. In addition, some IoRT services may require bidirectional communication between multiple machines. One of the communication protocols that satisfy these requirements is AMQP, a broker architecture that emphasizes reliability and high functionality in communication. Therefore, using AMQP as the communication infrastructure between components in an IoRT system, it can contribute to improving the reliability of robot operations in IoRT and diversifying messaging between robots. To verify AMQP’s communication advantages, we have implemented the communication interface of AMQP in RT-Middleware, which is one of the robot middlewares, and have conducted performance and reliability tests on the effectiveness of RT-Middleware as a platform for constructing a reliable IoRT system. In the tests, we compared the communication performance of the platform with CORBA and MQTT communication interfaces implemented in RT-Middleware. The results show that although AMQP causes a small amount of latency compared to other communication interfaces, the distribution range of the latency is small, and relatively stable communication is performed. Furthermore, in the messaging quality test results, the data loss during communication by AMQP is almost a hundred times better than CORBA, and ten times better than MQTT, which mean that highly reliable messaging is possible. Based on this study’s findings, we conclude that AMQP should be fully used as a communication protocol for constructing IoRT systems.https://ieeexplore.ieee.org/document/9656749/AMQP (advanced message queuing protocol)brokered publish/subscribe messaginghighly reliable Internet of Robotic Things (IoRT)MQTT (message queuing telemetry transport)RT-middleware |
| spellingShingle | Daishi Yoshino Yutaka Watanobe Keitaro Naruse A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces IEEE Access AMQP (advanced message queuing protocol) brokered publish/subscribe messaging highly reliable Internet of Robotic Things (IoRT) MQTT (message queuing telemetry transport) RT-middleware |
| title | A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces |
| title_full | A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces |
| title_fullStr | A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces |
| title_full_unstemmed | A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces |
| title_short | A Highly Reliable Communication System for Internet of Robotic Things and Implementation in RT-Middleware With AMQP Communication Interfaces |
| title_sort | highly reliable communication system for internet of robotic things and implementation in rt middleware with amqp communication interfaces |
| topic | AMQP (advanced message queuing protocol) brokered publish/subscribe messaging highly reliable Internet of Robotic Things (IoRT) MQTT (message queuing telemetry transport) RT-middleware |
| url | https://ieeexplore.ieee.org/document/9656749/ |
| work_keys_str_mv | AT daishiyoshino ahighlyreliablecommunicationsystemforinternetofroboticthingsandimplementationinrtmiddlewarewithamqpcommunicationinterfaces AT yutakawatanobe ahighlyreliablecommunicationsystemforinternetofroboticthingsandimplementationinrtmiddlewarewithamqpcommunicationinterfaces AT keitaronaruse ahighlyreliablecommunicationsystemforinternetofroboticthingsandimplementationinrtmiddlewarewithamqpcommunicationinterfaces AT daishiyoshino highlyreliablecommunicationsystemforinternetofroboticthingsandimplementationinrtmiddlewarewithamqpcommunicationinterfaces AT yutakawatanobe highlyreliablecommunicationsystemforinternetofroboticthingsandimplementationinrtmiddlewarewithamqpcommunicationinterfaces AT keitaronaruse highlyreliablecommunicationsystemforinternetofroboticthingsandimplementationinrtmiddlewarewithamqpcommunicationinterfaces |